Method and system for calculating dangerous area of tower crane

Abstract

The invention relates to a method and system for calculating a dangerous area of a tower crane, the tower crane is provided with a camera, the camera is provided with an image coordinate system, and the method comprises the following steps: establishing a tower crane coordinate system; determining a tower crane dangerous area under the tower crane coordinate system; and mapping the dangerous area of the tower crane from the tower crane coordinate system to the image coordinate system, and marking the dangerous area of the tower crane in the image. According to the method and the system for calculating the dangerous area of the tower crane, the dangerous area of the tower crane can be marked in the image and can be conveniently checked by an operator, so that the safety of the tower crane in the construction process is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of tower crane safety early warning technology, and more particularly to a tower crane danger zone calculation method and system. Background Art

[0002] With the acceleration of urbanization, the demand for high-rise building construction is increasing. Tower cranes, as essential equipment in modern construction, are widely used on construction sites. However, tower cranes pose certain safety risks during construction. Accidents caused by personnel entering dangerous areas or improper operation are common. To ensure the safety of construction workers and reduce the risks of tower crane operation, the efficient and accurate identification and management of tower crane danger zones has become a pressing issue.

[0003] Existing methods for managing dangerous areas on tower cranes rely primarily on human experience and traditional warning devices, such as cordons or radio announcements. However, these methods have the following shortcomings:

[0004] 1) Poor real-time performance: Traditional methods cannot adjust the danger zone in real time according to the dynamic operating status of the tower crane, and are unable to cope with complex construction environments.

[0005] 2) Limited accuracy: The scope of the danger zone is usually set using fixed values, without considering factors such as the weight of the hanging object, wind speed, and construction environment, resulting in unscientific division of the danger zone.

[0006] 3) Lack of intelligence: Existing methods cannot effectively combine computer vision technology to achieve automatic identification and early warning of human intrusion. Summary of the Invention

[0007] The purpose of the present invention is to provide a tower crane dangerous area calculation method and system to solve the above technical problems existing in the prior art.

[0008] Based on the above objectives, the present invention provides a method for calculating the dangerous area of ​​a tower crane. A camera is installed on the tower crane, and the camera has an image coordinate system. The method includes:

[0009] Establish the tower crane coordinate system;

[0010] Determining a dangerous area of ​​the tower crane in the tower crane coordinate system;

[0011] The tower crane dangerous area is mapped from the tower crane coordinate system to the image coordinate system, and the tower crane dangerous area is marked in the image.

[0012] Optionally, the dangerous area of ​​the tower crane in the tower crane coordinate system includes a drop area and a risk area, the drop area is an area enclosed by an inner circle, the risk area is an area between the inner circle and an outer circle, the inner circle and the outer circle are two concentric circles on the ground, the radius of the inner circle is smaller than the radius of the outer circle, and the centers of the inner circle and the outer circle are used as the centers of the concentric circles;

[0013] Determining the dangerous area of ​​the tower crane in the tower crane coordinate system specifically includes:

[0014] Obtain the maximum size of the hoisted object, the maximum deviation angle of the hoisted object, and the height of the hoisted object;

[0015] Determine the base radius of the inner circle and the base radius of the outer circle based on the maximum size of the hanging object, the maximum deviation angle of the hanging object, and the height of the hanging object;

[0016] Determine the coordinates of the center of the concentric circle in the tower crane coordinate system;

[0017] Determine the compensation radius;

[0018] Get error bias;

[0019] The base radius of the inner circle, the compensation radius and the error offset are added together to obtain the radius of the inner circle; the base radius of the outer circle, the compensation radius and the error offset are added together to obtain the radius of the outer circle.

[0020] Optionally, determining the basic radius of the inner circle and the basic radius of the outer circle based on the maximum size of the hanging object, the maximum deviation angle of the hanging object, and the height of the hanging object specifically includes:

[0021] The base radius of the inner circle is half of the maximum size of the hanging object;

[0022] The base radius of the outer circle is equal to half of the maximum size of the hanging object plus the product of the height of the hanging object and the tangent value of the maximum deviation angle of the hanging object;

[0023] The center of the concentric circles is the projection point of the center of gravity of the hanging object on the ground.

[0024] Optionally, determining a compensation radius specifically includes:

[0025] Obtain the brightness and contrast, load weight, and wind speed of tower crane construction environment images;

[0026] Performing fuzzy reasoning on the brightness and the contrast to obtain a membership degree of a fuzzy set of light intensity;

[0027] Fuzzy reasoning is performed based on the membership degree of the fuzzy set of the light intensity, the weight of the hanging object and the wind speed to obtain a compensation radius.

[0028] Optionally, performing fuzzy reasoning on the brightness and the contrast to obtain a membership degree of a fuzzy set of light intensity specifically includes:

[0029] According to a preset fuzzy set and its corresponding membership function, the brightness and the contrast are converted into membership of their respective fuzzy sets;

[0030] Calculating the activation degree of each rule of a preset first fuzzy rule base based on the membership degree of the fuzzy set of the brightness and the contrast;

[0031] determining the degree of membership of the fuzzy set of the light intensity according to the activation degree of each rule of the first fuzzy rule base;

[0032] Performing fuzzy reasoning based on the membership of the fuzzy set of the light intensity, the weight of the suspended object, and the wind speed to obtain a compensation radius specifically includes:

[0033] Converting the weight of the hanging object and the wind speed into the membership degree of their respective fuzzy sets;

[0034] Calculating the activation degree of each rule of a preset second fuzzy rule base based on the membership degree of the fuzzy set of the light intensity, the membership degree of the fuzzy set of the suspended object weight, and the membership degree of the fuzzy set of the wind speed;

[0035] determining the membership of the fuzzy set of the compensation radius according to the activation degree of each rule of the second fuzzy rule base;

[0036] The membership degree of the fuzzy set of the compensation radius is defuzzified to obtain a value of the compensation radius.

[0037] Optionally, mapping the tower crane dangerous area from the tower crane coordinate system to the image coordinate system and marking the tower crane dangerous area in the image specifically includes:

[0038] Convert the coordinates of the concentric circle centers in the crane coordinate system to the image coordinate system to obtain the coordinates of the concentric circle centers in the image coordinate system;

[0039] The point on the inner circle located directly above or below the center is used as the first inner circle key point, the point on the inner circle located directly to the right or left of the center is used as the second inner circle key point, the point on the outer circle located directly above or below the center is used as the first outer circle key point, and the point on the outer circle located directly to the right or left of the center is used as the second outer circle key point; the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the tower crane coordinate system are obtained;

[0040] Converting the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the tower crane coordinate system to the image coordinate system to obtain the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the image coordinate system;

[0041] Obtain the distance between the center of the concentric circle and the first inner circle key point in the image coordinate system as the first minor axis; obtain the distance between the center of the concentric circle and the second inner circle key point in the image coordinate system as the first major axis; obtain the distance between the center of the concentric circle and the first inner circle key point in the image coordinate system as the second minor axis; obtain the distance between the center of the concentric circle and the second inner circle key point in the image coordinate system as the second major axis;

[0042] The first ellipse in the image coordinate system is used as the mapping of the inner circle in the crane coordinate system, and the second ellipse in the icon coordinate system is used as the mapping of the outer circle in the crane coordinate system; wherein the center coordinates of the first ellipse and the second ellipse are the coordinates of the concentric circle centers in the image coordinate system, the minor axis of the first ellipse is the first minor axis, the major axis of the first ellipse is the first major axis, the minor axis of the second ellipse is the second minor axis, and the major axis of the second ellipse is the second major axis;

[0043] In the image, the area enclosed by the first ellipse is marked as the falling area, and the area between the first ellipse and the second ellipse is marked as the risk area. The falling area and the risk area in the image together form the tower crane dangerous area in the image.

[0044] Optionally, the camera further includes a camera coordinate system; converting the coordinates of the concentric circle centers in the crane coordinate system to the image coordinate system to obtain the coordinates of the concentric circle centers in the image coordinate system specifically includes:

[0045] Determine the camera's external and internal parameters;

[0046] Based on the external parameters, the coordinates of the centers of the concentric circles in the crane coordinate system are converted to the camera coordinate system to obtain the coordinates of the centers of the concentric circles in the camera coordinate system;

[0047] Based on the intrinsic parameters, the coordinates of the centers of the concentric circles in the camera coordinate system are converted to the image coordinate system to obtain the coordinates of the centers of the concentric circles in the image coordinate system;

[0048] Converting the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the tower crane coordinate system to the image coordinate system to obtain the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the image coordinate system specifically includes:

[0049] Based on the external parameters, the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the tower crane coordinate system are converted to the camera coordinate system to obtain the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the camera coordinate system;

[0050] Based on the internal parameters, the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point and the second outer circle key point in the camera coordinate system are converted to the image coordinate system to obtain the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point and the second outer circle key point in the image coordinate system.

[0051] Another aspect of the present invention provides a tower crane danger zone calculation system, wherein a camera is mounted on the tower crane, the camera having an image coordinate system, and the system comprises:

[0052] Establish a module for establishing the tower crane coordinate system;

[0053] A determination module, configured to determine a dangerous area of ​​the tower crane in the tower crane coordinate system;

[0054] A mapping module is used to map the tower crane dangerous area from the tower crane coordinate system to the image coordinate system, and mark the tower crane dangerous area in the image.

[0055] Optionally, the dangerous area of ​​the tower crane in the tower crane coordinate system includes a drop area and a risk area, the drop area is an area enclosed by an inner circle, the risk area is an area between the inner circle and an outer circle, the inner circle and the outer circle are two concentric circles on the ground, the radius of the inner circle is smaller than the radius of the outer circle, and the centers of the inner circle and the outer circle are used as the centers of the concentric circles;

[0056] Determining the dangerous area of ​​the tower crane in the tower crane coordinate system specifically includes:

[0057] Obtain the maximum size of the hoisted object, the maximum deviation angle of the hoisted object, and the height of the hoisted object;

[0058] Determine the base radius of the inner circle and the base radius of the outer circle based on the maximum size of the hanging object, the maximum deviation angle of the hanging object, and the height of the hanging object;

[0059] Determine the coordinates of the center of the concentric circle in the tower crane coordinate system;

[0060] Determine the compensation radius;

[0061] Get error bias;

[0062] The base radius of the inner circle, the compensation radius and the error offset are added together to obtain the radius of the inner circle; the base radius of the outer circle, the compensation radius and the error offset are added together to obtain the radius of the outer circle.

[0063] Optionally, determining the basic radius of the inner circle and the basic radius of the outer circle based on the maximum size of the hanging object, the maximum deviation angle of the hanging object, and the height of the hanging object specifically includes:

[0064] The base radius of the inner circle is half of the maximum size of the hanging object;

[0065] The base radius of the outer circle is equal to half of the maximum size of the hanging object plus the product of the height of the hanging object and the tangent value of the maximum deviation angle of the hanging object;

[0066] The center of the concentric circle is the projection point of the center of gravity of the hanging object on the ground;

[0067] Determine the compensation radius, including:

[0068] Obtain the brightness and contrast, load weight, and wind speed of tower crane construction environment images;

[0069] Performing fuzzy reasoning on the brightness and the contrast to obtain a membership degree of a fuzzy set of light intensity;

[0070] Performing fuzzy reasoning based on the membership degree of the fuzzy set of the light intensity, the weight of the hanging object, and the wind speed to obtain a compensation radius;

[0071] Performing fuzzy reasoning on the brightness and the contrast to obtain a membership degree of a fuzzy set of light intensity specifically includes:

[0072] According to a preset fuzzy set and its corresponding membership function, the brightness and the contrast are converted into membership of their respective fuzzy sets;

[0073] Calculating the activation degree of each rule of a preset first fuzzy rule base based on the membership degree of the fuzzy set of the brightness and the contrast;

[0074] determining the degree of membership of the fuzzy set of the light intensity according to the activation degree of each rule of the first fuzzy rule base;

[0075] Performing fuzzy reasoning based on the membership of the fuzzy set of the light intensity, the weight of the suspended object, and the wind speed to obtain a compensation radius specifically includes:

[0076] Converting the weight of the hanging object and the wind speed into the membership degree of their respective fuzzy sets;

[0077] Calculating the activation degree of each rule of a preset second fuzzy rule base based on the membership degree of the fuzzy set of the light intensity, the membership degree of the fuzzy set of the suspended object weight, and the membership degree of the fuzzy set of the wind speed;

[0078] determining the membership of the fuzzy set of the compensation radius according to the activation degree of each rule of the second fuzzy rule base;

[0079] Defuzzifying the membership degree of the fuzzy set of the compensation radius to obtain a value of the compensation radius;

[0080] Mapping the tower crane dangerous area from the tower crane coordinate system to the image coordinate system, and marking the tower crane dangerous area in the image, specifically includes:

[0081] Convert the coordinates of the concentric circle centers in the crane coordinate system to the image coordinate system to obtain the coordinates of the concentric circle centers in the image coordinate system;

[0082] The point on the inner circle located directly above or below the center is used as the first inner circle key point, the point on the inner circle located directly to the right or left of the center is used as the second inner circle key point, the point on the outer circle located directly above or below the center is used as the first outer circle key point, and the point on the outer circle located directly to the right or left of the center is used as the second outer circle key point; the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the tower crane coordinate system are obtained;

[0083] Converting the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the tower crane coordinate system to the image coordinate system to obtain the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the image coordinate system;

[0084] Obtain the distance between the center of the concentric circle and the first inner circle key point in the image coordinate system as the first minor axis; obtain the distance between the center of the concentric circle and the second inner circle key point in the image coordinate system as the first major axis; obtain the distance between the center of the concentric circle and the first inner circle key point in the image coordinate system as the second minor axis; obtain the distance between the center of the concentric circle and the second inner circle key point in the image coordinate system as the second major axis;

[0085] The first ellipse in the image coordinate system is used as the mapping of the inner circle in the crane coordinate system, and the second ellipse in the icon coordinate system is used as the mapping of the outer circle in the crane coordinate system; wherein the center coordinates of the first ellipse and the second ellipse are the coordinates of the concentric circle centers in the image coordinate system, the minor axis of the first ellipse is the first minor axis, the major axis of the first ellipse is the first major axis, the minor axis of the second ellipse is the second minor axis, and the major axis of the second ellipse is the second major axis;

[0086] In the image, the area enclosed by the first ellipse is marked as the drop zone, and the area between the first ellipse and the second ellipse is marked as the risk zone. The drop zone and the risk zone in the image together form the tower crane danger zone in the image;

[0087] The camera also includes a camera coordinate system; the coordinates of the concentric circle centers in the crane coordinate system are converted to the image coordinate system to obtain the coordinates of the concentric circle centers in the image coordinate system, specifically including:

[0088] Determine the camera's external and internal parameters;

[0089] Based on the external parameters, the coordinates of the centers of the concentric circles in the crane coordinate system are converted to the camera coordinate system to obtain the coordinates of the centers of the concentric circles in the camera coordinate system;

[0090] Based on the intrinsic parameters, the coordinates of the centers of the concentric circles in the camera coordinate system are converted to the image coordinate system to obtain the coordinates of the centers of the concentric circles in the image coordinate system;

[0091] Converting the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the tower crane coordinate system to the image coordinate system to obtain the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the image coordinate system specifically includes:

[0092] Based on the external parameters, the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the tower crane coordinate system are converted to the camera coordinate system to obtain the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the camera coordinate system;

[0093] Based on the internal parameters, the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point and the second outer circle key point in the camera coordinate system are converted to the image coordinate system to obtain the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point and the second outer circle key point in the image coordinate system.

[0094] The tower crane dangerous area calculation method and system of the present invention can map the tower crane dangerous area into the image coordinate system and mark it in the image, so as to facilitate the operator to view. Combined with the target detection technology to detect the position information of the personnel, a multi-level pre-tightening mechanism can be established between the personnel in the dangerous area and the dangerous area, thereby improving the safety of the tower crane during the construction process; the range of the drop zone and the risk zone in the tower crane dangerous area can be dynamically adjusted by changing the maximum size of the hanging object, the maximum deviation angle of the hanging object, the height of the hanging object, the brightness and contrast of the construction environment image, the weight of the hanging object, the wind speed, the error bias, etc. to adapt to different construction environments; for example, the maximum size of the hanging object, the maximum deviation angle of the hanging object, the height of the hanging object, the brightness and contrast of the construction environment image, the weight of the hanging object, the wind speed, the error bias, etc. can be obtained in real time, and then the tower crane dangerous area can be calculated in real time and marked in real time in the image. BRIEF DESCRIPTION OF THE DRAWINGS

[0095] Figure 1 Flowchart of a tower crane dangerous area calculation method according to an embodiment of the present invention;

[0096] Figure 2 2 is a schematic structural diagram of a tower crane according to an embodiment of the present invention;

[0097] Figure 3 Schematic diagram of a drop zone and a risk zone of a tower crane according to an embodiment of the present invention;

[0098] Figure 4 is a schematic structural diagram of a camera coordinate system according to an embodiment of the present invention;

[0099] Figure 5 4 is a structural block diagram of a tower crane dangerous area calculation system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0100] The preferred embodiments of the present invention are given below in conjunction with the accompanying drawings and described in detail.

[0101] An embodiment of the present invention provides a tower crane danger zone calculation method, which is applied to a terminal device. The terminal device can be any suitable electronic device, including but not limited to a smart phone, a computer, a tablet computer, etc. The terminal device is located in the tower crane control room, and the terminal device can interact with the operator in the tower crane control room. For example, after calculating the tower crane danger zone, the terminal device can display it to the operator so that the operator can clearly understand the scope of the tower crane danger zone and avoid safety accidents during the operation of the tower crane.

[0102] like Figure 1 As shown, the tower crane danger zone calculation method according to the embodiment of the present invention includes the following steps S100-S300:

[0103] S100: Establishing a tower crane coordinate system.

[0104] In some embodiments, the crane coordinate system is a three-dimensional coordinate system, for example, a global rotatable coordinate system, and a right-handed coordinate system. Figure 2 As shown, the tower crane includes a tower body 10 and a tower arm 20. The tower crane coordinate system can be established based on the tower arm 20 and the tower body 10. Specifically, the vertical projection direction of the tower arm 20 on the ground is the X-axis, and the direction away from the starting point of the tower arm is the positive direction of the X-axis. The X-axis rotates counterclockwise ( Figure 2 The dashed arrows in the center indicate counterclockwise and clockwise directions. 90° is the Y-axis, with the forward direction of the Y-axis being the positive direction. The tower 10 is the Z-axis, with the direction away from the ground being the positive direction. This arrangement has the advantage that as the crane rotates, the crane coordinate system follows its movement, keeping the crane coordinate system and the camera mounted on it relatively stationary and fixed.

[0105] S200: Determine a dangerous area of ​​the tower crane in the tower crane coordinate system.

[0106] like Figure 3 As shown, the dangerous area of ​​the tower crane in the tower crane coordinate system includes a drop zone and a risk zone. The drop zone is the area surrounded by the inner circle, and the risk zone is the area between the inner circle and the outer circle. The inner circle and the outer circle are two concentric circles on the ground (i.e., in the XY plane). For convenience, the centers of the inner circle and the outer circle are called concentric circle centers. The inner circle and the outer circle are both located below the hanging object 30. The radius of the inner circle is smaller than the radius of the outer circle. The radii of the inner circle and the outer circle are composed of three parts: the base radius, the compensation radius, and the error offset.

[0107] In some embodiments, step S200 specifically includes the following steps S210-S260:

[0108] S210: Obtain the maximum size of the hoisted object, the maximum offset angle of the hoisted object, and the height of the hoisted object.

[0109] The maximum size of the hoisted object, the maximum offset angle of the hoisted object, and the height of the hoisted object can be input into the terminal device by a user (e.g., an operator) through an interactive device (e.g., a visualization screen and an input device), so that the terminal device can obtain the maximum size of the hoisted object and the maximum offset angle of the hoisted object.

[0110] Due to the diversity and irregularity of hanging objects, it may be difficult to select the dimension information in a certain direction. Therefore, the length corresponding to the direction of the largest dimension of the hanging object (such as the diameter of a circular hanging object, the length of a rectangular hanging object, and the length of the longest side of an irregularly shaped hanging object) can be selected as the maximum dimension of the hanging object.

[0111] The Safety Regulations for Tower Cranes (GB 5144-2006) recommends that suspended objects should avoid violent swinging. Therefore, the maximum offset angle of the suspended object refers to the maximum offset angle allowed for the suspended object. Users can adjust it according to actual working conditions, safety standards and environmental conditions. For example, it can be set to 5°.

[0112] The height of the hoisted object can be measured by the user using electronic distance meter and other equipment in combination with the tower structure according to the actual construction environment.

[0113] S220: Determine a basic radius of the inner circle and a basic radius of the outer circle based on the maximum size of the hanging object, the maximum offset angle of the hanging object, and the height of the hanging object.

[0114] The basic radius of the inner circle can be obtained based on the maximum size of the hanging object, and the calculation method is as follows:

[0115]

[0116] in, is the base radius of the inner circle, The maximum size of the hanging object.

[0117] The basic radius of the outer circle can be obtained based on the maximum size of the hoisted object, the maximum deviation angle of the hoisted object and the height of the hoisted object. The calculation method is as follows:

[0118]

[0119] in, is the basic radius of the risk zone, is the maximum deviation angle of the hanging object, The height of the hanging object.

[0120] S230: Determine the coordinates of the centers of the concentric circles in the crane coordinate system.

[0121] In theory, the center of the concentric circle is the projection of the center of gravity of the hanging object 30 on the ground. However, in practice, due to the diversity and irregularity of the hanging object 30, its center of gravity is difficult to determine. Therefore, in practice, the hanging point of the hanging object 30 on the tower crane can be used as its center of gravity. Since the hanging object 30 only moves along the X-axis on the tower arm 20 and has no offset on the Y-axis and Z-axis, the coordinates of the center of the concentric circle in the tower crane coordinate system can be obtained by the moving distance of the hanging object 30 on the tower arm 20. Specifically, assuming that the coordinates of the concentric circle center in the crane coordinate system are ,but .

[0122] S240: Determine the compensation radius.

[0123] In some embodiments, step S240 specifically includes the following steps S241-S243:

[0124] S241: Obtain the brightness and contrast, weight of the hanging object, and wind speed of the tower crane construction environment image.

[0125] like Figure 2 As shown, a camera 40 is mounted on the tower crane to capture images of the crane's construction environment. For example, the camera 40 can be mounted at the starting point of the tower arm 20 and tilted downward at an angle α to ensure that the capture range covers the entire crane's working area.

[0126] The camera 40 can be connected to the terminal device so that the image taken by the camera 40 can be sent to the terminal device. The terminal device can calculate the brightness and contrast of the tower crane construction environment image. The method of calculating the brightness and contrast of the image is an existing technology and will not be repeated here.

[0127] The weight of the suspended object can be obtained by a gravity sensor and input into the terminal device. The wind speed is the wind speed in the on-site construction environment, which can be measured by a wind speed measuring instrument and sent to the terminal device (or input into the terminal device by the user).

[0128] S242: Perform fuzzy reasoning on the brightness and contrast of the tower crane construction environment image to obtain the membership degree of the fuzzy set of light intensity.

[0129] Step S242 specifically includes the following steps S242a-S242c:

[0130] S242a: According to the pre-set fuzzy sets and their corresponding membership functions, the brightness and contrast of the tower crane construction environment image are converted into the membership of their respective fuzzy sets.

[0131] In some embodiments, the domains of brightness and contrast of the tower crane construction environment image can be set to [0, 255], and the domain of light intensity can be set to [0, 2]; then, within the range of their respective domains, brightness, contrast, and light intensity can be divided into three fuzzy sets of low (Low), medium (Medium), and high (High); each fuzzy set can define a corresponding membership function, for example, a trapezoidal membership function, a triangular membership function, or any other suitable membership function can be selected.

[0132] An example of the membership function interval for brightness is as follows:

[0133] The low brightness interval range is [0,120], and the corresponding membership function adopts a trapezoidal function, which is expressed as follows:

[0134]

[0135] The range of medium brightness is [60,180], and the corresponding membership function uses a triangular function, which is expressed as:

[0136]

[0137] The high brightness interval range is [120, 255], and the corresponding membership function uses a trapezoidal function, which is expressed as:

[0138]

[0139] Examples of membership function intervals for contrast are as follows:

[0140] The low contrast interval range is [0,65], and the corresponding membership function uses a trapezoidal function, which is expressed as:

[0141]

[0142] The medium contrast interval range is [30,100], and the corresponding membership function uses a triangular function, which is expressed as:

[0143]

[0144] The high contrast interval range is [65, 255], and the corresponding membership function uses a trapezoidal function, which is expressed as:

[0145]

[0146] An example of the membership function interval for light intensity is as follows:

[0147] The interval range of low light intensity is [0,1], and the corresponding membership function adopts a trapezoidal function, which is expressed as:

[0148]

[0149] The interval range of medium light intensity is [0.5, 1.5], and the corresponding membership function uses a triangular function, which is expressed as:

[0150]

[0151] The interval range of high light intensity is [1,2], and the corresponding membership function adopts trapezoidal function, which is expressed as:

[0152]

[0153] S242b: Calculate the activation degree of each rule of the preset first fuzzy rule base based on the membership degree of the fuzzy set of brightness and contrast.

[0154] In some embodiments, the first fuzzy rule base includes the following rules:

[0155] Rule 1: If brightness is low and contrast is low, then light intensity is low.

[0156] Rule 2: If brightness is low and contrast is medium, then light intensity is low.

[0157] Rule 3: If brightness is low and contrast is high, then light intensity is low.

[0158] Rule 4: If brightness is medium and contrast is low, then light intensity is medium.

[0159] Rule 5: If brightness is medium and contrast is medium, then light intensity is medium.

[0160] Rule 6: If brightness is medium and contrast is high, then light intensity is high.

[0161] Rule 7: If brightness is high and contrast is low, then light intensity is medium.

[0162] Rule 8: If brightness is high and contrast is medium, then the light intensity is high.

[0163] Rule 9: If brightness is high and contrast is high, then light intensity is high.

[0164] It is understandable that the fuzzy rule base can be expanded based on expert experience or actual data.

[0165] In some embodiments, the activation level of each rule may be calculated using a logical "AND" operation. The specific calculation method is as follows:

[0166]

[0167] in, is the activation degree of the i-th rule, is the membership degree of the brightness fuzzy set in rule i, is the membership degree of the contrast fuzzy set in rule i.

[0168] For example, if the brightness is 105 and the contrast is 53, substitute the brightness 105 into 、 、 In the calculation, the membership value of brightness 105 to each fuzzy set is:

[0169]

[0170] in, is the membership degree to low brightness, is the membership degree of the center brightness, is the membership degree to high brightness.

[0171] Substitute the contrast 53 into 、 、 In the calculation, the membership value of each fuzzy set of contrast 53 is:

[0172]

[0173] in, is the membership to low contrast, is the membership degree of low to medium contrast, is the degree of membership to high contrast.

[0174] Then, according to the first fuzzy rule base, the activation degree of each rule is calculated:

[0175] Rule 1:

[0176] Rule 2:

[0177] Rule 4:

[0178] Rule 5:

[0179] Since the membership of high brightness and high contrast is 0, the activation levels of rules 3 and 6-9 are all 0.

[0180] S242c: Determine the degree of membership of the fuzzy set of light intensity according to the activation degree of each rule of the first fuzzy rule base.

[0181] The activation degree of each rule is the membership of the corresponding light intensity fuzzy set. By aggregating the activation degrees of the rules corresponding to the same light intensity fuzzy set, we can obtain the membership of the light intensity fuzzy set. Aggregation usually means taking the maximum value, that is, taking the maximum activation degree as the membership of the light intensity fuzzy set.

[0182] Taking brightness 105 and contrast 53 as an example, the illumination intensity fuzzy set corresponding to rules 1, 2, and 3 is low illumination intensity, and the membership of low illumination intensity is the maximum activation level of rules 1, 2, and 3, i.e., 0.25; the illumination intensity fuzzy set corresponding to rules 4, 5, and 7 is medium illumination intensity, and the membership of medium illumination intensity is the maximum activation level of rules 4, 5, and 7, i.e., 0.66; the illumination intensity fuzzy set corresponding to rules 6, 8, and 9 is high illumination intensity, and the membership of high illumination intensity is the maximum activation level of rules 6, 8, and 9, i.e., 0. In other words, .

[0183] S243: Perform fuzzy reasoning based on the membership of the fuzzy set of light intensity, the weight of the hanging object, and the wind speed to obtain a compensation radius.

[0184] In some embodiments, step S243 specifically includes the following steps S243a-S243d:

[0185] S243a: According to the pre-set fuzzy sets and their corresponding membership functions, the weight of the hanging object and the wind speed are converted into the membership of their respective fuzzy sets.

[0186] In some embodiments, the domains of hanger weight, wind speed, and compensation radius can be defined first. Within each domain, these domains can then be divided into multiple fuzzy sets, each of which can have a corresponding membership function defined. Using these defined fuzzy sets and their corresponding membership functions, the actual hanger weight and wind speed can be converted into the membership of their respective fuzzy sets.

[0187] S243b: Calculate the activation degree of each rule of the preset second fuzzy rule base based on the membership of the fuzzy set of light intensity, the membership of the fuzzy set of suspended object weight, and the membership of the fuzzy set of wind speed.

[0188] The method for calculating the activation degree of each rule is similar to that in step S242b. For details, please refer to S242b and will not be repeated here.

[0189] S243c: Determine the membership of the fuzzy set of the compensation radius according to the activation degree of each rule of the second fuzzy rule base.

[0190] The method of determining the membership of the fuzzy set of the compensation radius according to the activation degree of each rule is similar to that in step S242c. For details, please refer to step S242c and will not be repeated here.

[0191] S243d: Defuzzify the membership degree of the fuzzy set of the compensation radius to obtain the value of the compensation radius.

[0192] In some embodiments, any suitable defuzzification method (e.g., centroid method, maximum membership method, weighted average method) may be used to perform defuzzification to convert the membership of the fuzzy set of light intensity into an output value of light intensity. For example, the calculation formula of the weighted average method is:

[0193]

[0194] Among them, I is the output value of light intensity, n is the number of light intensity fuzzy sets, is the centroid of the i-th fuzzy set, is the membership degree of light intensity on the i-th fuzzy set.

[0195] Assumptions are the boundary points of the trapezoidal membership function, and the calculation method of the centroid of the trapezoidal membership function on the corresponding interval is as follows:

[0196]

[0197] Assumptions are the boundary points of the triangle membership function, and the calculation method of the triangle membership function on the corresponding interval is as follows:

[0198]

[0199] For example, the domain of the load weight is defined as [0,5]t, the domain of the wind speed is defined as [0,15]m / s, and the domain of the compensation radius is defined as [0,1]m. Within the above domains, the load weight is divided into three fuzzy sets: light, medium, and heavy; the wind speed is divided into three fuzzy sets: weak, medium, and strong; and the compensation radius is divided into three fuzzy sets: small, medium, and large. The membership function of each fuzzy set is defined as follows:

[0200] The weight of light objects adopts a trapezoidal membership function, and the membership function interval is [0, 0, 0.5, 2.5]. 0, 0, 0.5 and 2.5 are the four boundary points of the trapezoidal membership function interval. The expression of the membership function is:

[0201]

[0202] The weight of the medium load adopts a triangular membership function with a membership function interval of [0.5, 2.5, 4.5] and the expression is:

[0203]

[0204] The weight of heavy objects adopts a trapezoidal membership function with a membership function interval of [2.5, 4.5, 5, 5], and the expression is:

[0205]

[0206] Weak wind uses a trapezoidal membership function with a membership function interval of [0, 0, 3, 7.5], and the expression is:

[0207]

[0208] Medium stroke: Triangular membership function (trimf) is used, with the membership function interval [3, 7.5, 12], and the expression is:

[0209]

[0210] Strong winds use a trapezoidal membership function with a membership interval of [7.5, 12, 15, 15], expressed as:

[0211]

[0212] The small compensation radius adopts a trapezoidal membership function with a membership function interval of [0, 0, 0.2, 0.5], and the expression is:

[0213]

[0214] The compensation radius adopts the triangle membership function, the interval is [0.2, 0.5, 0.8], and the expression is:

[0215]

[0216] The large compensation radius uses a trapezoidal membership function in the interval [0.5, 0.8, 1, 1], and the expression is:

[0217]

[0218] The second fuzzy rule base contains the following rules:

[0219] Rule 1: If the load (i.e. the weight of the object) is light, the wind speed is weak, and the light intensity is low, the compensation radius is medium;

[0220] Rule 2: If the load is light, the wind speed is weak, and the light intensity is medium, the compensation radius is small;

[0221] Rule 3: If the load is light, the wind speed is weak, and the light intensity is high, the compensation radius is small;

[0222] Rule 4: If the load is light, the wind speed is medium, and the light intensity is low, the compensation radius is medium;

[0223] Rule 5: If the load is light, the wind speed is medium, and the light intensity is medium, then the compensation radius is medium;

[0224] Rule 6: If the load is light, the wind speed is medium, and the light intensity is high, the compensation radius is medium;

[0225] Rule 7: If the load is light, the wind speed is strong, and the light intensity is low, the compensation radius is large;

[0226] Rule 8: If the load is light, the wind speed is strong, and the light intensity is medium, the compensation radius is large;

[0227] Rule 9: If the load is light, the wind speed is strong, and the light intensity is high, the compensation radius is large;

[0228] Rule 10: If the load is medium, the wind speed is weak, and the light intensity is low, the compensation radius is medium;

[0229] Rule 11: If the load is medium, the wind speed is weak, and the light intensity is medium, then the compensation radius is medium;

[0230] Rule 12: If the load is medium, the wind speed is weak, and the light intensity is high, the compensation radius is medium;

[0231] Rule 13: If the load is medium, the wind speed is medium, and the light intensity is low, the compensation radius is large;

[0232] Rule 14: If the load is medium, the wind speed is medium, and the light intensity is medium, then the compensation radius is medium;

[0233] Rule 15: If the load is medium, the wind speed is medium, and the light intensity is high, then the compensation radius is medium;

[0234] Rule 16: If the load is medium, the wind speed is strong, and the light intensity is low, the compensation radius is large;

[0235] Rule 17: If the load is medium, the wind speed is strong, and the light intensity is medium, the compensation radius is large;

[0236] Rule 18: If the load is medium, the wind speed is strong, and the light intensity is high, the compensation radius is large;

[0237] Rule 19: If the load is heavy, the wind speed is weak, and the light intensity is low, the compensation radius is large;

[0238] Rule 20: If the load is heavy, the wind speed is weak, and the light intensity is medium, the compensation radius is medium;

[0239] Rule 21: If the load is heavy, the wind speed is weak, and the light intensity is high, the compensation radius is medium;

[0240] Rule 22: If the load is heavy, the wind speed is medium, and the light intensity is low, the compensation radius is large;

[0241] Rule 23: If the load is heavy, the wind speed is medium, and the light intensity is medium, then the compensation radius is large;

[0242] Rule 24: If the load is heavy, the wind speed is medium, and the light intensity is high, the compensation radius is large;

[0243] Rule 25: If the load is heavy, the wind speed is strong, and the light intensity is low, the compensation radius is large;

[0244] Rule 26: If the load is heavy, the wind speed is strong, and the light intensity is medium, the compensation radius is large;

[0245] Rule 27: If the load is heavy, the wind speed is strong, and the light intensity is high, the compensation radius is large.

[0246] As mentioned above, when the brightness is 105 and the contrast is 53, the membership of the fuzzy set of the calculated light intensity is:

[0247]

[0248] in, is the membership degree of low light intensity, is the membership degree of medium light intensity, is the membership degree of high light intensity.

[0249] Assuming the weight of the hanging object is 0.8t and the wind speed is 5m / s, the membership function of the fuzzy set based on the weight of the hanging object can be 、 、 Membership function of fuzzy set of wind speed 、 、 Calculate the membership of the fuzzy set of the weight of the hanging object and the wind speed:

[0250]

[0251]

[0252] in, is the membership degree of the light load weight, is the membership degree of the weight of the middle load, is the membership degree of the heavy load weight, is the membership degree of weak wind, is the membership degree of stroke, is the degree of membership of strong wind.

[0253] Then the activation strength of each rule of the second fuzzy rule base is calculated:

[0254] Rule 1:

[0255] Rule 2:

[0256] Rule 4:

[0257] Rule 5:

[0258] Rule 10:

[0259] Rule 11:

[0260] Rule 13:

[0261] Rule 14:

[0262] Except for the above rules, the activation strength of the remaining rules is 0.

[0263] Aggregating the rules of the second fuzzy rule base, we can obtain the membership of small compensation radius, medium compensation radius and large compensation radius. 、 、 They are:

[0264]

[0265]

[0266]

[0267] Then, the fuzzy set of the compensation radius is defuzzified. First, the centroids of the small compensation radius, medium compensation radius, and large compensation radius are calculated to be 0.19, 0.50, and 0.81, respectively. Then, the weighted average method is used to calculate the output value of the compensation radius:

[0268]

[0269] That is, the value of the compensation radius is 0.39m.

[0270] S250: Obtain error bias.

[0271] In some embodiments, the user can set an error offset based on the actual construction scenario to compensate for errors caused by uncertainties. After setting the error offset, the user enters the error offset into the terminal device for the terminal to access. For example, the error offset can be set to 0.1m.

[0272] S260: Adding the base radius, the compensation radius, and the error offset of the inner circle to obtain the radius of the inner circle; and adding the base radius, the compensation radius, and the error offset of the outer circle to obtain the radius of the outer circle.

[0273] Since both the inner circle and the outer circle are composed of the base radius, the compensation radius, and the error offset, the radius of the inner circle and the radius of the outer circle can be obtained by adding the three parts obtained in the previous steps.

[0274] Once the coordinates of the center of the concentric circles in the crane coordinate system, the radius of the inner circle and the radius of the outer circle are determined, the dangerous area of ​​the crane in the crane coordinate system can be obtained.

[0275] S300: Mapping the tower crane dangerous area from the tower crane coordinate system to the image coordinate system, and marking the tower crane dangerous area in the image.

[0276] In some embodiments, step S300 specifically includes the following steps S310-S360:

[0277] S310: Convert the coordinates of the centers of the concentric circles in the crane coordinate system to the image coordinate system to obtain the coordinates of the centers of the concentric circles in the image coordinate system.

[0278] In some embodiments, step S310 specifically includes the following steps S311-S313:

[0279] S311: Determine the external parameters and internal parameters of the camera 40.

[0280] The external parameters of the camera 40 refer to the transformation relationship between the camera coordinate system and the crane coordinate system, and the internal parameters of the camera 40 refer to the transformation relationship between the image coordinate system and the camera coordinate system, such as Figure 4 As shown, the camera coordinate system takes the camera optical center as the origin O, the positive direction of the Z axis of the camera coordinate system is consistent with the positive direction of the camera optical axis, the positive direction of the X axis is consistent with the horizontal right direction of the camera image plane, and the positive direction of the Y axis is consistent with the vertical downward direction of the camera image plane; the image coordinate system is the pixel coordinate system, which usually takes the upper left corner of the image as the origin and the horizontal direction as the Axis (right is positive), vertical direction is axis (positive is downward).

[0281] The extrinsic parameters E of the camera 40 include a rotation matrix R and a translation vector T, where E=[R|T]. The extrinsic parameters can be obtained by a camera calibration method or a direct calculation method.

[0282] Camera calibration method:

[0283] Take multiple images of the calibration plate in the actual scene and use existing algorithms (such as OpenCV's calibrateCamera) to solve the camera's extrinsic and intrinsic parameters.

[0284] Direct calculation method:

[0285] like Figure 2 As shown, based on the installation position of the camera 40 on the tower crane, the final rotation matrix can be obtained by calculating the rotation order and the corresponding rotation matrix. Specifically, the tower crane coordinate system is first rotated 90° around its own Y axis to obtain the rotation matrix R1:

[0286]

[0287] Then rotate -90° around its own X axis to obtain the rotation matrix R2:

[0288]

[0289] Then rotate it around its own Y axis by an angle of α to obtain the rotation matrix R3:

[0290]

[0291] Inversely multiply the three rotation matrices to obtain the rotation matrix R:

[0292]

[0293] The translation vector T can be calculated through the coordinates of the camera coordinate system origin in the tower crane coordinate system.

[0294] Assuming that the Z-axis coordinate of the origin of the camera coordinate system in the crane coordinate system is H, then: .

[0295] The internal parameters of camera 40 are obtained by camera calibration method. The internal parameters of camera 40 include focal length , principal point coordinates .

[0296] S312: Based on the external parameters of the camera, the coordinates of the centers of the concentric circles in the crane coordinate system are converted to the camera coordinate system to obtain the coordinates of the centers of the concentric circles in the camera coordinate system.

[0297] The method to convert the coordinates in the crane coordinate system to the camera coordinate system is as follows:

[0298]

[0299] in, is the coordinate in the camera coordinate system, is the coordinate in the crane coordinate system.

[0300] S313: Based on the internal parameters of the camera 40, the coordinates of the centers of the concentric circles in the camera coordinate system are converted to the image coordinate system to obtain the coordinates of the centers of the inner circle and the outer circle in the image coordinate system.

[0301] Assume that the point in the camera coordinate system is = , then the pixel coordinates obtained after conversion to the image coordinate system are , the calculation formula of pixel coordinates is as follows:

[0302]

[0303]

[0304] In some embodiments, the intrinsic parameters of the camera 40 may also include distortion coefficients. , distortion coefficient can also be used for correction.

[0305] S320: The point on the inner circle located directly above or below the center (i.e., along the positive or negative direction of the Y axis) is used as the first inner circle key point, the point on the inner circle located directly to the right or left of the center (i.e., along the positive or negative direction of the X axis) is used as the second inner circle key point, the point on the outer circle located directly above or below the center is used as the first outer circle key point, and the point on the outer circle located directly to the right or left of the center is used as the second outer circle key point; the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the tower crane coordinate system are obtained.

[0306] Since the coordinates of the center of the concentric circle, the radius of the inner circle, and the radius of the outer circle are all known, the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the crane coordinate system can be easily obtained. For example, assuming that in the crane coordinate system, the coordinates of the center of the concentric circle are , the radius of the inner circle is , the radius of the outer circle is , then the coordinates of the first inner circle key point are , the coordinates of the second inner circle key point are , the coordinates of the first outer circle key point are , the coordinates of the second outer circle key point are .

[0307] S330: Convert the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point and the second outer circle key point in the tower crane coordinate system to the image coordinate system to obtain the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point and the second outer circle key point in the image coordinate system.

[0308] The method of converting the coordinates of each key point from the crane coordinate system to the image coordinate system is the same as that in step S310 and will not be repeated here.

[0309] S340: Obtain the distance between the center of the concentric circle and the key point of the first inner circle in the image coordinate system as the first short axis; obtain the distance between the center of the concentric circle and the key point of the second inner circle in the image coordinate system as the first long axis; obtain the distance between the center of the concentric circle and the key point of the first inner circle in the image coordinate system as the second short axis; obtain the distance between the center of the concentric circle and the key point of the second inner circle in the image coordinate system as the second long axis.

[0310] Since the coordinates of the concentric circle centers, the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the image coordinate system are all known, the distance between each point can be easily obtained, thereby obtaining the first minor axis, the first major axis, the second minor axis, and the second major axis.

[0311] S350: Use the first ellipse in the image coordinate system as the mapping of the inner circle in the tower crane coordinate system, and use the second ellipse in the icon coordinate system as the mapping of the outer circle in the tower crane coordinate system; wherein the center coordinates of the first ellipse and the second ellipse are the coordinates of the concentric circle centers in the image coordinate system, the short axis of the first ellipse is the first short axis, the long axis of the first ellipse is the first long axis, the short axis of the second ellipse is the second short axis, and the long axis of the second ellipse is the second long axis.

[0312] S360: In the image, the area enclosed by the first ellipse is marked as a drop zone, and the area between the first ellipse and the second ellipse is marked as a risk zone. The drop zone and the risk zone in the image together form a tower crane danger zone in the image.

[0313] Since the inner circle becomes the first ellipse after being mapped to the image coordinate system, and the outer circle becomes the second ellipse after being mapped to the image coordinate system, the area enclosed by the first ellipse in the image is the representation of the drop zone in reality in the image, and the area between the second ellipse and the first ellipse is the representation of the risk zone in reality in the image. The drop zone and risk zone in the image together form the dangerous area of ​​the tower crane in the image.

[0314] The annotated image can be displayed to the operator by the terminal device through an interactive device (such as a screen). Preferably, images at different times can be spliced ​​together to form a video, and then displayed to the operator in video form. In this way, the operator can easily determine the dangerous area of ​​the tower crane through the annotations on the image / video, thereby avoiding accidents and ensuring safety during the tower crane construction process.

[0315] The tower crane dangerous area calculation method of the embodiment of the present invention can map the tower crane dangerous area into the image coordinate system and mark it in the image, so as to facilitate the operator to view. Combined with the target detection technology to detect the position information of the personnel, a multi-level pre-tightening mechanism can be established between the personnel in the dangerous area and the dangerous area, thereby improving the safety of the tower crane during the construction process; the range of the drop zone and the risk zone in the dangerous area of ​​the tower crane can be dynamically adjusted by changing the maximum size of the hoisting object, the maximum offset angle of the hoisting object, the height of the hoisting object, the brightness and contrast of the construction environment image, the weight of the hoisting object, the wind speed, the error bias, etc. to adapt to different construction environments; for example, the maximum size of the hoisting object, the maximum offset angle of the hoisting object, the height of the hoisting object, the brightness and contrast of the construction environment image, the weight of the hoisting object, the wind speed, the error bias, etc. can be obtained in real time, and then the tower crane dangerous area can be calculated in real time and marked in real time in the image.

[0316] like Figure 5As shown, an embodiment of the present invention further provides a tower crane danger zone calculation system. A camera is mounted on the tower crane, and the camera has an image coordinate system. The system includes an establishment module 60, a determination module 70, and a mapping module 80. The establishment module 60 is used to establish the tower crane coordinate system; the determination module 70 is used to determine the tower crane danger zone in the tower crane coordinate system; and the mapping module 80 is used to map the tower crane danger zone from the tower crane coordinate system to the image coordinate system and mark the tower crane danger zone in the image.

[0317] In some embodiments, the dangerous area of ​​the tower crane in the tower crane coordinate system includes a drop zone and a risk zone, the drop zone is the area enclosed by the inner circle, and the risk zone is the area between the inner circle and the outer circle, the inner circle and the outer circle are two concentric circles on the ground, the radius of the inner circle is smaller than the radius of the outer circle, and the centers of the inner circle and the outer circle are used as the centers of the concentric circles;

[0318] Determine the dangerous area of ​​the tower crane in the tower crane coordinate system, including:

[0319] Obtain the maximum size of the hoisted object, the maximum deviation angle of the hoisted object, and the height of the hoisted object;

[0320] Determine the base radius of the inner circle and the base radius of the outer circle based on the maximum size of the hoisted object, the maximum deviation angle of the hoisted object and the height of the hoisted object;

[0321] Determine the coordinates of the center of the concentric circles in the crane coordinate system;

[0322] Determine the compensation radius;

[0323] Get error bias;

[0324] The base radius, compensation radius, and error offset of the inner circle are added together to obtain the radius of the inner circle; the base radius, compensation radius, and error offset of the outer circle are added together to obtain the radius of the outer circle.

[0325] In some embodiments, determining the base radius of the inner circle and the base radius of the outer circle based on the maximum size of the hanging object, the maximum deviation angle of the hanging object, and the height of the hanging object specifically includes:

[0326] The basic radius of the inner circle is half of the maximum size of the hanging object;

[0327] The base radius of the outer circle is equal to half of the maximum size of the hanging object plus the product of the height of the hanging object and the tangent value of the maximum deviation angle of the hanging object;

[0328] The center of the concentric circles is the projection point of the center of gravity of the hanging object on the ground;

[0329] In some embodiments, determining the compensation radius specifically includes:

[0330] Obtain the brightness and contrast, load weight, and wind speed of tower crane construction environment images;

[0331] Perform fuzzy reasoning on brightness and contrast to obtain the membership of the fuzzy set of light intensity;

[0332] Fuzzy reasoning is performed based on the membership of the fuzzy set of light intensity, the weight of the hanging object and the wind speed to obtain the compensation radius;

[0333] In some embodiments, fuzzy reasoning is performed on brightness and contrast to obtain the membership of the fuzzy set of illumination intensity, specifically including:

[0334] According to the pre-set fuzzy sets and their corresponding membership functions, both brightness and contrast are converted into the membership of their respective fuzzy sets;

[0335] Calculating the activation degree of each rule of the preset first fuzzy rule base based on the membership degree of the fuzzy set of brightness and contrast;

[0336] Determining the membership of the fuzzy set of light intensity according to the activation degree of each rule of the first fuzzy rule base;

[0337] In some embodiments, fuzzy reasoning is performed based on the membership of the fuzzy set of light intensity, the weight of the hanging object, and the wind speed to obtain the compensation radius, specifically including:

[0338] Convert the weight of the hanging object and the wind speed into the membership degree of their respective fuzzy sets;

[0339] Calculating the activation degree of each rule of the preset second fuzzy rule base based on the membership degree of the fuzzy set of light intensity, the membership degree of the fuzzy set of suspended object weight, and the membership degree of the fuzzy set of wind speed;

[0340] Determining the membership degree of the fuzzy set of the compensation radius according to the activation degree of each rule of the second fuzzy rule base;

[0341] Defuzzifying the membership degree of the fuzzy set of the compensation radius to obtain the value of the compensation radius;

[0342] In some embodiments, mapping the tower crane danger zone from the tower crane coordinate system to the image coordinate system and marking the tower crane danger zone in the image specifically includes:

[0343] Convert the coordinates of the concentric circle centers in the crane coordinate system to the image coordinate system to obtain the coordinates of the concentric circle centers in the image coordinate system;

[0344] The point on the inner circle directly above or below the center is used as the first inner circle key point, the point on the inner circle directly to the right or left of the center is used as the second inner circle key point, the point on the outer circle directly above or below the center is used as the first outer circle key point, and the point on the outer circle directly to the right or left of the center is used as the second outer circle key point; the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the tower crane coordinate system are obtained;

[0345] Convert the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the crane coordinate system to the image coordinate system to obtain the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the image coordinate system;

[0346] Get the distance between the center of the concentric circle and the first inner circle key point in the image coordinate system as the first minor axis; get the distance between the center of the concentric circle and the second inner circle key point in the image coordinate system as the first major axis; get the distance between the center of the concentric circle and the first inner circle key point in the image coordinate system as the second minor axis; get the distance between the center of the concentric circle and the second inner circle key point in the image coordinate system as the second major axis;

[0347] The first ellipse in the image coordinate system is used as the mapping of the inner circle in the crane coordinate system, and the second ellipse in the icon coordinate system is used as the mapping of the outer circle in the crane coordinate system; wherein the center coordinates of the first ellipse and the second ellipse are the coordinates of the concentric circle centers in the image coordinate system, the minor axis of the first ellipse is the first minor axis, the major axis of the first ellipse is the first major axis, the minor axis of the second ellipse is the second minor axis, and the major axis of the second ellipse is the second major axis;

[0348] In the image, the area enclosed by the first ellipse is marked as the drop zone, and the area between the first ellipse and the second ellipse is marked as the risk zone. The drop zone and the risk zone in the image together form the tower crane danger zone in the image;

[0349] In some embodiments, the camera further includes a camera coordinate system; converting the coordinates of the concentric circle centers in the crane coordinate system to the image coordinate system to obtain the coordinates of the concentric circle centers in the image coordinate system specifically includes:

[0350] Determine the camera's external and internal parameters;

[0351] Based on the external parameters, the coordinates of the concentric circle centers in the crane coordinate system are converted to the camera coordinate system to obtain the coordinates of the concentric circle centers in the camera coordinate system;

[0352] Based on the intrinsic parameters, the coordinates of the concentric circle centers in the camera coordinate system are converted to the image coordinate system to obtain the coordinates of the concentric circle centers in the image coordinate system;

[0353] The coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the tower crane coordinate system are converted to the image coordinate system to obtain the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the image coordinate system, specifically including:

[0354] Based on the external parameters, the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the tower crane coordinate system are converted to the camera coordinate system to obtain the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the camera coordinate system;

[0355] Based on the internal parameters, the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point and the second outer circle key point in the camera coordinate system are converted to the image coordinate system to obtain the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point and the second outer circle key point in the image coordinate system.

[0356] The tower crane dangerous area calculation system of the embodiment of the present invention can map the tower crane dangerous area into the image coordinate system and mark it in the image, so as to facilitate the operator to view. Combined with the target detection technology to detect the position information of the personnel, a multi-level pre-tightening mechanism can be established between the personnel in the dangerous area and the dangerous area, thereby improving the safety of the tower crane during the construction process; the range of the drop zone and the risk zone in the dangerous area of ​​the tower crane can be dynamically adjusted by changing the maximum size of the hoisting object, the maximum offset angle of the hoisting object, the height of the hoisting object, the brightness and contrast of the construction environment image, the weight of the hoisting object, the wind speed, the error bias, etc. to adapt to different construction environments; for example, the maximum size of the hoisting object, the maximum offset angle of the hoisting object, the height of the hoisting object, the brightness and contrast of the construction environment image, the weight of the hoisting object, the wind speed, the error bias, etc. can be obtained in real time, and then the dangerous area of ​​the tower crane can be calculated in real time and marked in real time in the image.

[0357] Yet another embodiment of the present invention provides a readable storage medium having a computer program stored thereon. When the computer program is executed in a computer, the computer is caused to execute the steps of the method in the above embodiment of the present invention.

[0358] Another embodiment of the present invention provides an electronic device, which includes a memory and a processor. The memory stores executable code. When the processor executes the executable code, it performs the steps of the method in the above embodiment of the present invention.

[0359] The systems, devices, modules, or units described in the above embodiments may be implemented by computer chips or entities, or by products having certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0360] For the convenience of description, the above device is described as being divided into various units according to their functions. Of course, when implementing the present invention, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0361] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0362] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. 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.

[0363] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0364] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0365] In a typical configuration, an electronic device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0366] Memory may include non-permanent storage 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. Memory is an example of a computer-readable medium.

[0367] 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 disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, 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 an electronic device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0368] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0369] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROMs, optical storage, etc.) containing computer-usable program code.

[0370] The present invention may be described in the general context of computer-executable instructions, such as program modules, executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, and the like that perform specific tasks or implement specific abstract data types. The present invention may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media, including storage devices.

[0371] The various embodiments of the present invention are described in a progressive manner. Similar portions between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiment is generally similar to the method embodiment, so its description is relatively simple. For relevant portions, refer to the description of the method embodiment.

[0372] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of the present invention. Various modifications are possible. In other words, any simple, equivalent changes and modifications made in accordance with the claims and description of the present invention are within the scope of protection of the patent claims. Anything not fully described in this invention constitutes conventional technology.

Claims

1. A tower crane dangerous area calculation method, characterized in that: A camera is installed on the tower crane, and the camera has an image coordinate system. The method includes: Establish the tower crane coordinate system; Determining a dangerous area of ​​the tower crane in the tower crane coordinate system; The tower crane dangerous area is mapped from the tower crane coordinate system to the image coordinate system, and the tower crane dangerous area is marked in the image.

2. The tower crane danger zone calculation method according to claim 1, characterized in that: The dangerous area of ​​the tower crane in the tower crane coordinate system includes a drop zone and a risk zone, wherein the drop zone is the area enclosed by the inner circle, and the risk zone is the area between the inner circle and the outer circle. The inner circle and the outer circle are two concentric circles on the ground, the radius of the inner circle is smaller than the radius of the outer circle, and the centers of the inner circle and the outer circle are used as the centers of the concentric circles; Determining the dangerous area of ​​the tower crane in the tower crane coordinate system specifically includes: Obtain the maximum size of the hoisted object, the maximum deviation angle of the hoisted object, and the height of the hoisted object; Determine the base radius of the inner circle and the base radius of the outer circle based on the maximum size of the hanging object, the maximum deviation angle of the hanging object, and the height of the hanging object; Determine the coordinates of the center of the concentric circle in the tower crane coordinate system; Determine the compensation radius; Get error bias; The base radius of the inner circle, the compensation radius and the error offset are added together to obtain the radius of the inner circle; the base radius of the outer circle, the compensation radius and the error offset are added together to obtain the radius of the outer circle.

3. The tower crane danger zone calculation method according to claim 2, characterized in that: Determining the basic radius of the inner circle and the basic radius of the outer circle based on the maximum size of the hanging object, the maximum deviation angle of the hanging object, and the height of the hanging object specifically includes: The base radius of the inner circle is half of the maximum size of the hanging object; The base radius of the outer circle is equal to half of the maximum size of the hanging object plus the product of the height of the hanging object and the tangent value of the maximum deviation angle of the hanging object; The center of the concentric circles is the projection point of the center of gravity of the hanging object on the ground.

4. The tower crane danger zone calculation method according to claim 2, characterized in that: Determine the compensation radius, including: Obtain the brightness and contrast, load weight, and wind speed of tower crane construction environment images; Performing fuzzy reasoning on the brightness and the contrast to obtain a membership degree of a fuzzy set of light intensity; Fuzzy reasoning is performed based on the membership degree of the fuzzy set of the light intensity, the weight of the hanging object and the wind speed to obtain a compensation radius.

5. The tower crane danger zone calculation method according to claim 4, characterized in that: Performing fuzzy reasoning on the brightness and the contrast to obtain a membership degree of a fuzzy set of light intensity specifically includes: According to a preset fuzzy set and its corresponding membership function, the brightness and the contrast are converted into membership of their respective fuzzy sets; Calculating the activation degree of each rule of a preset first fuzzy rule base based on the membership degree of the fuzzy set of the brightness and the contrast; determining the degree of membership of the fuzzy set of the light intensity according to the activation degree of each rule of the first fuzzy rule base; Performing fuzzy reasoning based on the membership of the fuzzy set of the light intensity, the weight of the suspended object, and the wind speed to obtain a compensation radius specifically includes: Converting the weight of the hanging object and the wind speed into the membership degree of their respective fuzzy sets; Calculating the activation degree of each rule of a preset second fuzzy rule base based on the membership degree of the fuzzy set of the light intensity, the membership degree of the fuzzy set of the suspended object weight, and the membership degree of the fuzzy set of the wind speed; determining the membership of the fuzzy set of the compensation radius according to the activation degree of each rule of the second fuzzy rule base; The membership degree of the fuzzy set of the compensation radius is defuzzified to obtain a value of the compensation radius.

6. The tower crane danger zone calculation method according to claim 4, characterized in that: Mapping the tower crane dangerous area from the tower crane coordinate system to the image coordinate system, and marking the tower crane dangerous area in the image, specifically includes: Convert the coordinates of the concentric circle centers in the crane coordinate system to the image coordinate system to obtain the coordinates of the concentric circle centers in the image coordinate system; The point on the inner circle located directly above or below the center is used as the first inner circle key point, the point on the inner circle located directly to the right or left of the center is used as the second inner circle key point, the point on the outer circle located directly above or below the center is used as the first outer circle key point, and the point on the outer circle located directly to the right or left of the center is used as the second outer circle key point; the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the tower crane coordinate system are obtained; Converting the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the tower crane coordinate system to the image coordinate system to obtain the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the image coordinate system; Obtain the distance between the center of the concentric circle and the first inner circle key point in the image coordinate system as the first minor axis; obtain the distance between the center of the concentric circle and the second inner circle key point in the image coordinate system as the first major axis; obtain the distance between the center of the concentric circle and the first inner circle key point in the image coordinate system as the second minor axis; obtain the distance between the center of the concentric circle and the second inner circle key point in the image coordinate system as the second major axis; The first ellipse in the image coordinate system is used as the mapping of the inner circle in the crane coordinate system, and the second ellipse in the icon coordinate system is used as the mapping of the outer circle in the crane coordinate system; wherein the center coordinates of the first ellipse and the second ellipse are the coordinates of the concentric circle centers in the image coordinate system, the minor axis of the first ellipse is the first minor axis, the major axis of the first ellipse is the first major axis, the minor axis of the second ellipse is the second minor axis, and the major axis of the second ellipse is the second major axis; In the image, the area enclosed by the first ellipse is marked as the falling area, and the area between the first ellipse and the second ellipse is marked as the risk area. The falling area and the risk area in the image together form the tower crane dangerous area in the image.

7. The tower crane danger zone calculation method according to claim 6, characterized in that: The camera also includes a camera coordinate system; the coordinates of the concentric circle centers in the crane coordinate system are converted to the image coordinate system to obtain the coordinates of the concentric circle centers in the image coordinate system, specifically including: Determine the camera's external and internal parameters; Based on the external parameters, the coordinates of the centers of the concentric circles in the crane coordinate system are converted to the camera coordinate system to obtain the coordinates of the centers of the concentric circles in the camera coordinate system; Based on the intrinsic parameters, the coordinates of the centers of the concentric circles in the camera coordinate system are converted to the image coordinate system to obtain the coordinates of the centers of the concentric circles in the image coordinate system; Converting the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the tower crane coordinate system to the image coordinate system to obtain the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the image coordinate system specifically includes: Based on the external parameters, the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the tower crane coordinate system are converted to the camera coordinate system to obtain the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the camera coordinate system; Based on the internal parameters, the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point and the second outer circle key point in the camera coordinate system are converted to the image coordinate system to obtain the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point and the second outer circle key point in the image coordinate system.

8. A tower crane dangerous area calculation system, characterized in that: A camera is installed on the tower crane, and the camera has an image coordinate system. The system includes: Establish a module for establishing the tower crane coordinate system; A determination module, configured to determine a dangerous area of ​​the tower crane in the tower crane coordinate system; A mapping module is used to map the tower crane dangerous area from the tower crane coordinate system to the image coordinate system, and mark the tower crane dangerous area in the image.

9. The tower crane dangerous area calculation system according to claim 8, characterized in that: The dangerous area of ​​the tower crane in the tower crane coordinate system includes a drop zone and a risk zone, wherein the drop zone is the area enclosed by the inner circle, and the risk zone is the area between the inner circle and the outer circle. The inner circle and the outer circle are two concentric circles on the ground, the radius of the inner circle is smaller than the radius of the outer circle, and the centers of the inner circle and the outer circle are used as the centers of the concentric circles; Determining the dangerous area of ​​the tower crane in the tower crane coordinate system specifically includes: Obtain the maximum size of the hoisted object, the maximum deviation angle of the hoisted object, and the height of the hoisted object; Determine the base radius of the inner circle and the base radius of the outer circle based on the maximum size of the hanging object, the maximum deviation angle of the hanging object, and the height of the hanging object; Determine the coordinates of the center of the concentric circle in the tower crane coordinate system; Determine the compensation radius; Get error bias; The base radius of the inner circle, the compensation radius and the error offset are added together to obtain the radius of the inner circle; the base radius of the outer circle, the compensation radius and the error offset are added together to obtain the radius of the outer circle.

10. The tower crane dangerous area calculation system according to claim 9, characterized in that: Determining the basic radius of the inner circle and the basic radius of the outer circle based on the maximum size of the hanging object, the maximum deviation angle of the hanging object, and the height of the hanging object specifically includes: The base radius of the inner circle is half of the maximum size of the hanging object; The base radius of the outer circle is equal to half of the maximum size of the hanging object plus the product of the height of the hanging object and the tangent value of the maximum deviation angle of the hanging object; The center of the concentric circle is the projection point of the center of gravity of the hanging object on the ground; Determine the compensation radius, including: Obtain the brightness and contrast, load weight, and wind speed of tower crane construction environment images; Performing fuzzy reasoning on the brightness and the contrast to obtain a membership degree of a fuzzy set of light intensity; Performing fuzzy reasoning based on the membership degree of the fuzzy set of the light intensity, the weight of the hanging object, and the wind speed to obtain a compensation radius; Performing fuzzy reasoning on the brightness and the contrast to obtain a membership degree of a fuzzy set of light intensity specifically includes: According to a preset fuzzy set and its corresponding membership function, the brightness and the contrast are converted into membership of their respective fuzzy sets; Calculating the activation degree of each rule of a preset first fuzzy rule base based on the membership degree of the fuzzy set of the brightness and the contrast; determining the degree of membership of the fuzzy set of the light intensity according to the activation degree of each rule of the first fuzzy rule base; Performing fuzzy reasoning based on the membership of the fuzzy set of the light intensity, the weight of the suspended object, and the wind speed to obtain a compensation radius specifically includes: Converting the weight of the hanging object and the wind speed into the membership degree of their respective fuzzy sets; Calculating the activation degree of each rule of a preset second fuzzy rule base based on the membership degree of the fuzzy set of the light intensity, the membership degree of the fuzzy set of the suspended object weight, and the membership degree of the fuzzy set of the wind speed; determining the membership of the fuzzy set of the compensation radius according to the activation degree of each rule of the second fuzzy rule base; Defuzzifying the membership degree of the fuzzy set of the compensation radius to obtain a value of the compensation radius; Mapping the tower crane dangerous area from the tower crane coordinate system to the image coordinate system, and marking the tower crane dangerous area in the image, specifically includes: Convert the coordinates of the concentric circle centers in the crane coordinate system to the image coordinate system to obtain the coordinates of the concentric circle centers in the image coordinate system; The point on the inner circle located directly above or below the center is used as the first inner circle key point, the point on the inner circle located directly to the right or left of the center is used as the second inner circle key point, the point on the outer circle located directly above or below the center is used as the first outer circle key point, and the point on the outer circle located directly to the right or left of the center is used as the second outer circle key point; the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the tower crane coordinate system are obtained; Converting the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the tower crane coordinate system to the image coordinate system to obtain the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the image coordinate system; Obtain the distance between the center of the concentric circle and the first inner circle key point in the image coordinate system as the first minor axis; obtain the distance between the center of the concentric circle and the second inner circle key point in the image coordinate system as the first major axis; obtain the distance between the center of the concentric circle and the first inner circle key point in the image coordinate system as the second minor axis; obtain the distance between the center of the concentric circle and the second inner circle key point in the image coordinate system as the second major axis; The first ellipse in the image coordinate system is used as the mapping of the inner circle in the crane coordinate system, and the second ellipse in the icon coordinate system is used as the mapping of the outer circle in the crane coordinate system; wherein the center coordinates of the first ellipse and the second ellipse are the coordinates of the concentric circle centers in the image coordinate system, the minor axis of the first ellipse is the first minor axis, the major axis of the first ellipse is the first major axis, the minor axis of the second ellipse is the second minor axis, and the major axis of the second ellipse is the second major axis; In the image, the area enclosed by the first ellipse is marked as the drop zone, and the area between the first ellipse and the second ellipse is marked as the risk zone. The drop zone and the risk zone in the image together form the tower crane danger zone in the image; The camera also includes a camera coordinate system; the coordinates of the concentric circle centers in the crane coordinate system are converted to the image coordinate system to obtain the coordinates of the concentric circle centers in the image coordinate system, specifically including: Determine the camera's external and internal parameters; Based on the external parameters, the coordinates of the centers of the concentric circles in the crane coordinate system are converted to the camera coordinate system to obtain the coordinates of the centers of the concentric circles in the camera coordinate system; Based on the intrinsic parameters, the coordinates of the centers of the concentric circles in the camera coordinate system are converted to the image coordinate system to obtain the coordinates of the centers of the concentric circles in the image coordinate system; Converting the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the tower crane coordinate system to the image coordinate system to obtain the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the image coordinate system specifically includes: Based on the external parameters, the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the tower crane coordinate system are converted to the camera coordinate system to obtain the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point, and the second outer circle key point in the camera coordinate system; Based on the internal parameters, the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point and the second outer circle key point in the camera coordinate system are converted to the image coordinate system to obtain the coordinates of the first inner circle key point, the second inner circle key point, the first outer circle key point and the second outer circle key point in the image coordinate system.

Images