Examination method and device for tower crane suspension impact square block and storage medium

Abstract

The invention discloses an assessment method and device for a tower crane suspended impact square block and a storage medium, and the method comprises the steps: detecting the position relation between a moving target and an assessment region in real time, placing a vertical rod on the assessment region, and placing an object to be shot down on the vertical rod; detecting the height of the moving target under the condition of determining that the moving target enters the assessment area, and determining the height relationship between the height of the moving target and the height of the object to be shot down; when it is determined that the moving target leaves the assessment area, a monitoring image of the assessment area is obtained to determine the standing state of the vertical rod and the placement state of the object to be shot down; and based on the height relationship, the standing state and the placement state, examining the operation level of the suspension striking square block. According to the scheme, the height relation between the moving target and the object to be shot down can be accurately recognized, and the object state of the object to be shot down and the object state of the vertical rod can be determined in combination with visual recognition, so that the operation level of the tower crane suspended striking square block is accurately assessed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tower crane operation level examination, in particular to a method and device for examining tower crane suspension and hitting block, a storage medium and an examination system. BACKGROUND

[0002] In the existing electronic judge system for tower crane driver examination, the position of the hook is calibrated by the working condition data of each point. That is, before the examination, the hook is run to the position of each obstacle or examination tool on the ground in turn, and then the working condition data of the tower crane such as slewing, hoisting and amplitude at this moment is recorded to form a point. During the examination, the electronic judge system will monitor the working condition of the tower crane in real time, and if it is monitored that the tower crane approaches a certain point recorded, it is considered as a collision. The defect of this method is that the volume of each obstacle on the ground is very small, and the hook cannot perfectly run to the center of a certain obstacle. Moreover, whether it is run to the position during calibration is also a human judgment, and there is a visual error. In addition, in the actual tower crane examination, the hook will lift the full load of the water tank, and there is a large inertia, which will have a large swing during the movement. The working condition data is essentially the position of the trolley on the tower crane boom, not the actual position of the water tank, so there is a large deviation. SUMMARY

[0003] The purpose of the embodiments of the present application is to provide a method and device for examining tower crane suspension and hitting block, a storage medium and an examination system, to solve the technical problem of deviation in the existing tower crane operation level examination.

[0004] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a method for examining tower crane suspension and hitting block, the method comprising: real-time detecting the position relationship between the moving target and the examination area, wherein the examination area is placed with a vertical rod, and the vertical rod is placed with a to-be-hit object; determining the height of the moving target when the moving target enters the examination area, and determining the height relationship between the height of the moving target and the height of the to-be-hit object; acquiring the monitoring image of the examination area when the moving target leaves the examination area, to determine the standing state of the vertical rod and the placement state of the to-be-hit object; examining the operation level of the suspension and hitting block based on the height relationship, the standing state and the placement state.

[0005] In the embodiments of the present application, the height of the moving target includes a first top plane height and a first bottom plane height of the moving target, and the height of the object to be knocked down includes a second top plane height and a second bottom plane height of the object to be knocked down; determining the height relationship between the height of the moving target and the height of the object to be knocked down includes: in the case that the first bottom plane height is greater than the second bottom plane height, and the first bottom plane height is less than or equal to the second top plane height, determining that the height of the moving target is in the middle of the object to be knocked down; in the case that the first bottom plane height is less than or equal to the second bottom plane height, determining that the height of the moving target is lower than the object to be knocked down; in the case that the first bottom plane height is greater than the first top plane height, determining that the height of the moving target is higher than the object to be knocked down.

[0006] In the embodiments of the present application, the operation level of the suspended block is evaluated based on the height relationship, the standing state and the placement state, including: in the case that the height of the moving target is in the middle of the object to be knocked down, the standing state is not fallen down, and the placement state is fallen, determining that the evaluation result of the suspended block is normal knock down; in the case that the height of the moving target is lower than the object to be knocked down, the standing state is fallen, and the placement state is fallen, determining that the evaluation result of the suspended block is knock down of the standing rod; in the case that the height of the moving target is higher than the object to be knocked down, the standing state is not fallen down, and the placement state is not fallen, determining that the evaluation result of the suspended block is not knocked down.

[0007] In the embodiments of the present application, the position relationship between the moving target and the evaluation area is detected in real time, including: obtaining a first radius of the object to be knocked down and a second radius of the moving target; taking the center point of the object to be knocked down as the center point of the evaluation area, and determining the sum of twice the first radius and the second radius as the radius of the evaluation area; in the case that the interval distance between the center point of the moving target and the center point of the object to be knocked down is less than or equal to the radius of the evaluation area, determining that the moving target is in the evaluation area; in the case that the interval distance between the center point of the moving target and the center point of the object to be knocked down is greater than the radius of the evaluation area, determining that the moving target is not in the evaluation area.

[0008] In the embodiments of the present application, the standing state of the standing rod and the placement state of the object to be knocked down are determined, including: identifying the monitoring image based on a target detection algorithm to determine the standing state of the standing rod and the placement state of the object to be knocked down.

[0009] In the embodiments of the present application, the moving target leaving the evaluation area is determined, including: in the case that the moving target enters the evaluation area, when the interval distance between the center point of the moving target and the center point of the object to be knocked down is greater than the radius of the evaluation area, it is determined that the moving target leaves the evaluation area.

[0010] In the embodiment of the present application, the mobile target is moved by the tower crane control, and the height of the mobile target is detected by the following steps: obtaining the working parameters of the tower crane, the working parameters including the slewing parameter, the hoisting parameter, the luffing parameter and the load parameter; and detecting the height of the mobile target according to the working parameters.

[0011] The second aspect of the present application provides an evaluation device for tower crane block hitting, comprising: a memory configured to store instructions; a processor configured to call the instructions from the memory and implement the evaluation method for tower crane block hitting according to the above description when executing the instructions.

[0012] The third aspect of the present application provides an evaluation system, comprising: an image acquisition device for obtaining a monitoring image of a preset area where a vertical rod is located; the evaluation device for tower crane block hitting according to the above description.

[0013] The fourth aspect of the present application provides a machine readable storage medium, the machine readable storage medium having instructions stored thereon, the instructions being used to cause a machine to execute the evaluation method for tower crane block hitting according to the above description.

[0014] Through the above technical solution, the position relationship between the mobile target and the evaluation area is detected in real time, the evaluation area is placed with a vertical rod, and the object to be hit is placed on the vertical rod; when the mobile target enters the evaluation area, the height of the mobile target is detected, the height relationship between the height of the mobile target and the height of the object to be hit is determined; when the mobile target leaves the evaluation area, a monitoring image of the evaluation area is obtained to determine the standing state of the vertical rod and the placement state of the object to be hit; and the operation level of the block hitting is evaluated based on the height relationship, the standing state and the placement state. The above solution can accurately identify the height relationship between the mobile target and the object to be hit, determine the object state of the object to be hit and the vertical rod in combination with visual recognition, and accurately evaluate the operation level of the tower crane block hitting.

[0015] Other features and advantages of the embodiments of the present application will be described in detail in the following specific implementation part. BRIEF DESCRIPTION OF DRAWINGS

[0016] The accompanying drawings are used to provide further understanding of the embodiments of the present application, and constitute a part of the specification, and are used to explain the embodiments of the present application together with the following specific implementation, but do not constitute a limitation to the embodiments of the present application. In the drawings: Figure 1 Fig. 1 schematically shows an application environment diagram of an evaluation method for tower crane block hitting according to an embodiment of the present application; Figure 2A flowchart of a method for testing a tower crane's ability to hit a suspended block is shown schematically according to an embodiment of the present application. Figure 3 A diagram showing the height relationship between a moving target and an object to be hit is shown schematically according to an embodiment of the present application. Figure 4 A diagram showing the object state of a moving target and an object to be hit is shown schematically according to an embodiment of the present application. Figure 5 A block diagram of a structure for testing a tower crane's ability to hit a suspended block is shown schematically according to an embodiment of the present application. Figure 6 A structural diagram of a computer device is shown schematically according to an embodiment of the present application. DETAILED DESCRIPTION

[0017] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. It should be understood that the specific embodiments described herein are merely used to explain and illustrate the embodiments of the present application and should not be used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort fall within the scope of protection of the present application.

[0018] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are merely used to explain the relative positional relationship, movement, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0019] In addition, if the embodiments of the present application involve descriptions such as “first”, “second”, etc., the descriptions of “first”, “second”, etc. are merely for description purposes and should not be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by “first”, “second” can explicitly or implicitly include at least one of the features. In addition, the technical solutions of the various embodiments can be combined with each other, but it must be based on the fact that a person of ordinary skill in the art can implement the combination, and when the combination of technical solutions contradicts each other or cannot be implemented, it should be considered that the combination of technical solutions does not exist and is not within the scope of protection claimed by the present application.

[0020] Figure 1 An application environment diagram of a method for testing the horizontal operation level of a tower crane's fixed-point parking operation is shown schematically according to an embodiment of the present application, such as Figure 1As shown, the driver's judgment of the height when hooking is investigated, and a water tank is used to knock down the wooden block placed on the designated height column, as shown by the wooden block B in Figure 1 . This project may have three cases: not knocking down the block, normally knocking down the block, and knocking down the column at the same time. Except for normal knocking down, the corresponding scores are deducted.

[0021] Figure 2 A flowchart of a method for evaluating the tower crane's suspension block knocking operation according to an embodiment of the present application is schematically shown. As shown in Figure 2 , the present application provides a method for evaluating the tower crane's suspension block knocking operation, which can include the following steps.

[0022] S202, real-time detection of the positional relationship between the moving target and the evaluation area, wherein the evaluation area is placed with a vertical column, and the vertical column is placed with a to-be-knocked object; S204, determining the height of the moving target when the moving target enters the evaluation area, and determining the height relationship between the height of the moving target and the height of the to-be-knocked object; S206, determining the height of the moving target when the moving target enters the evaluation area, and determining the height relationship between the height of the moving target and the height of the to-be-knocked object; S208, based on the height relationship, the standing state and the placement state, the suspension block knocking operation level is evaluated.

[0023] It can be understood that the moving target is carried on the tower crane, and is the object moved by the tower crane when the operator controls the tower crane. The evaluation area refers to the spatial range defined in the tower crane operation test. In the operation evaluation of the tower crane at a fixed point, the operator needs to operate the tower crane to make the moving target enter the evaluation area, so as to further knock the to-be-knocked object on the vertical column by the moving target. The skilled person can set the spatial range of the evaluation area according to experience. Referring to Figure 1 , Figure 1 , the moving target is a hanging object carried on the hook, which can be a water tank T. The operator can control the tower crane to make the hook hang the water tank T and move. The evaluation area is placed with a vertical column, and the vertical column is placed with a to-be-knocked object. The to-be-knocked object can be a block.

[0024] The processor can detect the positional relationship between the moving target and the examination area in real time. The positional relationship can refer to the distance between the two, and whether the moving target enters the examination area centered on the object to be knocked down is determined according to the distance. When it is determined that the moving target enters the examination area, the height of the moving target is detected, and the height relationship between the height of the moving target and the height of the object to be knocked down is determined. It can be understood that when the object to be knocked down is placed on the vertical rod, its height is fixed and can be obtained in advance by measurement. Based on the height of the object to be knocked down, the operator needs to control the moving target in a specified height range to normally knock down the object on the vertical rod.

[0025] Further, when it is detected that the moving target leaves the examination area, it can be considered that the operator has performed the impact operation of the moving target and the object to be knocked down. At this time, the monitoring image of the examination area can be obtained, and according to the image content of the monitoring image, the standing state of the vertical rod and the placement state of the object to be knocked down can be determined. Specifically, the standing state of the vertical rod includes falling down and not falling down. The placement state of the object to be knocked down includes being knocked down and not being knocked down. Based on the height relationship, the standing state and the placement state, the result after the impact operation can be determined, so that the operation level of the hanging block operation can be examined. It can be understood that when the moving target is not in the specified height range, for example, the height of the moving target is too high, the impact operation cannot touch the block, the vertical rod in the monitoring image is not fallen down, and the block is not knocked down, then the operation result is not knocking down the block. When the moving target is in the specified height range, and the vertical rod in the monitoring image is not fallen down, the block is knocked down, then the operation result is normally knocking down the block. When the moving target is not in the specified height range, for example, the height of the moving target is low, the impact operation directly touches the vertical rod, the vertical rod in the monitoring image is fallen down, and the block is also knocked down, then the operation result is knocking down the vertical rod.

[0026] Through the above technical solution, the positional relationship between the moving target and the examination area is detected in real time, wherein the examination area is placed with a vertical rod, and the vertical rod is placed with an object to be knocked down. When it is determined that the moving target enters the examination area, the height of the moving target is detected, and the height relationship between the height of the moving target and the height of the object to be knocked down is determined. When it is determined that the moving target leaves the examination area, a monitoring image of the examination area is obtained to determine the standing state of the vertical rod and the placement state of the object to be knocked down. Based on the height relationship, the standing state and the placement state, the operation level of the hanging block operation is examined. The above scheme can accurately identify the height relationship between the moving target and the object to be knocked down, and determine the object state of the object to be knocked down and the vertical rod in combination with visual recognition, so as to accurately examine the operation level of the tower crane hanging block.

[0027] Reference Figure 3In the embodiments of the present application, the height of the moving target includes a first top plane height and a first bottom plane height of the moving target, and the height of the object to be knocked down includes a second top plane height and a second bottom plane height of the object to be knocked down; determining the height relationship between the height of the moving target and the height of the object to be knocked down includes: in the case that the first bottom plane height is greater than the second bottom plane height and the first bottom plane height is less than or equal to the second top plane height, determining that the height of the moving target is in the middle of the object to be knocked down; in the case that the first bottom plane height is less than or equal to the second bottom plane height, determining that the height of the moving target is lower than the object to be knocked down; and in the case that the first bottom plane height is greater than the second top plane height, determining that the height of the moving target is higher than the object to be knocked down. It can be understood that in the case that the height of the moving target is in the middle of the object to be knocked down, the object to be knocked down can be normally knocked down.

[0028] Specifically, in the case that the first top plane height is less than or equal to the second top plane height and the first top plane height is greater than the second bottom plane height, it can also be determined that the height of the moving target is in the middle of the object to be knocked down. As long as the first top plane height is less than or equal to the second bottom plane height and the first bottom plane height is greater than the first top plane height, it can be considered that the height of the moving target is also a height at which the object to be knocked down can be normally knocked down.

[0029] In the embodiments of the present application, the operation level of the suspended block is evaluated based on the height relationship, the standing state and the placement state, including: in the case that the height of the moving target is in the middle of the object to be knocked down, the standing state is not fallen down, and the placement state is fallen, determining that the evaluation result of the suspended block is normal knock down; in the case that the height of the moving target is lower than the object to be knocked down, the standing state is fallen down, and the placement state is fallen, determining that the evaluation result of the suspended block is knock down of the standing rod; and in the case that the height of the moving target is higher than the object to be knocked down, the standing state is not fallen down, and the placement state is not fallen, determining that the evaluation result of the suspended block is not knocked down.

[0030] In the embodiments of the present application, the position relationship between the moving target and the evaluation area is detected in real time, including: obtaining a first radius of the object to be knocked down and a second radius of the moving target; taking the center point of the object to be knocked down as the center point of the evaluation area, and determining the sum of twice the first radius and the second radius as the radius of the evaluation area; in the case that the interval distance between the center point of the moving target and the center point of the object to be knocked down is less than or equal to the radius of the evaluation area, determining that the moving target is in the evaluation area; and in the case that the interval distance between the center point of the moving target and the center point of the object to be knocked down is greater than the radius of the evaluation area, determining that the moving target is not in the evaluation area.

[0031] Specifically, the moving target can be a water tank, the object to be knocked down can be a block, and the water tank and the block can be cubes. The radius of the moving target can refer to the radius of the circumscribed circle of the square, that is, half of the diagonal of the square. The radius of the examination area is the sum of twice the radius of the object to be knocked down and the radius of the moving target. The processor can detect the distance between the water tank and the object to be knocked down in real time. When the distance between the T point and the B point is less than the sum of twice the block radius and the water tank radius, the moving target is determined to be in the examination area, and the operation level of the suspended block is determined to be in the examination area. Figure 1 For example, in the middle scene, when it is monitored that the distance between the T point and the B point is less than the sum of twice the block radius and the water tank radius, it is determined that the moving target is in the examination area, and the operation level of the suspended block is determined to be in the examination area.

[0032] In the embodiments of the present application, determining the standing state of the stand and the placement state of the object to be knocked down includes: identifying the monitoring image based on a target detection algorithm to determine the standing state of the stand and the placement state of the object to be knocked down. Specifically, the identification can be performed by a Yolov target detection algorithm. The camera picture is input to the target detection algorithm for detection, and the identified target is a fallen wooden block or a fallen stand, as shown by the small box a and the large box b in the figure, while the blocks and stands on the left side of the figure that do not collide are not detected. Figure 4 Due to the shielding of the water tank, the camera usually captures the fallen block or stand later than the height relationship judgment result.

[0033] In the embodiments of the present application, determining that the moving target leaves the examination area includes: determining that the moving target enters the examination area, and when the distance between the center point of the moving target and the center point of the object to be knocked down is greater than the radius of the examination area, it is determined that the moving target leaves the examination area.

[0034] In the embodiments of the present application, the moving target moves through the tower crane control, and the height of the moving target is detected by: acquiring working parameters of the tower crane, the working parameters including rotation parameters, lifting parameters, luffing parameters and hoisting parameters; and detecting the height of the moving target according to the working parameters.

[0035] Specifically, through the encoder of the tower crane itself, the current rotation, lifting, luffing and hoisting parameters of the tower crane can be known. These parameters can roughly calculate the spatial position coordinates of the current water tank, that is, the coordinates of the T point. Before the formal examination, the water tank can be lifted to each test tool on the ground to obtain the rough positions of these test tools. In this way, whether the water tank enters the examination area can be determined according to the position of the object to be knocked down on the stand and the real-time position of the water tank.

[0036] In the embodiments of the present application, the tower crane further includes a horizontal arm frame, a moving device, and an image acquisition device, the moving device is installed on the horizontal arm frame and moves along the horizontal arm frame, and the moving target and the image acquisition device are respectively connected with the moving device to move with the moving device.

[0037] Specifically, the mobile device can be a mobile trolley. In order to be able to observe the entire test site through machine vision, a fixed-focus camera needs to be installed on the mobile trolley of the tower crane, at a position as shown by point E in Figure 1 The camera is perpendicular to the ground and can observe the water tank and the ground test equipment at all times by following the movement of the trolley. The water tank used for the test is usually a cube with a side length of 1 m, filled with water and weighing about 1 t.

[0038] In addition, the monitoring images collected by the image collection device have high clarity to ensure that the moving target, the standing rod, and the object to be knocked down can be accurately identified. The image collection device can also include an image processing module for pre-processing the collected monitoring images, such as denoising, enhancing contrast, etc., to improve the accuracy of subsequent target detection and corner recognition. By combining the mobile device and the image collection device, the tower crane can achieve precise positioning and monitoring of the impact operation on the moving target, providing reliable data support for the assessment of the operation level.

[0039] Through the above scheme, the height relationship between the moving target and the object to be knocked down can be accurately identified, and the object state of the object to be knocked down and the standing rod can be determined by combining visual recognition, so as to accurately assess the operation level of the tower crane in the suspended block hitting operation.

[0040] Figure 1 A flowchart of an embodiment of a method for assessing the suspended block hitting operation of a tower crane is shown. It should be understood that, although the steps in the flowchart of Figure 1 are shown in a sequence following the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise explicitly stated herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1 At least some of the steps in the above method can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in rotation or alternation with at least some of the other steps or sub-steps or stages of other steps.

[0041] Figure 5 A structural block diagram of an assessment device for the suspended block hitting operation of a tower crane according to an embodiment of the present application is schematically shown. As shown in Figure 5 , the present application provides an assessment device for the suspended block hitting operation of a tower crane, which can include: a memory configured to store instructions; and a processor configured to call the instructions from the memory and capable of implementing the above-mentioned assessment method for the suspended block hitting operation of a tower crane when executing the instructions.

[0042] Specifically, in the embodiment of the present application, the processor can be configured to: detect the positional relationship between the moving target and the examination area in real time, wherein the examination area is placed with a vertical rod, and the vertical rod is placed with an object to be knocked down; when the moving target enters the examination area, detect the height of the moving target, and determine the height relationship between the height of the moving target and the height of the object to be knocked down; when the moving target leaves the examination area, acquire a monitoring image of the examination area to determine the standing state of the vertical rod and the placement state of the object to be knocked down; based on the height relationship, the standing state and the placement state, examine the operation level of the suspended block knocking.

[0043] In the embodiment of the present application, the processor can be further configured to: The height of the moving target includes a first top plane height and a first bottom plane height of the moving target, and the height of the object to be knocked down includes a second top plane height and a second bottom plane height of the object to be knocked down; determining the height relationship between the height of the moving target and the height of the object to be knocked down includes: in the case that the first bottom plane height is greater than the second bottom plane height, and the first bottom plane height is less than or equal to the second top plane height, determining that the height of the moving target is located in the middle of the object to be knocked down; in the case that the first bottom plane height is less than or equal to the second bottom plane height, determining that the height of the moving target is lower than the object to be knocked down; in the case that the first bottom plane height is greater than the first top plane height, determining that the height of the moving target is higher than the object to be knocked down.

[0044] In the embodiment of the present application, the processor can be further configured to: In the case that the height of the moving target is located in the middle of the object to be knocked down, the standing state is not fallen down, and the placement state is fallen, it is determined that the examination result of the suspended block knocking is normal knocking; in the case that the height of the moving target is lower than the object to be knocked down, the standing state is fallen, and the placement state is fallen, it is determined that the examination result of the suspended block knocking is knocking the vertical rod; in the case that the height of the moving target is higher than the object to be knocked down, the standing state is not fallen down, and the placement state is not fallen, it is determined that the examination result of the suspended block knocking is not knocked.

[0045] In the embodiment of the present application, the processor can be further configured to: The first radius of the object to be hit and the second radius of the moving target are obtained; the center point of the object to be hit is taken as the center point of the evaluation area, and the sum of twice the first radius and the second radius is determined as the radius of the evaluation area; in a case where the interval distance between the center point of the moving target and the center point of the object to be hit is less than or equal to the radius of the evaluation area, it is determined that the moving target is in the evaluation area; in a case where the interval distance between the center point of the moving target and the center point of the object to be hit is greater than the radius of the evaluation area, it is determined that the moving target is not in the evaluation area.

[0046] In the embodiment of the present application, the determination that the moving target leaves the evaluation area comprises: in a case where the moving target enters the evaluation area, when the interval distance between the center point of the moving target and the center point of the object to be hit is greater than the radius of the evaluation area, it is determined that the moving target leaves the evaluation area.

[0047] In the embodiment of the present application, the processor can be further configured to: identify the monitoring image based on a target detection algorithm to determine the standing state of the standing pole and the placement state of the object to be hit.

[0048] In the embodiment of the present application, the processor can be further configured to: obtain the working parameters of the tower crane, the working parameters comprising a slewing parameter, a hoisting parameter, a luffing parameter and a load parameter; and detect the height of the moving target according to the working parameters.

[0049] The embodiment of the present application provides an evaluation system, comprising: an image acquisition device configured to obtain a monitoring image of a preset area where the standing pole is located; The evaluation device for the tower crane to hit the block according to the above.

[0050] In the embodiment of the present application, the tower crane further comprises a horizontal arm frame, a moving device and an image acquisition device, the moving device is installed on the horizontal arm frame and moves along the horizontal arm frame, and the moving target and the image acquisition device are respectively connected with the moving device to move with the moving device.

[0051] Specifically, the moving device can be a moving trolley. In order to be able to observe the entire examination site through machine vision, a fixed-focus camera needs to be installed on the moving trolley of the tower crane, and the position is as shown by point E in Figure 1 The camera vertically shoots the ground, and can observe the water tank and the ground examination tool at any time by following the movement of the trolley. The water tank used for examination is usually a cube with a side length of 1m, filled with water, and the weight is about 1t.

[0052] An embodiment of the present application also provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the above-mentioned assessment method for tower crane suspended blocks.

[0053] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 6 As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure) and a database (not shown in the figure) connected via a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02 and a database (not shown in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database of the computer device is used to store data for the assessment method for tower crane suspended blocks. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program B02 is executed by the processor A01, it implements a method for assessing tower crane suspended blocks.

[0054] Those skilled in the art will understand that Figure 6 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0055] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application 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.

[0056] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof.

[0057] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof.

[0058] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof.

[0059] In one typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0060] The memory can include non-persistent memory and / or volatile memory, such as a random access memory (RAM) including a cache area for the temporary storage of data. The memory can also include non-volatile memory, such as read only memory (ROM), electrically programmable read only memory (EPROM), or electrically erasable programmable read only memory (EEPROM), for the storage of software that is read during runtime. The memory is an example of computer readable media.

[0061] Computer-readable media includes permanent and non-permanent, movable and non-movable media that can implement information storage by any method or technology. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0062] It should also be noted that the terms "comprising", "containing", or any other variant thereof are intended to cover non-exclusive inclusions, so that a process, method, article or apparatus that includes a list of elements does not only include those elements, but also includes other elements not explicitly listed, or further includes elements inherent in such a process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0063] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A method for assessing tower crane suspended blocks, characterized in that: The method comprises: Real-time detection of the positional relationship between the moving target and the assessment area, wherein the assessment area is provided with a vertical pole, and the object to be shot down is placed on the vertical pole; When it is determined that the moving target enters the assessment area, detecting the height of the moving target and determining the height relationship between the height of the moving target and the height of the object to be shot down; When it is determined that the mobile target has left the assessment area, a monitoring image of the assessment area is acquired to determine the standing state of the pole and the placement state of the object to be shot down; Based on the height relationship, the standing state and the placement state, the hover block operation level is assessed.

2. The method for assessing tower crane suspended blocks according to claim 1, characterized in that: The height of the moving target includes a first top plane height and a first bottom plane height of the moving target, and the height of the object to be shot down includes a second top plane height and a second bottom plane height of the object to be shot down; Determining the height relationship between the height of the moving target and the height of the object to be shot down comprises: When the height of the first bottom plane is greater than the height of the second bottom plane and the height of the first bottom plane is less than or equal to the height of the second top plane, determining that the height of the moving target is located in the middle of the object to be shot down; When the height of the first bottom plane is less than or equal to the height of the second bottom plane, determining that the height of the moving target is lower than the object to be shot down; In a case where the height of the first bottom plane is greater than the height of the first top plane, it is determined that the height of the moving target is higher than the object to be shot down.

3. The method for assessing tower crane suspended blocks according to claim 2, characterized in that: The assessment of the hover block operation level based on the height relationship, the standing state, and the placement state includes: When the height of the moving target is in the middle of the objects to be shot down, the standing state is not falling, and the placement state is falling, the assessment result of the suspended block is determined to be a normal shooting down; When the height of the moving target is lower than the object to be shot down, the standing state is falling down, and the placement state is falling down, determining the assessment result of the suspended block as shooting down the pole; When the height of the moving target is higher than the object to be shot down, the standing state is not falling, and the placed state is not falling, the assessment result of the suspended block is determined to be not shot down.

4. The method for assessing tower crane suspended blocks according to claim 1, characterized in that: The real-time detection of the positional relationship between the moving target and the assessment area includes: Obtaining a first radius of the object to be shot down and a second radius of the moving target; Taking the center point of the object to be shot down as the center point of the assessment area, and determining the sum of twice the first radius and the second radius as the radius of the assessment area; When the distance between the center point of the moving target and the center point of the object to be shot down is less than or equal to the radius of the assessment area, determining that the moving target is in the assessment area; When the distance between the center point of the moving target and the center point of the object to be shot down is greater than the radius of the assessment area, it is determined that the moving target is not in the assessment area.

5. The method for assessing tower crane suspended blocks according to claim 4, characterized in that: The determining that the mobile target leaves the assessment area includes: When it is determined that the moving target enters the assessment area, when the interval distance between the center point of the moving target and the center point of the object to be shot down is greater than the radius of the assessment area, it is determined that the moving target leaves the assessment area.

6. The method for assessing tower crane suspended blocks according to claim 1, characterized in that: Determining the standing state of the upright pole and the placement state of the object to be shot down includes: The monitoring image is identified based on a target detection algorithm to determine the standing state of the pole and the placement state of the object to be shot down.

7. The method for assessing tower crane suspended blocks according to claim 1, characterized in that: The moving target is controlled to move by a tower crane, and detecting the height of the moving target includes: Acquiring the operating parameters of the tower crane, wherein the operating parameters include slewing parameters, lifting parameters, luffing parameters and lifting parameters; The height of the moving target is detected according to the working parameters.

8. A device for assessing tower crane suspended blocks, characterized in that: include: a memory configured to store instructions; The processor is configured to call the instructions from the memory and implement the assessment method for tower crane suspended block according to any one of claims 1 to 7 when executing the instructions.

9. An assessment system, characterized in that: include: An image acquisition device is used to obtain monitoring images of a preset area where the pole is located; The assessment device for tower crane suspended blocks according to claim 8.

10. A machine-readable storage medium, characterized in that The machine-readable storage medium stores instructions for causing a machine to execute the assessment method for tower crane suspended blocks according to any one of claims 1 to 7.

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