双目避障系统在桥式起重机上的应用

Application of Binocular Obstacle Avoidance System in Bridge Crane

由于桥式起重机的运行需要操控者和指挥者密切配合,同时受到环境因素制约,当前关于桥式起重机的安全事故较多,产生了较大的生命和财产损失。针对如何降低桥式起重机安全事故频发的问题,基于双目视觉避障系统,为桥式起重机设计了一种自动避障方式。首先,系统建立三维虚拟网格环境。其次,通过双目摄像头采集桥式起重机运行环境中全部物体的边缘像素点,并将其在三维虚拟网格环境中表示出来并实时更迭。最后,通过事先设定好的安全值,使系统计算出桥式起重机和目标物与障碍物之间的距离,之后作出判断,确定是否要对操控者发出危险指令。针对安全距离的问题,设置了安全距离R_(0),使系统能够根据现场实时数据计算桥式起重机和目标物与障碍物之间的距离R_(1),若R_(1)>R_(0),则系统不发出危险指令,反之则系统发出危险指令,提醒操控者可能会出现危险;若操控者未及时作出有效处理,当R_(1)≤0.5R_(0)时,则避障系统会立即对桥式起重机进行制动处理。

Because the operation of the bridge crane needs the close cooperation of the operator and the commander,and is restricted by environmental factors,there are many safety accidents about the bridge crane,resulting in great loss of life and property.Aiming at the problem of how to reduce the high incidence of safety accidents of bridge crane,an automatic obstacle avoidance method for bridge crane is designed based on binocular vision obstacle avoidance system.Firstly,the system establishes a three-dimensional virtual grid environment.Secondly,the edge pixels of all objects in the operating environment of bridge crane are collected by binocular camera,expressed in the three-dimensional virtual grid environment and changed in real time.Finally,through the preset safety value,the system calculates the distance between the bridge crane and the target and the obstacle,and then makes a judgment to determine whether to issue a dangerous command to the operator.For the problem of safe distance,set the safe distance R_(0) to make the system calculate the distance R_(1) between the bridge crane and the target and the obstacle according to the on-site real-time data.If R_(1)>R_(0),the system will not send a danger command,otherwise,the system will send a danger command to remind the operator that there may be danger;If the operator fails to make effective treatment in time so that R_(1)≤0.5R_(0),the obstacle avoidance system will immediately brake the bridge crane.