Crane safety sensing system and crane

Abstract

The utility model relates to the technical field of engineering machinery, in particular to a crane safety sensing system and a crane. The device comprises a cargo boom, a balance arm, a moving trolley and a plurality of acquisition devices, a first acquisition device in the plurality of acquisition devices is positioned on the cargo boom and is used for performing data acquisition on an area formed by horizontal rotation of the cargo boom; a second acquisition device in the plurality of acquisition devices is positioned on the balance arm and is used for performing data acquisition on an area formed by horizontal rotation of the balance arm; and a third acquisition device in the plurality of acquisition devices is positioned below the moving trolley and is used for carrying out data acquisition on a three-dimensional space area formed in the vertical orientation direction of the moving trolley. Due to the fact that active sensing based on the horizontal rotation direction of the boom and active sensing based on the vertical direction of the trolley are achieved, safety sensing can be conducted on objects around the crane more effectively and comprehensively, and the accuracy of recognition and positioning is effectively improved.

Description

Technical Field

[0001] The utility model relates to the technical field of engineering machinery, and in particular to a crane safety sensing system and a crane. Background Art

[0002] Cranes are widely used in the field of construction, mainly for transporting goods. Since the operating environment of cranes is basically high-altitude operations, the field of vision is often limited, and the surrounding conditions of the crane cannot be observed. As a result, the boom, wire rope, hook and load often collide with obstacles, leading to safety accidents.

[0003] Current cranes can only handle anti-collision control problems in simple scenarios. They are unable to conduct timely and effective flexible detection of unknown tower cranes or other obstacles, and there are still high safety risks. Utility Model Content

[0004] The utility model provides a crane safety perception system and a crane, which are used to effectively improve the safety perception performance of the crane.

[0005] In a first aspect, an embodiment of the utility model provides a crane safety perception system, comprising: a crane arm, a balance arm, a mobile trolley, and a plurality of collection devices;

[0006] The first acquisition device among the multiple acquisition devices is located on the lifting arm, and is used to collect data from the area formed by the horizontal rotation of the lifting arm; the second acquisition device among the multiple acquisition devices is located on the balance arm, and is used to collect data from the area formed by the horizontal rotation of the balance arm; the third acquisition device among the multiple acquisition devices is located under the moving cart, and is used to collect data from the three-dimensional space area formed by the vertical direction of the moving cart.

[0007] Based on the above design, the crane safety perception system provided by the utility model realizes multi-angle and multi-regional collection and perception by arranging collection devices at multiple positions. For example, the utility model installs collection devices on the crane arm, the balance arm, and the mobile trolley respectively, thereby realizing the collection and identification of the area formed by the horizontal rotation of the tower base boom, the collection and identification of the area formed by the horizontal rotation of the tower base balance arm, and the collection and perception of the three-dimensional space area formed by the vertical downward direction of the trolley. It can more effectively and comprehensively perceive the safety of objects around the crane in multiple regions, effectively improve the accuracy of collection and identification, improve the sensitivity of crane safety perception, and have stronger adaptability.

[0008] In some optional implementations, the acquisition device includes one or more of a radar device, a millimeter wave device, a camera device, and a weighing sensor.

[0009] Based on the above design, the acquisition device provided by the utility model can be a separate radar device, a millimeter wave device, a camera device, a sensor device, or a combination device with multiple acquisition functions. For example, one of the acquisition devices provided by the utility model can have a radar function and a camera function. Through this design, when the acquisition device of the utility model is used for acquisition, more comprehensive and detailed data information can be obtained, which is more conducive to subsequent perception and recognition.

[0010] In some optional implementations, the system further includes:

[0011] A processor connected to the first acquisition device, the second acquisition device, and the third acquisition device respectively.

[0012] As an example, the processor of the present invention can be used to obtain data collected by various collection devices, and process the data to obtain a security perception result.

[0013] As an example, the acquisition devices in the present invention can be connected to different sub-processors respectively, and then the sub-processors process the data sent by the corresponding acquisition devices respectively, and send the processing results to the main processor, and the main processor obtains the safety perception result by combining the data sent by each sub-processor. For example, assuming that the present invention includes an acquisition device 1 and an acquisition device 2 for acquiring environmental images, and an acquisition device 3 for acquiring environmental images and the weight of the object carried by the hook, then the sub-processor connected to the acquisition device 1 and the acquisition device 2 can be an image processing device with an image processing function, and the sub-processor connected to the acquisition device 3 can be an image processing device with an image processing function and a gravity data processing function. Collection and weighing device; or, multiple collection devices in the utility model are connected to the same processor. After the processor receives the data sent by the connected collection device, it processes the data to obtain a safety perception result. In order to make the obtained data processing result more comprehensive and analytical, the utility model can set a threshold time to comprehensively process the data sent by each collection device received within the threshold time. For example, assuming that the utility model includes a collection device 1 and a collection device 2 for acquiring environmental images, and a collection device 3 for acquiring environmental images and the weight of objects carried by the hook, then the collection devices 1 to 3 can all be connected to a processor with an overall coordination processing function for the entire system.

[0014] Based on the above design, the utility model processes the data acquired by multiple acquisition devices through a processor, which can make the processing results more comprehensive and more accurate.

[0015] In some optional implementations, the apparatus further includes a wireless networking device connected to the processor.

[0016] As an example, the wireless networking device in the utility model can be used to obtain the operating condition data of the equipment around the crane, and can also be used to notify the equipment around the crane of the operating condition data of the crane; the operating condition data includes one or more of the slewing condition, the boom length changing condition and the lifting condition.

[0017] For example, the rotation working condition may include the rotation speed, the luffing working condition may also include the trolley luffing condition, the lifting working condition may include the boom length, etc. The utility model can obtain the corresponding working condition data according to the actual situation, which is not limited here.

[0018] Based on the above design, the utility model can send its own working condition data to the equipment around the crane through the wireless networking device, so that the equipment around the crane can understand the relevant operation information of the crane according to the obtained working condition data of the crane, and carry out subsequent operation deployment in a timely and effective manner to avoid collision with the crane. In addition, the crane in the utility model can also obtain the working condition data of the equipment around the crane through the wireless networking device, so that the crane can quickly understand the operation information of the surrounding equipment according to the working condition data of the surrounding equipment, effectively carry out subsequent operation deployment, and avoid collision with the surrounding equipment.

[0019] In some optional implementations, the system further includes a storage device connected to the processor.

[0020] As an example, the storage device in the present invention can be used to store the object envelope box information obtained after the processor processes the collected data.

[0021] Based on the above design, the utility model adds a storage device for storing the envelope boxes of objects around the crane, so that when performing subsequent construction scene detection and identification, it can combine the object envelope box information stored in the storage device to more quickly and effectively determine the changes of objects in the current construction scene, more accurately and quickly perform three-dimensional modeling of the current construction scene, and timely understand the progress of the project.

[0022] In some optional implementations, the storage device includes a first storage device and a second storage device.

[0023] As an example, the first storage device is used to store complete envelope box information corresponding to all objects around the crane; the second storage device is used to store the latest acquired envelope box information of the objects around the crane.

[0024] Based on the above design, the utility model can effectively classify the stored content by providing a plurality of storage devices with different storage functions, which is more conducive to the subsequent update operation of the stored content.

[0025] In some optional embodiments, the third acquisition device further includes a weighing sensor, and the weighing sensor is used to obtain the weight of an object carried by a hook connected to a steel wire rope under the mobile vehicle.

[0026] In some optional embodiments, the system further comprises a detector connected to the acquisition device.

[0027] As an example, the detector is used to perform automatic hook detection based on a preset hook point cloud feature matching knowledge base combined with the data collected by the collection device.

[0028] In some optional embodiments, the system further comprises a tracker connected to the detector.

[0029] As an example, the tracker is used to track and locate the hook position detected by the detector.

[0030] Based on the above design, the utility model can effectively improve the accuracy of hook identification and positioning by setting up a detector and a tracker for the hook.

[0031] In a second aspect, an embodiment of the utility model provides a crane, comprising the crane safety perception system described in any one of the above-mentioned first aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0033] Figure 1 A schematic diagram of a crane foundation structure provided by an embodiment of the utility model;

[0034] Figure 2 A schematic diagram of a safety perception system provided by an embodiment of the utility model;

[0035] Figure 3 A schematic diagram showing a scanning area provided in an embodiment of the utility model;

[0036] Figure 4 A schematic diagram of a space construction provided by an embodiment of the utility model;

[0037] Figure 5 A schematic diagram of the structure of a collection device provided in an embodiment of the utility model;

[0038] Figure 6 A schematic block diagram of another data acquisition device provided in an embodiment of the utility model;

[0039] Figure 7 A schematic block diagram of another safety perception system provided by an embodiment of the utility model;

[0040] Figure 8 A schematic block diagram of another safety perception system provided by an embodiment of the utility model;

[0041] Fig. 9 A schematic block diagram of another safety perception system provided by an embodiment of the utility model;

[0042] Fig.10 A schematic block diagram of another safety perception system provided in an embodiment of the utility model. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0044] In order to facilitate a better understanding of the solution, the basic structure of the crane applied by the utility model is briefly introduced. For specific contents, please refer to the following description:

[0045] Reference Figure 1 The crane includes a tower body 1, a balance arm 2 and a lifting arm 3.

[0046] Specifically, the tower body 1 is Figure 1 The vertical column shown is fixed on the ground, and the balancing arm 2 and the lifting arm 3 are both located at the top of the tower body 1, and the balancing arm 2 is located on the left side of the tower body 1, and the lifting arm 3 is located on the right side of the tower body 1.

[0047] The boom 3 is equipped with a luffing trolley 4, a hook 5, etc., for lifting materials.

[0048] Furthermore, in order to more effectively and comprehensively sense the safety of objects around the crane, the utility model Figure 1 The basic crane structure shown has been improved and updated, specifically but not limited to the following structural schemes:

[0049] Structural plan 1: Install collection devices at multiple locations such as the boom and mobile trolley.

[0050] For details, please refer to Figure 2A crane safety perception system disclosed in this embodiment includes: a first collection device 110, a second collection device 120 and a third collection device 130.

[0051] Among them, the first acquisition device is located on the lifting arm, and is used to collect data on the area formed by the horizontal rotation of the lifting arm. The second acquisition device is located on the balance arm, and is used to collect data on the area formed by the horizontal rotation of the balance arm. The third acquisition device is located under the mobile car, and is used to collect data on the three-dimensional space area formed by the vertical direction of the mobile car.

[0052] Among them, when the utility model is collecting data, in order to facilitate and quickly perform safety perception later, the coordinate systems of the first collection device, the second collection device, the third collection device, the mobile trolley, the boom and other modules or devices can be unified, for example, unified to the tower crane coordinate system.

[0053] Among them, the utility model realizes active perception of the horizontal rotation direction of the boom through the installation of the first collection device and the second collection device.

[0054] Among them, the collection strategies of the first collection device and the second collection device in the crane safety perception system provided by the utility model can be as follows:

[0055] For example, Figure 3 As shown, for better understanding, the utility model can number the sensors in each detection area as 1, 2, 3, and 4 in the order of the left and right sides of the boom, and the left and right sides of the balance arm. When the tower crane rotates, the tower crane controller can determine the current movement direction of the tower crane, and automatically select the sensor collection data in the same direction as the tower crane movement direction according to the movement direction. If the tower crane is currently rotating counterclockwise, the radar data of the No. 1 and No. 4 detection areas are obtained; if the tower crane is rotating clockwise, the radar data of the No. 2 and No. 3 areas are obtained.

[0056] Secondly, the utility model realizes active perception of the vertical direction of the vehicle through the third acquisition device.

[0057] Among them, the collection strategy of the third collection device in the crane safety perception system provided by the utility model can be as follows:

[0058] For example, Figure 4 As shown, the third acquisition device can obtain the laser radar and video image data under the hook connected to the acquisition trolley, identify the hook and the load, and actively detect the collision of the wire rope-hook-load with the surrounding environment.

[0059] Specifically, the coarse positioning P1 (X1, Y1, Z1) of the hook from the boom can be obtained according to the boom length variation and hook lifting conditions of the tower crane trolley, and a cylinder with P1 as the center, R as the radius, and upper and lower heights H can be set as the precise positioning area of ​​interest R1 for the hook. By setting R1, background interference can be effectively reduced.

[0060] As an optional method, the collection device described in the embodiment of the present application may include a laser device, a millimeter wave device, a camera device, a weighing sensor, and other sensing devices.

[0061] For example, Figure 5 As shown, the first acquisition device includes a laser radar 111 and a camera 112 , the second acquisition device includes a laser radar 121 and a camera 122 , and the third acquisition device includes a laser radar 131 , a camera 132 , and a weighing sensor 133 .

[0062] Among them, the utility model can actively identify the large obstacles around the boom through the laser radar in the acquisition device, and calculate the spatial position information of each coordinate point of the 3D optimal bounding box of the outer contour of the obstacle. For the identification of small obstacles (such as wire ropes and electric wires), during the detection process, the long-distance wire rope can be first identified by the camera to obtain the coordinate position of the corresponding three-dimensional point cloud space, and then, with the estimated error as the radius, the local space of the laser radar raw data sphere is searched to determine whether there are sparse irregular points formed by wire ropes or electric wires.

[0063] Furthermore, in order to better detect the hook, the utility model can also set a detector and a tracker in the collection device.

[0064] Among them, since the third collection device is closer to the hook position, it can better detect and identify the hook. Therefore, in an optional manner of the utility model, Figure 6 As shown, the third collection device includes not only sensors for collection but also hook detectors and hook trackers.

[0065] In some examples, the processing strategy of the hook detector and the hook tracker for hook detection and tracking may be as follows:

[0066] The detector performs automatic hook detection based on a preset hook point cloud feature matching knowledge base and combined with the collected data.

[0067] For example, the point cloud feature matching knowledge base of the hook designed by the utility model may include: shape features (such as aspect ratio, height difference, bounding box size, etc.), statistical features (such as three-dimensional invariant moment, three-dimensional covariance matrix), and reflection intensity features, and these features are weighted combined.

[0068] The tracker can obtain the actual detection position of the hook through the detector, and predict the spatial position of the hook at the current moment by tracking the detection results; when the detector fails to detect the hook or mistakenly detects other objects, the detector can be replaced by the tracker's prediction result, while filtering other false detections, further reducing the point cloud space of the next frame detector, and ultimately improving the accuracy of hook recognition and positioning.

[0069] It is easy to understand that the algorithms involved in the hook detector and the hook tracker and their functional implementations can all be existing technologies, and the hook detector and the hook tracker can be chips that carry the above existing algorithms or functional modules, such as microprocessors, central processing units, etc. The hook detector and the hook tracker can be different computing units in the same chip, or they can belong to different chips respectively. The utility model provides a hardware platform including structures such as a hook detector and a hook tracker and corresponding connection relationships. The processing strategies exemplified above can be further developed and implemented on the hardware platform provided by the utility model. The processing strategies mentioned in the following embodiments or examples can all be understood in a similar way, so they will not be repeated.

[0070] As an optional manner, the system described in the embodiment of the present application may further include a processor connected to the acquisition device, wherein the processor may include a device having an image processing function and / or a gravity data processing function.

[0071] For example, Figure 7 As shown, in the present invention, the first acquisition device, the second acquisition device and the third acquisition device can be connected to corresponding sub-processors respectively. For example, the first acquisition device 110 is connected to the sub-processor 210, the second acquisition device 120 is connected to the sub-processor 220, and the third acquisition device 130 is connected to the sub-processor 230, and then the sub-processors 210, 220 and 230 are respectively connected to the main processor 200.

[0072] Among them, based on the above Figure 7 As shown, the processing strategy of the processor in the crane safety perception system provided by the utility model can be described as follows:

[0073] The sub-processor corresponding to each collection device is used to process the data sent by the corresponding collection device, and send the processing result to the main processor, which combines the data sent by each sub-processor to obtain the security perception result.

[0074] For example, Figure 8As shown, in the present invention, the first acquisition device, the second acquisition device and the third acquisition device are connected to the same processor. For example, the first acquisition device 110, the second acquisition device 120 and the third acquisition device 130 are connected to the main processor 200 respectively.

[0075] Among them, based on the above Figure 8 As shown, in one example, the processing strategy of the processor in the crane safety perception system can be described as follows:

[0076] Multiple collection devices are connected to the same processor. After the processor receives the data sent by the multiple connected collection devices, it processes the data to obtain a security perception result.

[0077] Furthermore, in order to make the obtained data processing results more comprehensive and analytical, in some feasible methods, a threshold time can be set to comprehensively process the data sent by various collection devices received within the threshold time.

[0078] As an optional manner, the system described in the embodiment of the present application may include a wireless networking device 300.

[0079] For example, Fig. 9 As shown, the wireless networking device 300 in the present invention can be connected to the processor 200.

[0080] In one example, the processing strategy of the wireless networking device in the crane safety perception system can be as follows:

[0081] The wireless networking device can obtain the working condition data of the equipment around the crane, and is also used to obtain its own working condition data from the processor, and notify the equipment around the crane of its own working condition data.

[0082] Among them, the operating condition data described in the embodiment of the present application includes one or more of rotation conditions, amplitude variation conditions and lifting conditions.

[0083] For example, the rotation working condition may include the rotation speed, the luffing working condition may also include the trolley luffing condition, the lifting working condition may include the boom length, etc. The utility model can obtain the corresponding working condition data according to the actual situation, which is not limited here.

[0084] Structural solution 2: Adding storage device.

[0085] For details, please refer to Fig.10 A crane safety perception system disclosed in this embodiment includes: a first acquisition device 110, a second acquisition device 120, a third acquisition device 130, a processor 200 and a storage device 400.

[0086] The position of the acquisition device can be found in the above Figure 2 The processor and storage device can be installed according to actual conditions, for example, they can be located on the control platform of the crane. The utility model can use the storage device to store the object envelope box information obtained by the processor after processing the collected data.

[0087] Furthermore, the storage device 400 described in the present invention may include a first storage device 410 and a second storage device 420 .

[0088] Among them, the application strategy of the storage device in the crane safety perception system provided by the utility model can be described as follows:

[0089] The first storage device is used to store the complete envelope box information corresponding to all objects around the crane, and the second storage device is used to store the latest envelope box information of the objects around the crane. When performing subsequent construction scene detection and recognition, the object envelope box information stored in the storage device can be combined to determine the changes of objects in the current construction scene more quickly and effectively, and the current construction scene three-dimensional modeling can be performed more accurately and quickly, so as to timely understand the progress of the project.

[0090] It should be noted that the device structures shown in the above-mentioned figures can be used in combination. For the sake of simplicity, the combination scheme is not described here.

[0091] It should be noted that the connection between the above-mentioned devices in the present invention can be a wireless connection or a wired connection.

[0092] The crane safety perception system provided by the utility model realizes active perception based on the horizontal rotation direction of the boom and the vertical direction of the trolley by installing collection devices on the crane arm, the balance arm, and the mobile trolley respectively, which can more effectively and comprehensively perceive the safety of objects around the crane, effectively improve the accuracy of identification and positioning, and have stronger adaptability. In addition, by adding a storage device for storing the envelope box of objects around the crane, the utility model can combine the object envelope box information stored in the storage device when performing subsequent construction scene detection and identification, and more quickly and effectively determine the changes of objects in the current construction scene, more accurately and quickly perform three-dimensional modeling of the current construction scene, and timely understand the progress of the project.

[0093] The embodiments in this specification are described in a progressive manner. As for the devices disclosed in the embodiments, since they correspond to the components disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the devices.

[0094] It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0095] The features described in the embodiments of this specification can be replaced or combined with each other, so that professional and technical personnel in this field can implement or use the present application.

[0096] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application.

[0097] Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A crane safety perception system, comprising: Lifting arm, balancing arm, mobile trolley, multiple collection devices, characterized by: The first acquisition device among the multiple acquisition devices is located on the lifting arm, and is used to collect data from an area formed by the horizontal rotation of the lifting arm; the second acquisition device among the multiple acquisition devices is located on the balance arm, and is used to collect data from an area formed by the horizontal rotation of the balance arm; the third acquisition device among the multiple acquisition devices is located below the moving cart, and is used to collect data from a three-dimensional space area formed by the moving cart in a vertical downward direction.

2. The system according to claim 1, characterized in that The acquisition device includes one or more of a radar device, a millimeter wave device, a camera device, and a weighing sensor.

3. The system according to claim 2, characterized in that The system further comprises: A processor connected to the first acquisition device, the second acquisition device, and the third acquisition device respectively.

4. The system according to claim 3, characterized in that The system also includes a wireless networking device connected to the processor; The wireless networking device is used to obtain the working condition data of the equipment around the crane, and is also used to notify the equipment around the crane of the working condition data of the crane; The operating condition data includes one or more of the slewing operating condition, luffing operating condition and lifting operating condition of the crane.

5. The system according to claim 3 or 4, characterized in that: The system also includes a storage device connected to the processor; The storage device is used to store the object envelope box information obtained after the processor processes the collected data.

6. The system according to claim 5, characterized in that The storage device includes a first storage device and a second storage device; The first storage device is used to store complete envelope box information corresponding to all objects around the crane; The second storage device is used to store the latest acquired envelope box information of the objects around the crane.

7. The system according to claim 1 or 2, characterized in that: The third acquisition device includes a weighing sensor, and the weighing sensor is used to obtain the weight of the object carried by the hook connected by the wire rope under the moving vehicle.

8. The system according to claim 1 or 2, characterized in that: The device also includes a hook detector connected to the collection device.

9. The system according to claim 8, characterized in that The device also includes a hook tracker connected to the detector.

10. A crane, characterized in that: A crane safety perception system comprising any one of claims 1 to 9.

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