CN114136562B - Binocular vision-based main beam deflection monitoring device and monitoring method thereof - Google Patents
Binocular vision-based main beam deflection monitoring device and monitoring method thereof Download PDFInfo
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- 238000012545 processing Methods 0.000 claims description 11
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
- G01M5/0025—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings of elongated objects, e.g. pipes, masts, towers or railways
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
- G01M5/0075—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by means of external apparatus, e.g. test benches or portable test systems
Abstract
The invention discloses a binocular vision-based girder deflection monitoring device which comprises at least two cameras and a target, wherein the target is fixedly connected with any girder of a crane, the target comprises two positioning patterns, the mass center of one positioning pattern is positioned between the top surface and the bottom surface of the girder, the shooting directions of the two cameras face the target, and the two cameras are electrically connected with a controller of the monitoring device, so that the three-dimensional change of the mass center of each positioning pattern is monitored. The utility model provides a monitoring devices and monitoring method based on girder deflection of binocular vision adopts binocular vision system to calculate the real-time centroid position of two location figures that are located the girder and target, compares with the initial centroid position of two location figures, calculates the deformation of girder axis according to the change of centroid position to calculate the deflection value of girder according to the deformation of hoist girder, thereby monitor the deformation of hoist girder in real time.
Description
Technical Field
The invention relates to the technical field of cranes, in particular to a binocular vision-based girder deflection monitoring device and a binocular vision-based girder deflection monitoring method.
Background
In order to ensure the safe use of the crane, the deflection of the main beam of the crane needs to be detected in the use of the crane, the deflection is ensured to be in a safe range, and the traditional method adopts a steel wire drawing measurement method, a theodolite method, a level gauge method, a communicating vessel method and other methods for manual measurement, so that the method is time-consuming, labor-consuming and influenced by human factors. Therefore, two improvements are proposed in the prior art, one is to detect the deflection of the main beam regularly by adopting an image visual sensing method, the advantage is high precision, the disadvantage is that the detection link is complex and the deflection cannot be monitored in real time, the other is to detect the change of the distance between the main beam and the ground by adopting a laser range finder, the disadvantage is that the deflection change under an ideal state can only be detected, and in the actual working process, the main beam of the crane can be bent inwards, and the method cannot detect the change, therefore, the monitoring method capable of detecting the vertical and horizontal bending degree of the main beam in real time is necessary.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the device and the method for monitoring the deflection of the main beam based on binocular vision can monitor the deformation degree of the main beam in the vertical direction and the horizontal direction.
In order to solve the technical problems, the invention adopts a technical scheme that: the utility model provides a monitoring devices of girder amount of deflection based on binocular vision, includes two at least cameras and a target, arbitrary girder fixed connection of target and hoist includes two location figures on the target, and the barycenter of one of them location figure is located between the top surface and the bottom surface of girder, two the direction of making a video recording of camera all is towards the target, two the controller of monitoring devices is all connected to the camera electricity to the three-dimensional change of barycenter of each location figure is monitored.
In order to solve the technical problems, the invention adopts another technical scheme that: the monitoring method of the monitoring device for the girder deflection based on binocular vision comprises the following steps,
the method comprises the following steps:
s1, acquiring left camera images and right camera images;
s2, processing left camera images and right camera images;
s3, carrying out three-dimensional reconstruction on the real-time centroid points of the two positioning graphs according to the left camera image and the right camera image to obtain real-time centroid three-dimensional positions of the first positioning graph and the second positioning graph after real-time reconstruction;
the invention has the beneficial effects that: the utility model provides a monitoring devices and monitoring method based on girder deflection of binocular vision adopts binocular vision system to calculate the real-time barycenter position of two location figures that are located the girder and targets, compares with the initial barycenter position of two location figures, calculates the deformation of girder axis according to the change of barycenter position to reflect girder horizontal direction and vertical direction's deformation, and then calculate the deflection value of girder according to girder horizontal position and vertical direction's deformation, thereby monitor the deformation of hoist girder in real time.
Drawings
Fig. 1 is a schematic structural diagram of a binocular vision-based main beam deflection monitoring device according to an embodiment of the present invention;
FIG. 2 is a schematic view of the connection structure of the main beam and the target in the direction A in FIG. 1;
FIG. 3 is a schematic view of the deformation of the main beam in an ideal state;
fig. 4 is a schematic view of the deformation of the main beam in an actual state;
fig. 5 is a flow chart of a monitoring method of a monitoring device for girder deflection based on binocular vision according to an embodiment of the present invention.
Description of the reference numerals:
1. a binocular camera; 2. a target; 3. an end beam; 4. a main beam; 5. and (3) a trolley.
Detailed Description
In order to describe the technical contents, the achieved objects and effects of the present invention in detail, the following description will be made with reference to the embodiments in conjunction with the accompanying drawings.
Referring to fig. 1, an embodiment of the invention provides a binocular vision-based girder deflection monitoring device, which comprises at least two cameras and a target, wherein the target is fixedly connected with any girder of a crane, the target comprises two positioning patterns, the mass center of one positioning pattern is positioned between the top surface and the bottom surface of the girder, the shooting directions of the two cameras face the target, the focal length is adjusted to enable the cameras to only shoot the background and the pattern of the target, the influence of the shot surrounding environment on detection is avoided, and the two cameras are electrically connected with a controller of the monitoring device, so that the three-dimensional change of the mass center of each positioning pattern is monitored.
From the above description, the beneficial effects of the invention are as follows: the utility model provides a monitoring devices and monitoring method based on girder deflection of binocular vision adopts binocular vision system to calculate the real-time barycenter position of two location figures that are located the girder and targets, compares with the initial barycenter position of two location figures, calculates the deformation of girder axis according to the change of barycenter position to reflect girder horizontal direction and vertical direction's deformation, and then calculate the deflection value of girder according to girder horizontal position and vertical direction's deformation, thereby monitor the deformation of hoist girder in real time.
Further, the target is located at the center of the main beam and perpendicular to the main beam.
From the above description, the target is located at the position where the deformation is maximum and is perpendicular to the main beam, so that it better reflects the deformation of the main beam in the vertical direction and the deformation in the horizontal direction.
Further, the crane trolley further comprises two touch switches, wherein the touch switches are respectively positioned at two sides of the connection position of the target and the main beam, and the two touch switches are electrically connected with a controller of the monitoring device, so that the monitoring device is triggered when an external crane trolley enters an area between the two touch switches.
From the above description, when the region between the two micro switches of the trolley is operated, the deformation of the main beam is the largest, and the deflection of the main beam is detected at the moment, so that the calculation force is saved to the greatest extent.
Further, both cameras are located on the same end beam of the crane.
From the above description, it is clear that the two cameras are located on the same end beam towards the target, better constituting a binocular system.
The monitoring method of the monitoring device for the girder deflection based on binocular vision comprises the following steps:
s1, acquiring left camera images and right camera images;
s2, processing left camera images and right camera images;
s3, carrying out three-dimensional reconstruction on the real-time centroid points of the two positioning graphs according to the left camera image and the right camera image to obtain real-time centroid three-dimensional positions of the first positioning graph and the second positioning graph after real-time reconstruction;
and S4, obtaining a real-time deflection value according to the change of the real-time mass center three-dimensional positions of the first positioning graph and the second positioning graph.
From the above description, the beneficial effects of the invention are as follows: the utility model provides a monitoring devices and monitoring method based on girder deflection of binocular vision adopts binocular vision system to calculate the real-time barycenter position of two location figures that are located the girder and targets, compares with the initial barycenter position of two location figures, calculates the deformation of girder axis according to the change of barycenter position to reflect girder horizontal direction and vertical direction's deformation, and then calculate the deflection value of girder according to girder horizontal position and vertical direction's deformation, thereby monitor the deformation of hoist girder in real time.
Further, the step S2 includes:
s21, correcting the left camera image and the right camera image, and performing gray scale processing;
step S22, performing Gaussian filtering on the image obtained in the step S21;
s23, carrying out convolution processing on the image obtained in the step S22, and enhancing edge sharpening;
step S24, performing open operation on the image obtained in the step S23 to eliminate the tiny area;
step S25, performing edge detection on the image obtained in the step S24;
step S26, acquiring the outline of the image obtained in the step S25;
and step S27, calculating the zero-order distance of the outline of the image obtained in the step S26, and obtaining the real-time centroid image coordinates of each positioning image.
As can be seen from the above description, the left and right images are subjected to Gaussian filtering, image correction and the like, so that the shot picture is clearer, the centroid of the positioning graph can be better positioned, and the detection accuracy is improved.
Further, the step S3 specifically includes the following steps:
obtaining inner and outer parameter matrixes of a left camera and a right camera offline according to a Zhang Zhengyou calibration method, and obtaining real-time centroid image coordinates of each positioning image of the left camera and the right camera after combining the step S2, so as to obtain a real-time centroid position A1 of a first positioning image and a real-time centroid position B1 of a second positioning image which take the coordinates of the left camera or the right camera as the origin of a world coordinate system, wherein the centroid of the first positioning image is positioned between the top surface and the bottom surface of a main beam;
the step S4 specifically includes the following steps:
and calculating deflection values according to the real-time centroid positions A1 and B1, the stored initial centroid position A of the first positioning pattern, the stored initial centroid position B of the second positioning pattern and the distance AC from the initial centroid position A of the first positioning pattern to the main beam center axis.
From the above description, the inner and outer parameter matrixes of the left and right cameras are obtained offline by adopting a Zhang Zhengyou calibration method, the centroid position is obtained by combining an S2 graphic processing program, and then the deflection value of the main beam can be accurately calculated according to the real-time centroid position and the stored initial position.
Further, the step S4 specifically includes the following steps:
calculating a deformation angle alpha from the formula alpha = arctan [ (Z1-Z2)/(X1-X2) ] -arctan [ (Za-Zb)/(Xa-Xb) ] wherein Za refers to the coordinate of the position a of the initial centroid of the first positioning pattern in the vertical direction, Z1 refers to the coordinate of the position A1 of the real-time centroid of the first positioning pattern in the vertical direction, Z2 refers to the coordinate of the position B1 in the vertical direction, zb refers to the coordinate of the position B of the initial centroid of the second positioning pattern, X1 refers to the coordinate of the position A1 of the real-time centroid of the first positioning pattern in the horizontal plane in the vertical direction, X2 refers to the coordinate of the position B1 in the vertical direction in the horizontal plane in the main beam direction, xa refers to the coordinate of the position a of the initial centroid of the first positioning pattern in the horizontal plane in the vertical direction in the main beam direction, xb refers to the coordinate of the position B of the initial centroid of the second positioning pattern in the horizontal plane in the vertical direction;
and calculating a deflection value according to a formula of C1C2= (Za-Z1) +AC tan alpha, wherein C1C2 refers to the deflection value.
From the above description, the actual deflection value of the main beam can be simply and rapidly calculated according to the formula, and the deformation degree of the main beam in the vertical direction and the horizontal direction is reflected.
Further, the method also comprises the following steps:
and S0, acquiring and storing an internal and external parameter matrix of the left and right cameras offline by adopting a Zhang Zhengyou calibration method, and acquiring and storing an initial centroid position A (Xa, ya, za) of the first positioning pattern, an initial centroid position B (Xb, ya, zb) of the second positioning pattern and a distance AC between the initial centroid of the first positioning pattern and a central axis of the main beam in an initial idle state of the crane.
As can be seen from the above description, the monitoring system can obtain the initial centroid position a of the first positioning pattern, the initial centroid position B of the second positioning pattern, and the values from the initial centroid position of the first positioning pattern to the main beam center axis AC in the no-load state, which is beneficial to improving the universality of the monitoring system, so that the monitoring system can be adapted to various portal cranes.
Further, in the step S0, the initial centroid position a of the first positioning pattern and the initial centroid position B of the second positioning pattern are obtained, specifically, the step S1-step S3 is performed under the idle state of the crane to obtain the real-time centroid position of the first positioning pattern as the initial centroid position a of the first positioning pattern, and the real-time centroid position of the second positioning pattern as the initial centroid position B of the second positioning pattern;
in the step S0, the distance AC between the initial centroid of the first positioning image and the central axis of the main beam is specifically measured and input by an external person.
From the above description, the inner and outer parameter matrixes of the left and right cameras are obtained offline according to the Zhang Zhengyou calibration method, and the real-time centroid image coordinates of each positioning image of the left and right cameras are obtained after the step S2, so that the first positioning image initial centroid position A and the second positioning image initial centroid position B are automatically identified, and the workload of staff during initialization is reduced.
Example 1
Referring to fig. 1, the on-line monitoring device for deflection of a main beam of a crane in this embodiment is suitable for on-line detection of deflection of a main beam 4 of a gantry crane, and includes a binocular camera 1 and a target 2, wherein the binocular camera 1 is composed of a left camera and a right camera and is disposed on an end beam 3 at one side of the crane, the target 2 is disposed on any one of the two main beams 4 of the gantry crane, and due to stress distribution, a portion with the largest deformation of the main beam 4 is generally disposed in the middle of the main beam 4, so in this embodiment, the target 2 is disposed in the middle of the main beam 4.
The target 2 is shown in fig. 2, the background is white, and two black positioning rectangles are arranged on the white background, wherein the centroid of the first positioning rectangle is a, and the centroid of the second positioning rectangle is B.
It should be noted that the positioning rectangle is used for the recognition positioning of the binocular camera 1, and not only the rectangle, but also any positioning pattern that can be recognized by the camera can be used.
In an ideal state, the main beam 4 only has deformation in a vertical direction, and at this time, an ideal deflection value CC1 = C1-C = A1-a = B1-B, wherein C is a mass point on a central axis of the main beam 4, and C1 is a current position of the mass point C, but in actual use, the main beam 4 has deformation in the vertical direction and also has oblique deformation in a horizontal direction, so that data processing of deflection values under the condition that a lifting load generates elastic deformation by the main beam 4 needs to be considered, and therefore, a position for initializing a centroid a and a centroid B is established, wherein an initial position of the centroid a is a (Xa, ya, za), a centroid B (Xb, ya, zb) is a position of the cross beam, and as a span of the main beam 4 is unchanged, a position of the target 2 is located in a middle position of the main beam 4, and therefore, a coordinate Ya of the target 2 in the direction along the main beam 4 is unchanged when the main beam 4 is deformed, and is necessarily deformed inwards and downwards due to the influence of a stress position of the main beam 4, after that the initial position C2 is moved to a value of C1 to a point of C1, a point of intersection point a is A1 to A1, a point a is formed by moving a triangle, and a point A1 is A1 to a point A1, a point a and a point a is formed by A1a and a point a and a point A1a and a point a and a point B is 1 and a point B and A1 are moved,
the angle α=arctan [ (Z1-Z2)/(X1-X2) ] -arctan [ (Za-Zb)/(Xa-Xb) ];
the deflection value c1c2=oc2=tanα= (OA 2+a2c2) ×tanα;
since oa2=a1a2/tanα= (Za-Z1)/tanα;
thus, the deflection value c1c2= (Za-z1) +a2c2×tanα is obtained, and AC is about equal to A2C2 due to the small amount of elastic deformation inclination, so the deflection value is about (Za-z1) +ac×tanα.
In the above formula, A2 refers to the projection of the horizontal plane where A1 is located in the initial state, and the projection of the horizontal plane where C is located in the initial state is given by the C2 value C1.
Example two
The on-line monitoring device for the deflection of the main beam 4 of the crane in the embodiment is different from the on-line monitoring device in the first embodiment in that two micro switches are further arranged, the two micro switches are respectively arranged on two sides of the center of the main beam 4, specifically, the length of the main beam 4 is Z, the two micro switches are arranged on two sides of the distance from the center Z/5, and when the trolley 5 works within the range clamped by the two micro switches, the deflection of the main beam 4 is detected.
Example III
Referring to fig. 5, the deflection monitoring method of the crane girder 4 based on binocular vision of the present embodiment includes the following steps,
s1, acquiring left camera images and right camera images;
s2, processing left camera images and right camera images;
s3, carrying out three-dimensional reconstruction on the real-time centroid points of the two positioning graphs according to the left camera image and the right camera image to obtain real-time centroid three-dimensional positions of the first positioning graph and the second positioning graph after real-time reconstruction;
and S4, obtaining a real-time deflection value according to the change of the real-time mass center three-dimensional positions of the first positioning graph and the second positioning graph.
Wherein, step S2 includes:
s21, correcting the left camera image and the right camera image, and performing gray scale processing;
step S22, performing Gaussian filtering on the image obtained in the step S21;
s23, carrying out convolution processing on the image obtained in the step S22, and enhancing edge sharpening;
step S24, performing open operation on the image obtained in the step S23 to eliminate the tiny area;
step S25, performing edge detection on the image obtained in the step S24;
step S26, acquiring the outline of the image obtained in the step S25;
and step S27, calculating the zero-order distance of the outline of the image obtained in the step S26, and obtaining the real-time centroid image coordinates of each positioning image.
In step S3, the inner and outer parameter matrices of the left and right cameras are obtained offline according to the Zhang Zhengyou calibration method, and the real-time centroid image coordinates of each positioning image of the left and right cameras are obtained in combination with step S2 to obtain the real-time centroid position A1 (X1, ya, Z1) of the first positioning rectangle and the real-time centroid position B1 (X2, ya, Z2) of the second positioning rectangle using the left camera as the origin of the world coordinate system.
In step S4, a deflection value is calculated according to the centroid positions A1 and B1 detected in real time, the initial centroid position a (Xa, ya, za) of the first positioning rectangle and the initial centroid position B (Xb, ya, zb) of the second positioning rectangle stored in the memory, and the distance AC from the initial centroid position a of the first positioning pattern to the main beam center axis.
Specifically, a deflection value C1C2 is calculated from the formula deflection value c1c2= (Za-Z1) +ac×tan α.
Example IV
The crane girder deflection monitoring method of the embodiment is different from the first embodiment in that the method further comprises the step S0 of obtaining and storing the inner and outer parameter matrixes of the left and right cameras offline by adopting a Zhang Zhengyou calibration method, obtaining an initial centroid position A (Xa, ya, za) of a first positioning rectangle and an initial centroid position B (Xb, ya, zb) of a second positioning rectangle under an initial idle state of the crane, and storing the values of A, B and AC by the distance AC between the initial centroid of the first positioning rectangle and the central axis of the girder 4.
In this embodiment, the first positioning rectangular initial centroid position a and the second positioning rectangular initial centroid position B are obtained by binocular system identification, and the distance AC between the first positioning rectangular initial centroid and the central axis of the main beam 4 is measured and input by an external person.
In summary, the deflection detection device and the deflection detection method for the crane girder based on binocular vision not only can realize deflection detection on the girder vertical deformation, but also can realize deflection detection on the girder horizontal deformation, and can automatically finish initialization of centroid acquisition of the first positioning rectangle and the second positioning rectangle in an initial state, deflection detection is only carried out when the trolley works in the center, and calculation force and energy are saved to the greatest extent.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent changes made by the specification and drawings of the present invention, or direct or indirect application in the relevant art, are included in the scope of the present invention.
Claims (4)
1. The monitoring method of the monitoring device for the deflection of the main beam based on binocular vision is characterized in that the monitoring device comprises two cameras and a target, wherein the target is fixedly connected with any main beam of a crane, the target is positioned at the middle position of the main beam and is perpendicular to the main beam, the target comprises two positioning patterns, the mass center of a first positioning pattern is positioned between the top surface and the bottom surface of the main beam, the shooting directions of the two cameras face the target, the focal length is adjusted to enable the cameras to only shoot the background and the pattern of the target, and the two cameras are electrically connected with a controller of the monitoring device, so that the three-dimensional change of the mass center of each positioning pattern is monitored;
the device also comprises two touch switches which are respectively positioned at two sides of the connecting position of the target and the main beam, in particular to two sides which are arranged at a distance of one fifth of the length of the main beam from the center of the main beam;
the two touch switches are electrically connected with a controller of the monitoring device, so that the monitoring device is triggered when an external trolley enters an area between the two touch switches;
the two cameras are both positioned on the same end beam of the crane;
the monitoring method comprises the following steps:
s1, acquiring left camera images and right camera images;
s2, processing left camera images and right camera images;
step S3, carrying out three-dimensional reconstruction on the real-time centroid points of the two positioning graphs according to the left camera image and the right camera image to obtain real-time centroid three-dimensional positions of the first positioning graph and the second positioning graph after real-time reconstruction, wherein the three-dimensional positions are specifically as follows:
obtaining inner and outer parameter matrixes of the left and right cameras offline according to a Zhang Zhengyou calibration method, and obtaining real-time centroid image coordinates of each positioning graph of the left and right cameras after combining the step S2, so as to obtain a real-time centroid position A1 of a first positioning graph and a real-time centroid position B1 of a second positioning graph which take the coordinates of the left camera or the right camera as the origin of a world coordinate system;
s4, obtaining a real-time deflection value according to the change of the real-time mass center three-dimensional positions of the first positioning graph and the second positioning graph, wherein the real-time deflection value is specifically as follows:
calculating deflection values according to the real-time centroid positions A1 and B1, the stored initial centroid position A of the first positioning pattern, the stored initial centroid position B of the second positioning pattern and the distance AC from the initial centroid position A of the first positioning pattern to the main beam center axis;
calculating an angle value alpha of girder deformation under the action of lifting load according to the formula alpha = arctan [ (Z1-Z2)/(X1-X2) ] -arctan [ (Za-Zb)/(Xa-Xb) ], wherein Za refers to the coordinate of the initial centroid position A of the first positioning graph in the vertical direction, Z1 refers to the coordinate of the real-time centroid position A1 of the first positioning graph in the vertical direction, Z2 refers to the coordinate of the real-time centroid position B1 of the second positioning graph in the vertical direction, zb refers to the coordinate of the initial centroid position B of the second positioning graph in the vertical direction, X1 refers to the coordinate of the real-time centroid position A1 of the first positioning graph in the vertical girder direction in the horizontal plane, X2 refers to the coordinate of the initial centroid position A of the second positioning graph in the vertical girder direction in the horizontal plane, xa refers to the coordinate of the initial centroid position B of the second positioning graph in the vertical girder direction in the horizontal plane;
and calculating a deflection value according to a formula of C1C2= (Za-Z1) +AC tan alpha, wherein C1C2 refers to the deflection value.
2. A monitoring method according to claim 1, wherein said step S2 comprises:
s21, correcting the left camera image and the right camera image, and performing gray scale processing;
step S22, performing Gaussian filtering on the image obtained in the step S21;
s23, carrying out convolution processing on the image obtained in the step S22, and enhancing edge sharpening;
step S24, performing open operation on the image obtained in the step S23 to eliminate the tiny area;
step S25, performing edge detection on the image obtained in the step S24;
step S26, acquiring the outline of the image obtained in the step S25;
and step S27, calculating the zero-order distance of the outline of the image obtained in the step S26, and obtaining the real-time centroid image coordinates of each positioning graph.
3. A method of monitoring according to claim 2, further comprising the steps of:
and S0, acquiring and storing an internal and external parameter matrix of the left and right cameras offline by adopting a Zhang Zhengyou calibration method, and acquiring and storing an initial centroid position A (Xa, ya, za) of the first positioning pattern, an initial centroid position B (Xb, ya, zb) of the second positioning pattern and a distance AC between the initial centroid of the first positioning pattern and a central axis of the main beam in an initial idle state of the crane.
4. A method of monitoring according to claim 3, wherein:
the step S0 is to obtain an initial centroid position A of a first positioning pattern and an initial centroid position B of a second positioning pattern, specifically, the step S1-the step S3 are executed under the idle state of the crane to obtain a real-time centroid position of the first positioning pattern as an initial centroid position A of the first positioning pattern, and a real-time centroid position of the second positioning pattern as an initial centroid position B of the second positioning pattern;
in the step S0, the distance AC between the initial centroid of the first positioning image and the central axis of the main beam is specifically measured and input by an external person.
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