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A platform for research: civil engineering, architecture and urbanism
Visual geometry-based arch bridge cable crane carriage monitoring method
The invention relates to the technical field of cable crane trolley construction, in particular to an arch bridge cable crane trolley monitoring method based on visual geometry. According to the method, the position and the motion state of the sports car in cable hoisting operation are monitored and positioned in real time by utilizing a vision measurement technology, so that an operator can conveniently control the operation of the cable crane. The method specifically comprises the steps that a PNP algorithm is used for solving an external parameter matrix from a camera coordinate system to a world coordinate system, then a pose transformation matrix is constructed, an inclined image is converted into an orthoimage through perspective transformation, at the moment, an arch bridge plane is parallel to a camera plane, and the arch bridge plane has the same scale in the orthoimage; and the real distance of the sports car can be measured and calculated through the scale, so that the sports car can be detected and positioned in real time. According to the method, accurate positioning of the position of the sports car is achieved through attitude estimation and orthographic projection images, real-time monitoring and cable rope position adjustment can be achieved under the condition that personnel do not need to work in the air, and the safety of the construction process is improved.
本发明涉及缆索吊跑车施工技术领域，具体为一种基于视觉几何的拱桥缆索吊跑车监测方法。该方法利用视觉测量技术实时监测和定位缆索吊装作业中的跑车位置及运动状态，从而便于操作人员控制缆索吊的运行。具体方法包括使用PNP算法求解相机坐标系到世界坐标系的外参矩阵，进而构造位姿变换矩阵，通过透视变换将倾斜的图像转为正射图像，此时拱桥平面与相机平面平行，拱桥平面在正射图像中具有相同的比例尺，可通过比例尺测算跑车的真实距离，从而实现跑车的实时检测与定位。该方法通过姿态估计与正射投影图像，来实现跑车位置的准确定位，能够在不需要人员临空作业的情况下实现实时监控和调整缆索位置，提升了施工过程的安全性。
Visual geometry-based arch bridge cable crane carriage monitoring method
The invention relates to the technical field of cable crane trolley construction, in particular to an arch bridge cable crane trolley monitoring method based on visual geometry. According to the method, the position and the motion state of the sports car in cable hoisting operation are monitored and positioned in real time by utilizing a vision measurement technology, so that an operator can conveniently control the operation of the cable crane. The method specifically comprises the steps that a PNP algorithm is used for solving an external parameter matrix from a camera coordinate system to a world coordinate system, then a pose transformation matrix is constructed, an inclined image is converted into an orthoimage through perspective transformation, at the moment, an arch bridge plane is parallel to a camera plane, and the arch bridge plane has the same scale in the orthoimage; and the real distance of the sports car can be measured and calculated through the scale, so that the sports car can be detected and positioned in real time. According to the method, accurate positioning of the position of the sports car is achieved through attitude estimation and orthographic projection images, real-time monitoring and cable rope position adjustment can be achieved under the condition that personnel do not need to work in the air, and the safety of the construction process is improved.
本发明涉及缆索吊跑车施工技术领域，具体为一种基于视觉几何的拱桥缆索吊跑车监测方法。该方法利用视觉测量技术实时监测和定位缆索吊装作业中的跑车位置及运动状态，从而便于操作人员控制缆索吊的运行。具体方法包括使用PNP算法求解相机坐标系到世界坐标系的外参矩阵，进而构造位姿变换矩阵，通过透视变换将倾斜的图像转为正射图像，此时拱桥平面与相机平面平行，拱桥平面在正射图像中具有相同的比例尺，可通过比例尺测算跑车的真实距离，从而实现跑车的实时检测与定位。该方法通过姿态估计与正射投影图像，来实现跑车位置的准确定位，能够在不需要人员临空作业的情况下实现实时监控和调整缆索位置，提升了施工过程的安全性。
Visual geometry-based arch bridge cable crane carriage monitoring method
一种基于视觉几何的拱桥缆索吊跑车监测方法
CHENG CHONGSHENG (author) / LIANG JIANGUO (author) / WANG SHAORUI (author) / ZHOU JIANTING (author) / LIU GUANGHUI (author) / YANG LIGUI (author) / HUANG BO (author)
2024-11-15
Patent
Electronic Resource
Chinese
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