CN113433873A - Lorry-mounted crane remote control system based on 5G network - Google Patents
Lorry-mounted crane remote control system based on 5G networkDownload PDFInfo
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- CN113433873A CN113433873ACN202110825803.0ACN202110825803ACN113433873ACN 113433873 ACN113433873 ACN 113433873ACN 202110825803 ACN202110825803 ACN 202110825803ACN 113433873 ACN113433873 ACN 113433873A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23051—Remote control, enter program remote, detachable programmer
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Abstract
Description
Technical Field
The invention belongs to the technical field of crane control systems, and particularly relates to a lorry-mounted crane remote control system based on a 5G network.
Background
A lorry-mounted crane, called a lorry-mounted crane for short, is equipment for lifting, rotating and hoisting cargos by a hydraulic lifting and telescopic system, and is generally assembled on a truck. In view of the development of the construction machines in recent years, the development of the lorry-mounted crane is relatively fast, and the lorry-mounted crane becomes one of the most important construction machines in the construction, and the 5G network refers to the fifth generation network in the development of the mobile communication network, compared with the previous four generation mobile network, the 5G network shows more enhanced functions in the practical application process, and the transmission speed can reach tens of GB every second theoretically, which is hundreds of times of that of the 4G mobile network. For a 5G network, the advantages and the functions of the system are more obvious and stronger in the actual application process, most of the existing crane control systems still need to be controlled on site manually, so that the potential safety hazard is greater, the working environment of a crane is complex, and the remote control signals have greater interference in the receiving process.
Disclosure of Invention
The invention aims to provide a lorry-mounted crane remote control system based on a 5G network.
The purpose of the invention can be realized by the following technical scheme: a lorry-mounted crane remote control system based on a 5G network comprises a control center, an image data acquisition module, an image preprocessing module, a signal filtering module, a data analysis module and an early warning module;
the image data acquisition module is used for acquiring environment data of the crane;
the image preprocessing module is used for preprocessing the data acquired by the image data acquisition module;
the data analysis module is used for analyzing the data acquired by the image preprocessing module;
and the signal filtering module is used for identifying the signal frequency band of the remote control instruction and filtering an external interference signal.
Further, the acquiring process of the environment data comprises the following steps: the method comprises the steps that a picture at the front end of the crane is obtained in real time through two high-definition cameras, a picture behind the crane is obtained in real time through one high-definition camera, the obtained picture is uploaded to an image preprocessing module, and meanwhile the pictures shot by the three high-definition cameras are transmitted to a control center in real time through a 5G signal network.
Further, the pretreatment process comprises the following steps: respectively marking pictures shot by a high-definition camera as a first transmission picture, a second transmission picture and a third transmission picture; then, performing frame-by-frame analysis on the first transmission picture, the second transmission picture and the third transmission picture, generating frame-by-frame pictures, and performing graying processing on each picture to form a pre-processing picture; and then marking a unidirectional central axis on each frame-by-frame picture of the superposed picture of the first transmission picture and the second transmission picture, and generating a crane orientation trend graph according to the position of the central axis on each frame-by-frame picture.
Further, the process of analyzing the data acquired by the image preprocessing module includes: establishing a three-dimensional space coordinate system by taking the position of the crane as an original point; combining the preprocessed pictures of the first transmission picture, the second transmission picture and the third transmission picture with a three-dimensional space coordinate system to generate a three-dimensional environment stereo image; acquiring environment information of the front end and the rear end of the crane through a three-dimensional environment stereo image, wherein the environment information is whether an obstacle exists or not; when the front end and the rear end of the crane have obstacles, judging that the environment of the crane is not suitable for executing a hoisting instruction, and sending early warning information to a control center through an early warning module; and if no obstacle exists at the front end and the rear end of the crane, judging that the environment of the crane is suitable for executing a hoisting instruction.
Further, the process of identifying the execution instruction by the signal filtering module comprises: and receiving an execution instruction sent to the crane by the 5G signal base station, acquiring a signal wave band of the execution instruction, matching an identification wave band in the signal wave band of the execution instruction with a signal comparison wave band in the signal filtering module, and acquiring a matching result.
Furthermore, the image data acquisition module comprises three high definition digtal cameras, and three high definition digtal cameras are installed respectively in the both sides of hoist front end along the axis symmetry and the rear end of hoist just.
Further, the matching result comprises a qualified instruction and an interference instruction.
Further, the signal control wave band of each crane has uniqueness.
The invention has the beneficial effects that:
1. the method comprises the steps that two high-definition cameras are arranged at the front end of a crane to obtain a picture of the front end of the crane, one high-definition camera is arranged at the rear end of the crane to obtain a picture of the rear end of the crane, the obtained picture is preprocessed, so that the environment around the crane can be analyzed, whether the environment where the crane is located is suitable for executing lifting operation or not is judged according to an analysis result, and the crane is operated remotely on the basis of a 5G signal;
2. by arranging the signal filtering module, the signal comparison wave band is arranged in the signal filtering module, when an execution instruction is received, the identification wave band in the signal wave band of the execution instruction is matched with the signal comparison wave band in the signal filtering module, so that whether the execution instruction is a qualified instruction is judged, when the matching result is an interference instruction, the interference instruction is automatically ignored, and the signal comparison wave band of each crane has singleness, so that the crane has stronger anti-interference performance when the execution instruction is received.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic block diagram of a lorry-mounted crane remote control system based on a 5G network.
Detailed Description
As shown in fig. 1, a lorry-mounted crane remote control system based on a 5G network comprises a control center, an image data acquisition module, an image preprocessing module, a signal filtering module, a data analysis module and an early warning module;
the image data acquisition module consists of three high-definition cameras which are respectively arranged on two sides of the front end of the crane, which are symmetrical along a central axis, and in the middle of the rear end of the crane; the method is used for acquiring the environmental data of the crane, and the specific acquisition process comprises the following steps:
step C1: respectively installing a high-definition camera at the front end of the crane along two sides of a central axis to acquire a shooting area of the high-definition camera; the shooting areas of the two high-definition cameras are overlapped; the method comprises the steps that a picture of the front end of a crane is obtained in real time through two high-definition cameras, and the picture is uploaded to an image preprocessing module;
step C2: a high-definition camera is installed in the center of the rear end of the crane, a picture behind the crane is obtained in real time through the high-definition camera, and the picture is uploaded to an image preprocessing module;
step C3: and transmitting pictures shot by the three high-definition cameras to a control center in real time through a 5G signal network.
The image preprocessing module is used for preprocessing the data acquired by the image data acquisition module, and the specific process comprises the following steps:
step Y1: pictures shot by two high-definition cameras at the front end of the crane are respectively marked as a first transmission picture and a second transmission picture, and a picture shot by a high-definition camera at the rear end of the crane is marked as a third transmission picture;
step Y2: analyzing the first transmission picture, the second transmission picture and the third transmission picture frame by frame to generate a frame by frame picture, and carrying out gray processing on each picture to form a pre-processing picture;
step Y3: marking a unidirectional central axis on each frame-by-frame picture of a superposed picture of the first transmission picture and the second transmission picture, and generating a crane orientation trend graph according to the position of the central axis on each frame-by-frame picture;
step Y4: sending the data obtained in the steps Y1-Y3 to a data analysis module;
the data analysis module is used for analyzing the data acquired by the image preprocessing module, and the specific analysis process comprises the following steps:
step F1: establishing a three-dimensional space coordinate system by taking the position of the crane as an original point;
step F2: combining the preprocessed pictures of the first transmission picture, the second transmission picture and the third transmission picture with a three-dimensional space coordinate system to generate a three-dimensional environment stereo image;
step F3: acquiring environment information of the front end and the rear end of the crane through a three-dimensional environment stereo image, wherein the environment information is whether an obstacle exists or not;
step F4: when the front end and the rear end of the crane have obstacles, judging that the environment of the crane is not suitable for executing a hoisting instruction, and sending early warning information to a control center through an early warning module; and if no obstacle exists at the front end and the rear end of the crane, judging that the environment of the crane is suitable for executing a hoisting instruction.
The method comprises the steps that two high-definition cameras are arranged at the front end of a crane to obtain a picture of the front end of the crane, one high-definition camera is arranged at the rear end of the crane to obtain a picture of the rear end of the crane, the obtained picture is preprocessed, so that the environment around the crane can be analyzed, whether the environment where the crane is located is suitable for executing lifting operation or not is judged according to an analysis result, and the crane is operated remotely on the basis of a 5G signal;
the signal filtering module is used for identifying the signal frequency band of the remote control instruction and filtering an external interference signal, and the specific process comprises the following steps:
step X1: receiving an execution instruction sent to a crane by a 5G signal base station, wherein the execution instruction consists of an identification waveband and execution content;
step X2: a signal contrast wave band is arranged in the signal filtering module;
step X3: acquiring a signal wave band of an execution instruction, and matching an identification wave band in the signal wave band of the execution instruction with a signal comparison wave band;
step X4: when the identification wave band is successfully matched with the signal contrast wave band, judging that the execution instruction is a qualified instruction, and controlling the crane to remotely operate the crane according to the execution content according to the analysis result of the data analysis module; and when the matching of the identification wave band and the signal comparison wave band is unsuccessful, judging that the execution instruction is an interference instruction, and automatically ignoring the execution instruction.
By arranging the signal filtering module, the signal comparison wave band is arranged in the signal filtering module, when an execution instruction is received, the identification wave band in the signal wave band of the execution instruction is matched with the signal comparison wave band in the signal filtering module, so that whether the execution instruction is a qualified instruction is judged, when the matching result is an interference instruction, the interference instruction is automatically ignored, and the signal comparison wave band of each crane has singleness, so that the crane has stronger anti-interference performance when the execution instruction is received. In the specific implementation process, the signal of each crane is compared with the wave band and has the unicity, so that the crane can be prevented from being interfered by other signals when working in a close region, and potential safety hazards are generated.
The foregoing is illustrative and explanatory of the structure of the invention, and various modifications, additions or substitutions in a similar manner to the specific embodiments described may be made by those skilled in the art without departing from the structure or scope of the invention as defined in the claims. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise. In the embodiments provided by the present invention, it should be understood that the disclosed apparatus, device and method can be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is only one logical functional division, and there may be other divisions when the actual implementation is performed; the modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the method of the embodiment.
It will also be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof.
The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference signs in the claims shall not be construed as limiting the claim concerned.
Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the system claims may also be implemented by one unit or means in software or hardware. The terms second, etc. are used to denote names, but not any particular order.
Finally, it should be noted that the above examples are only intended to illustrate the technical process of the present invention and not to limit the same, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical process of the present invention without departing from the spirit and scope of the technical process of the present invention.
Claims (8)
1. A lorry-mounted crane remote control system based on a 5G network is characterized by comprising a control center, an image data acquisition module, an image preprocessing module, a signal filtering module, a data analysis module and an early warning module;
the image data acquisition module is used for acquiring environment data of the crane;
the image preprocessing module is used for preprocessing the data acquired by the image data acquisition module;
the data analysis module is used for analyzing the data acquired by the image preprocessing module;
and the signal filtering module is used for identifying the signal frequency band of the remote control instruction and filtering an external interference signal.
2. The remote control system of the lorry-mounted crane based on the 5G network is characterized in that the acquisition process of the environmental data comprises the following steps: the method comprises the steps that a picture at the front end of the crane is obtained in real time through two high-definition cameras, a picture behind the crane is obtained in real time through one high-definition camera, the obtained picture is uploaded to an image preprocessing module, and meanwhile the pictures shot by the three high-definition cameras are transmitted to a control center in real time through a 5G signal network.
3. The remote control system of the lorry-mounted crane based on the 5G network is characterized in that the preprocessing process comprises the following steps: respectively marking pictures shot by a high-definition camera as a first transmission picture, a second transmission picture and a third transmission picture; then, performing frame-by-frame analysis on the first transmission picture, the second transmission picture and the third transmission picture, generating frame-by-frame pictures, and performing graying processing on each picture to form a pre-processing picture; and then marking a unidirectional central axis on each frame-by-frame picture of the superposed picture of the first transmission picture and the second transmission picture, and generating a crane orientation trend graph according to the position of the central axis on each frame-by-frame picture.
4. The remote control system of the lorry-mounted crane based on the 5G network is characterized in that the analysis process of the data acquired by the image preprocessing module comprises the following steps: establishing a three-dimensional space coordinate system by taking the position of the crane as an original point; combining the preprocessed pictures of the first transmission picture, the second transmission picture and the third transmission picture with a three-dimensional space coordinate system to generate a three-dimensional environment stereo image; acquiring environment information of the front end and the rear end of the crane through a three-dimensional environment stereo image, wherein the environment information is whether an obstacle exists or not; when the front end and the rear end of the crane have obstacles, judging that the environment of the crane is not suitable for executing a hoisting instruction, and sending early warning information to a control center through an early warning module; and if no obstacle exists at the front end and the rear end of the crane, judging that the environment of the crane is suitable for executing a hoisting instruction.
5. The remote control system of the lorry-mounted crane based on the 5G network is characterized in that the identification of the execution instruction by the signal filtering module comprises the following steps: and receiving an execution instruction sent to the crane by the 5G signal base station, acquiring a signal wave band of the execution instruction, matching an identification wave band in the signal wave band of the execution instruction with a signal comparison wave band in the signal filtering module, and acquiring a matching result.
6. The remote control system of the lorry-mounted crane based on the 5G network is characterized in that the image data acquisition module consists of three high-definition cameras, and the three high-definition cameras are respectively installed on two sides of the front end of the crane, which are symmetrical along a central axis, and in the middle of the rear end of the crane.
7. The remote control system of the lorry-mounted crane based on the 5G network is characterized in that the matching result comprises a qualified command and a disturbance command.
8. A remote control system for truck-mounted crane based on 5G network as claimed in claim 5, wherein the signal reference band of each crane has unity.
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| CN202110825803.0ACN113433873A (en) | 2021-07-21 | 2021-07-21 | Lorry-mounted crane remote control system based on 5G network |
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| CN202110825803.0ACN113433873A (en) | 2021-07-21 | 2021-07-21 | Lorry-mounted crane remote control system based on 5G network |
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