摘要
混凝土泵车支腿的合规支撑是建筑施工安全的重要保障之一,而机手的违规支腿支撑操作经常得不到监控,同时支腿开度目前依赖于高成本的传感器来检测。因此,以车载视频监控系统为载体,提出了一种基于机器视觉的混凝土泵车支腿开度检测方法。首先,为了对泵车支腿的目标进行实时检测,基于YOLOV3设计了一种改进的轻量化目标检测模型YOLOV3-s。其次,为了对泵车支腿的开度进行快速计算,基于数据拟合对支腿的移动轨迹建立数学模型。最后,通过某型号泵车进行试验,泵车支腿开度值为100%时支腿的平均开度检测误差仅为1.2°和1.3°。试验表明:方法能够高效检测泵车支腿开度,同时为泵车支腿支撑安全提供保障。
The compliant support of the concrete pump truck’s outriggers is one of the important guarantees for the safety of construction.However,the illegal outrigger support operation of manipulator is often not monitored.At the same time,the opening of the outrigger is currently dependent on high-cost sensors to detect.Therefore,based on the vehicle video surveillance system as the carrier,this paper proposes a method for detecting the opening of the concrete pump truck’s outriggers based on machine vision.Firstly,an improved lightweight target detection model YOLOV3-s is designed based on YOLOV3 in order to detect the targets of the front and rear outriggers of the pump truck in real time.Secondly,in order to quickly calculate the opening of the front and rear outriggers of pump truck,the data modeling of the moving trajectory of the outriggers was carried out based on data fitting.Finally,through the test of a certain type of pump truck,when the opening value of the pump truck’s outriggers is 100%,the average opening detection errors of the front and rear outriggers are only 1.2°and 1.3°.The test result show that the method can detect the outrigger opening of pump truck efficiently and provide security for the outrigger support of pump truck.
作者
高荣芝
徐翔
尹君
李淇阳
符伟杰
GAO Rongzhi;XU Xiang;YIN Jun;LI Qiyang;FU Weijie(Chinese National Engineering Research Center of Concrete Machinery,Changsha 410205,Hunan,China;Zoomlion Heavy Industry Science and Technology Co.,Ltd.,Changsha 410205,Hunan,China)
出处
《中国工程机械学报》
北大核心
2023年第4期323-327,共5页
Chinese Journal of Construction Machinery
基金
2022年湖南省重点研发计划项目(2022GC2056)。
关键词
混凝土泵车
目标检测
数据拟合
最小二乘法
开度检测
concrete pump truck
target detection
data fitting
least square method
opening detection