Safety hook engagement detection method and device

Abstract

The application provides a safety hook hanging detection method and device, which comprises the following steps: obtaining a hook mask and a hook bounding box of a safety hook and an ear mask and an ear bounding box of a safety ear in a to-be-detected image; calculating the Euclidean distance between the center points of the hook bounding box and the ear bounding box, and terminating the detection if the distance does not meet the distance screening condition; if the distance meets the condition, performing position legality verification according to the hook mask and the ear mask, and determining that the safety hook is not hung and terminating the detection if the verification fails; if the verification passes, calculating the ratio of the area of the ear mask to the area of the minimum circumscribed circle thereof, and determining that the safety hook is hung and terminating the detection if the ratio is less than an area ratio threshold; if the ratio is greater than or equal to the area ratio threshold, detecting the hook opening region, and determining whether the safety hook is hung according to the detection result. The application can accurately distinguish between the two states of being close to and hung, does not require hardware modification, and has high detection efficiency and strong robustness.

Claims

1. A safety hooking-in detection method, characterized by, include: Obtaining the hook mask and hook bounding box of the safety hook and the ear mask and ear bounding box of the safety ear in the image to be detected includes: processing the image to be detected using an instance segmentation model to output the hook mask and hook bounding box of the safety hook and the ear mask and ear bounding box of the safety ear; wherein, the hook bounding box includes the coordinates of the upper left corner of the hook bounding box and the width and height of the hook bounding box, and the ear bounding box includes the coordinates of the upper left corner of the ear bounding box and the width and height of the ear bounding box; Based on the hook bounding box and the ear bounding box, calculate the Euclidean distance between the center point of the hook bounding box and the center point of the ear bounding box, and determine whether the Euclidean distance meets the preset distance filtering conditions. If the Euclidean distance does not meet the distance screening criteria, the detection will be terminated. If the Euclidean distance meets the distance filtering conditions, the position validity of the safety hook and safety ear is verified based on the hook mask, ear mask, hook bounding box, and ear bounding box. The position validity verification includes vertical position validity verification and horizontal position validity verification. If the safety hook and safety lug fail the position legality verification, it is determined that the safety hook is not engaged with the safety lug and the test is terminated. If the safety hook and safety ear pass the position legality check, calculate the area ratio of the ear mask area to the area of ​​the ear mask's minimum circumcircle, and determine whether the area ratio is greater than or equal to the area ratio threshold. If the area ratio is less than the area ratio threshold, it is determined that the safety hook has been hooked into the safety lug and the detection is terminated; If the area ratio is greater than or equal to the area ratio threshold, the hook opening area of ​​the safety hook is detected according to the hook mask and ear mask, and the safety hook is determined to be hooked into the safety ear based on the detection result of the hook opening area. If the result of the detection of the hook area indicates that the safety hook is not engaged with the safety lug, the method further includes: Based on the ear mask code, obtain the maximum contour of the ear mask code and determine the maximum ordinate in its maximum contour. Extract the contour points whose ordinates are greater than the maximum ordinates minus the bottom offset in the maximum contour of the ear mask, and use them as the bottom contour points. Count the total number of bottom outline points and the number of bottom outline points that fall within the hook mask, and calculate the ratio of the number of bottom outline points that fall within the hook mask to the total number of bottom outline points to obtain the bottom enclosing ratio; If the bottom enclosure ratio is greater than or equal to the bottom enclosure threshold, it is determined that the safety hook has been engaged with the safety ear; If the bottom enclosure ratio is less than the bottom enclosure threshold, it is determined that the safety hook is not engaged with the safety ear and the detection is terminated.

2. The method of claim 1, wherein, The vertical position validity check includes: Based on the hook mask and ear mask, the minimum ordinate of the hook mask and the maximum ordinate of the ear mask are obtained respectively, and it is determined whether the minimum ordinate of the hook mask is less than or equal to the bottom boundary value. The bottom boundary value is equal to the sum of the maximum ordinate of the ear mask and the relaxation amount. The relaxation amount is a preset proportion of the height of the ear boundary box. If the minimum ordinate of the hook mask is less than or equal to the bottom boundary value, the safety hook and safety lug are deemed to have passed the vertical position validity check. If the minimum ordinate of the hook mask is greater than the bottom boundary value, it is determined that the safety hook and safety ear have failed the vertical position validity check.

3. The method according to claim 1 or 2, characterized in that, The horizontal position validity verification includes: Calculate the number of overlapping pixels between the hook bounding box and the ear bounding box in the horizontal direction. Calculate the overlap ratio between the number of overlapping pixels and the width of the ear bounding box, and determine whether the overlap ratio is greater than or equal to the overlap ratio threshold. If the overlap ratio is greater than or equal to the overlap ratio threshold, the safety hook and safety ear are deemed to have passed the horizontal position legality check. If the overlap ratio is less than the overlap ratio threshold, the safety hook and safety ear are deemed to have failed the horizontal position validity check.

4. The method according to claim 1, characterized in that, The calculation of the ratio of the area of ​​the ear mask to the area of ​​the smallest circumcircle of the ear mask includes: Based on the ear mask code, obtain the maximum outline of the ear mask code, and calculate the area of ​​the ear mask code based on the maximum outline of the ear mask code; Based on the maximum outline of the ear mask, obtain the radius of the minimum circumcircle of the maximum outline of the ear mask, and calculate the area of ​​the minimum circumcircle based on the radius of the minimum circumcircle. Divide the area of ​​the ear mask by the area of ​​the smallest circumcircle to obtain the area ratio.

5. The method according to claim 1, characterized in that, The process of detecting the hook opening area of ​​the safety hook based on the hook mask and ear mask, and determining whether the safety hook is caught on the safety ear based on the detection result of the hook opening area, includes: The size of the expansion kernel is determined, and the hook mask is morphologically expanded using the expansion kernel to obtain an expanded mask including the hook cavity; wherein, the size of the expansion kernel is adaptively determined based on the shortest side length of the tight-fitting rectangle of the hook mask; Obtain the minimum and maximum ordinates of the hook mask, and calculate the effective height of the hook mask, wherein the effective height is equal to the maximum ordinate of the hook mask minus the minimum ordinate. The area with a height less than or equal to the product of the effective height and the preset bottom ratio, starting from the bottom of the expanded mask, is used as the hook area; Determine the overlapping area between the hook area and the ear mask, and count the number of pixels in the overlapping area to obtain the number of overlapping pixels; Obtain the area of ​​the ear mask and calculate the ratio of the number of overlapping pixels to the area of ​​the ear mask to obtain the hook overlap ratio; If the hook overlap ratio is greater than or equal to the hook overlap threshold, it is determined that the safety hook has been hooked into the safety lug. If the hook overlap ratio is less than the hook overlap threshold, it is determined that the safety hook is not engaged with the safety lug and the detection is terminated.

6. The method according to claim 5, characterized in that, The size of the expansion kernel is calculated using the following formula: k=max(3,floor(min(h,w)×α)), where k is the size of the expansion kernel, h and w are the height and width of the tight rectangle of the hook mask, α is a preset scaling factor, and floor() represents rounding down; If k is even, add 1 to adjust k to be odd.

7. The method according to claim 1, characterized in that, The distance filtering condition is that the Euclidean distance is less than a preset multiple of the width of the ear boundary frame, wherein the preset multiple ranges from 6.0 to 10.

0.

8. A safety hook engagement detection device, characterized in that, include: The acquisition module is used to acquire the hook mask and hook bounding box of the safety hook and the ear mask and ear bounding box of the safety ear in the image to be detected. It includes: processing the image to be detected through an instance segmentation model and outputting the hook mask and hook bounding box of the safety hook and the ear mask and ear bounding box of the safety ear; wherein, the hook bounding box includes the coordinates of the upper left corner of the hook bounding box and the width and height of the hook bounding box, and the ear bounding box includes the coordinates of the upper left corner of the ear bounding box and the width and height of the ear bounding box; The distance filtering module, connected to the acquisition module, is used to calculate the Euclidean distance between the center point of the hook bounding box and the center point of the ear bounding box based on the hook bounding box and the ear bounding box, and to determine whether the Euclidean distance meets the preset distance filtering conditions; if the Euclidean distance does not meet the distance filtering conditions, the detection is terminated. The position verification module, connected to the distance filtering module, is used to verify the position validity of the safety hook and safety ear based on the hook mask, ear mask, hook bounding box, and ear bounding box if the Euclidean distance meets the distance filtering conditions. The position validity verification includes vertical position validity verification and horizontal position validity verification. If the safety hook and safety ear fail the position validity verification, it is determined that the safety hook is not hooked into the safety ear and the detection is terminated. The integrity detection module, connected to the position verification module, is used to calculate the area ratio of the area of ​​the ear mask to the area of ​​the smallest circumcircle of the ear mask if the safety hook and safety ear pass the position legality verification, and to determine whether the area ratio is greater than or equal to the area ratio threshold; if the area ratio is less than the area ratio threshold, it is determined that the safety hook has been hooked into the safety ear and the detection is terminated. The hook detection module, connected to the integrity detection module, is used to detect the hook area of ​​the safety hook according to the hook mask and ear mask if the area ratio is greater than or equal to the area ratio threshold, and to determine whether the safety hook is hooked into the safety ear based on the detection result of the hook area. The determination module, connected to the hook detection module, is used to obtain the maximum contour of the ear mask based on the ear mask and determine the maximum ordinate of its maximum contour; extract contour points whose ordinates in the maximum contour of the ear mask are greater than the maximum ordinate of the maximum contour of the ear mask minus the bottom offset, and use these as bottom contour points; count the total number of bottom contour points and the number of bottom contour points falling within the hook mask, and calculate the ratio of the number of bottom contour points falling within the hook mask to the total number of bottom contour points to obtain the bottom enclosure ratio; if the bottom enclosure ratio is greater than or equal to the bottom enclosure threshold, it is determined that the safety hook has been hooked into the safety ear; if the bottom enclosure ratio is less than the bottom enclosure threshold, it is determined that the safety hook has not been hooked into the safety ear and the detection is terminated.

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