CN115072564A - Device and method for automatically tracking hoisting position of crane - Google Patents
Device and method for automatically tracking hoisting position of crane Download PDFInfo
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- CN115072564A CN115072564A CN202210730556.0A CN202210730556A CN115072564A CN 115072564 A CN115072564 A CN 115072564A CN 202210730556 A CN202210730556 A CN 202210730556A CN 115072564 A CN115072564 A CN 115072564A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
Abstract
The invention discloses a device and a method for automatically tracking the hoisting position of a crane by a camera, wherein a hoisting device moves in the vertical direction through a hoisting device; the camera shooting pan-tilt is fixedly arranged below the cart mechanism; the camera device is fixed on the camera holder; the camera shooting assembly is in communication connection with the computing unit; the first signal acquisition device and the second signal acquisition device are in communication connection with the computing unit; the first signal acquisition device is arranged on the trolley mechanism; the second signal acquisition device is arranged on the lifting mechanism. According to the position coordinates of the crane trolley mechanism and the hoisting mechanism, the rotation angle of the camera device and the focal length of the camera device are obtained, and the automatic tracking of the hoisting device by the camera device is realized. The crane operating personnel can know the running condition of the hoisting device in real time and visually through the camera device, avoid excessive dispersed attention, ensure the safety of the hoisting process of the crane and effectively improve the hoisting efficiency.
Description
Technical Field
The invention relates to the technical field of crane video monitoring, in particular to a device and a method for automatically tracking the hoisting position of a crane.
Background
The crane is one of indispensable large-scale equipment in the industrial field, is commonly used in hoisting scenes such as buildings, metallurgy and harbors, and the suspended load weight of the crane is calculated by taking tons as a unit. The driver's cabin of current hoist all sets up in the eminence under the general condition, like bridge crane sets up in the girder below, and the portal crane setting is in rotary mechanism top etc.. The operator has a good view in the cab and can know the hoisting environment. However, sometimes, due to the problems of shielding, angle and the like, the operator in the cab cannot see the hook head and the full view of the suspended goods and can only operate the crane through communication with the commander. Meanwhile, operators need to concentrate on the attention during operation, fatigue is easy to occur, and certain potential safety hazards exist.
The existing video monitoring system applied to the crane is provided with a camera at each important part of the crane and a display screen in a cab, so that an operator can know the whole running condition of the crane through video monitoring content. However, most of the existing video monitoring systems are installed in a fixed manner, that is, the viewing angle and the focal length of the existing video monitoring systems are determined after the existing video monitoring systems are installed, and the existing video monitoring systems cannot be automatically adjusted any more and can only be manually adjusted. To obtain information, an operator needs to monitor a plurality of videos with a decentralized attention. Operating the crane itself is a high pressure operation that requires a high degree of concentration, which can add a lot of pressure to the operator if this is done.
Disclosure of Invention
The invention provides a device and a method for automatically tracking the hoisting position of a crane, which aim to overcome the technical problems.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a device for automatically tracking the hoisting position of a crane comprises a cart mechanism, a trolley mechanism and a calculation unit; the cart mechanism is provided with a trolley mechanism running track, and the trolley mechanism is arranged on the cart mechanism and moves along the trolley mechanism running track; the method comprises the following steps: the device comprises a lifting mechanism, a camera shooting assembly, a first signal acquisition device and a second signal acquisition device;
the hoisting mechanism comprises a hoisting device and a hoisting device; the lifting device is fixedly arranged on the trolley mechanism; the hoisting device is connected with the hoisting device and vertically moves along the vertical direction through the hoisting device;
the camera shooting assembly comprises a camera shooting holder and a camera shooting device; the camera shooting pan-tilt is fixedly arranged below the cart mechanism; the camera device is fixedly connected with the camera holder;
the first signal acquisition device is arranged on the trolley mechanism to acquire the coordinates of the position point A of the trolley mechanism in real time;
the second signal acquisition device is arranged on the lifting device to acquire the coordinate of the position point C of the lifting device in real time;
the first signal acquisition device and the second signal acquisition device are in communication connection with the computing unit so as to acquire the rotation angle of the camera device and the focal length of the camera device according to the coordinates of the position point A of the trolley mechanism, the coordinates of the position point C of the hoisting device and the coordinates of the position point B of the camera device;
the computing unit is in communication connection with the camera shooting cloud deck so as to transmit the rotation angle of the camera shooting device and the focal length of the camera shooting device to the camera shooting cloud deck, and the camera shooting device is controlled to move by the camera shooting cloud deck so as to realize automatic tracking of the suspended load device;
the first signal acquisition device, the second signal acquisition device, the calculation unit and the camera shooting assembly are all connected with a power supply.
Further, the cart mechanism comprises two main beams, a first end beam and a second end beam; the first end beam and the second end beam are arranged in parallel relatively.
Two ends of the main beam are respectively and fixedly connected with one ends of the first end beam and the second end beam; the two main beams are arranged in parallel relatively;
the trolley mechanism running track is arranged on the main beam in parallel; so that the trolley mechanism moves along the trolley mechanism running track.
A method for automatically tracking the hoisting position of a crane comprises the following steps:
s1: taking the middle point of the first end beam as a coordinate origin; the advancing direction of the cart mechanism is the positive direction of an x axis, the advancing direction of the cart mechanism is the positive direction of a y axis, and the vertical upward direction is the positive direction of a z axis to establish a rectangular coordinate system;
s2: acquiring the coordinate of a position point A of the trolley mechanism through the first signal acquisition device; acquiring the coordinate of a position point C of the hoisting device through the second signal acquisition device;
s3: according to the coordinates of the position point A of the trolley mechanism and the coordinates of the position point B of the camera device, the rotation angle alpha of the camera device around the z axis is obtained final ；
S4: acquiring a rotation angle beta of the camera around an x axis and a focal length D of the camera according to the coordinates of the position point C of the hoisting device and the coordinates of the position point B of the camera;
s5: according to the rotation angle alpha of the camera around the z axis final The rotation angle beta of the camera device around the x axis and the focal length D of the camera device control the camera angle of the camera device to track the suspended load device in real time.
Furthermore, the rotation angle alpha of the imaging device around the z axis final The calculation is as follows:
the included angle alpha between the straight line AB and the negative direction of the x axis is obtained as follows:
tanα＝(y 1 -y c )/x c (100)
in the formula: y is 1 The coordinate of the trolley mechanism on the y axis is shown; y is c Coordinates of the camera device on the y axis; x is the number of c Coordinates of the camera device on an x axis;
in the formula: α init is an initial imaging angle of the imaging device.
Further, an angle β between the straight line BC and the plane z ═ 0 is calculated as follows:
in the formula: z is a radical of c Coordinates of the camera device on the z axis; z is a radical of 3 The coordinate of the hoisting device on the z axis is shown; x is the number of c Coordinates of the camera device on an x axis; y is 3 The coordinate of the hoisting device on the y axis is shown; y is c The coordinates of the camera on the y-axis.
Further, the focal length of the image pickup apparatus is calculated as follows:
the distance between position point C and position point B is calculated as follows:
in the formula: l BC Is the distance between position point C and position point B; x is the number of c Coordinates of the camera device on an x axis; y is 3 The coordinate of the hoisting device on the y axis is shown; y is c Coordinates of the camera device on the y axis; z is a radical of c Coordinates of the camera device on the z axis; z is a radical of 3 The coordinate of the hoisting device on the z axis is shown;
the focal length of the camera is calculated as follows:
D＝l BC ×D max /l max (400)
in the formula: d is the focal length of the camera device; d max The focal length of the lifting device and the camera device is the farthest distance; l. the max The farthest distance between the hanging device and the camera device.
Has the advantages that: according to the device and the method for automatically tracking the hoisting position of the crane, the automatic tracking of the hoisting device by the camera device is realized by acquiring the rotation angle of the camera device and the focal length of the camera device through the computing unit according to the position coordinates of the crane trolley mechanism and the hoisting mechanism. The crane operating personnel can know the running condition of the hoisting device in real time and visually through the camera device, avoid excessive dispersed attention, ensure the safety of the hoisting process of the crane and effectively improve the hoisting efficiency.
Drawings
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 embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can obtain other drawings based on the drawings without inventive labor.
FIG. 1 is a schematic structural diagram of an apparatus for automatically tracking the suspended load position of a crane according to the present invention;
FIG. 2 is a top view of the apparatus for automatically tracking the suspended load position of a crane according to the present invention;
FIG. 3 is a flow chart of a method for automatically tracking the hoisting position of a crane by a camera according to the invention;
fig. 4 is a schematic diagram of a rectangular coordinate system in an embodiment of the invention.
Wherein: 1. a cart mechanism; 11. a main beam; 12. a first end beam; 13. a second end beam; 2. a trolley mechanism; 21. the trolley mechanism runs on a track; 3. a hoisting mechanism; 31. a hoisting device; 4. a camera shooting cloud deck; 5. a camera device; 6. a hoisting device.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment provides a device for automatically tracking the hoisting position of a crane, which comprises a cart mechanism 1, a trolley mechanism 2, a hoisting mechanism 3 and a calculation unit, as shown in fig. 1-2; a trolley mechanism running track 21 is arranged on the cart mechanism, and the trolley mechanism 2 is arranged on the cart mechanism 1 and moves along the trolley mechanism running track 21;
further comprising: the device comprises a hoisting mechanism 3, a camera shooting assembly, a first signal acquisition device and a second signal acquisition device;
the hoisting mechanism 3 comprises a hoisting device 31 and a hoisting device 6; the hoisting device 6 is connected with the lifting device 31 and vertically moves along the vertical direction through the lifting device 31; the lifting device 31 is fixedly arranged on the trolley mechanism 2;
the cart mechanism 1 comprises two main beams 11, a first end beam 12 and a second end beam 13; the first end beam 12 and the second end beam 13 are arranged in parallel relatively;
two ends of the main beam 11 are respectively and fixedly connected with one ends of the first end beam 12 and the second end beam 13; the two main beams 11 are arranged in parallel relatively;
a trolley mechanism running track 21 is arranged on the main beam 11 along the direction parallel to the main beam 11, and the trolley mechanism 2 moves along the trolley mechanism running track 21;
specifically, in this embodiment, the hoisting mechanism is a device that enables the lifting device to move in the vertical direction, and the lifting device 6 is a device that grabs objects, and is a hook head, a grab bucket, an electromagnetic disc, and the like, which are common in the field, and will not be described in detail here.
The camera shooting component comprises a camera shooting pan-tilt 4 and a camera shooting device 5; the camera shooting pan-tilt 4 is fixedly arranged below the main beam 11; the camera device 5 is fixed on the camera pan-tilt 4;
specifically, in this embodiment, the camera platform 4 is a common electric platform capable of controlling the camera to rotate, and the camera device 5 is a common camera.
The first signal acquisition device is arranged on the trolley mechanism to acquire the coordinates of the position point A of the trolley mechanism in real time;
the second signal acquisition device is arranged on the lifting device to acquire the coordinate of the position point C of the lifting device 6 in real time;
the first signal acquisition device and the second signal acquisition device are in communication connection with the computing unit so as to acquire the rotation angle of the camera device and the focal length of the camera device according to the coordinates of the position point A of the trolley mechanism, the coordinates of the position point C of the hoisting device and the coordinates of the position point B of the camera device;
the computing unit is in communication connection with the camera shooting pan-tilt 4 so as to transmit the rotation angle of the camera shooting device and the focal length of the camera shooting device to the camera shooting pan-tilt, and the camera shooting device 5 is controlled to move by the camera shooting pan-tilt, so that the automatic tracking of the suspended load device is realized;
specifically, the first signal acquisition device and the second signal acquisition device in this embodiment are both common position sensors; and will not be described in detail herein.
The first signal acquisition device, the second signal acquisition device, the calculation unit and the camera shooting assembly are all connected with a power supply.
Specifically, the first signal acquisition device and the second signal acquisition device in this embodiment are both position sensors commonly found in the market.
The working principle is as follows: in the embodiment, the real-time positions of the trolley mechanism and the hoisting device are respectively acquired by the first signal acquisition device and the second signal acquisition device, the real-time positions of the trolley mechanism and the hoisting device are transmitted to the calculation unit through the communication line, the calculation unit calculates the rotation parameters of the camera device according to the real-time positions of the trolley mechanism and the hoisting device, and the rotation parameters of the camera device are output to the camera assembly through the communication line, so that the rotation angle of the camera device is controlled, and the real-time tracking of the hoisting device is realized.
The computing unit adopts a computing method in the method for automatically tracking the crane hoisting position by the camera in the embodiment, acquires a computer chip of a software program of the rotation angle of the camera and the focal length of the camera, and can output the acquired rotation angle of the camera and the acquired focal length of the camera, so that the camera holder can control the rotation of the camera according to the rotation angle of the camera and the focal length of the camera;
the method for automatically tracking the hoisting position of the crane by the camera in the embodiment comprises the following steps: as shown in fig. 3:
s1: taking the middle point of the first end beam as a coordinate origin; the advancing direction of the cart mechanism is the positive direction of an x axis, the advancing direction of the cart mechanism is the positive direction of a y axis, and the vertical upward direction is the positive direction of a z axis to establish a rectangular coordinate system; as shown in fig. 4.
S2: acquiring the coordinate of a position point A of the trolley mechanism through the first signal acquisition device; acquiring the coordinate of a position point C of the hoisting device through the second signal acquisition device; the camera shooting assembly and the cart mechanism are always kept relatively static, so that the running position information of the cart mechanism is not calculated.
S3: according to the coordinates of the position point A of the trolley mechanism and the coordinates of the position point B of the camera device, the rotation angle alpha of the camera device around the z axis is obtained final ；
A rotation angle alpha of the image pickup device around the z-axis final The calculation is as follows:
obtaining an included angle alpha between a straight line AB and the negative direction of an x axis as follows, wherein the straight line AB is a connecting line of a position point A of the trolley mechanism and a position point B of the camera device:
tanα＝(y 1 -y c )/x c (100)
in the formula: y is 1 The coordinate of the trolley mechanism on the y axis is shown; y is c Coordinates of the camera device on the y axis; x is the number of c Coordinates of the camera device on an x axis;
wherein position B (x) of the image pickup device c ，y c ，z c ) Is fixed, the position of the carriage mechanism A (0, y) 1 0) is constantly changing, according to changing y 1 The value of the angle alpha can be calculated in real time.
After each camera device leaves the factory and is installed, each camera device is provided with an initial angle alpha relative to the x axis init Therefore, the actual rotation angle of the imaging device about the z-axis is calculated as follows:
in the formula: alpha is alpha init Is the initial camera angle of the camera device.
Due to alpha final Must be in the [0,360) interval, so when α is final When the value is more than or equal to 360, 360 is subtracted, and the finally obtained value can be used as a parameter for directly controlling the camera device.
In this embodiment, all distances are in meters.
S4: according to the coordinates of the position point C of the suspended load device and the coordinates of the position point B of the image pickup device, the rotation angle (the included angle between the straight line BC and the plane z being 0) β of the image pickup device around the x axis and the focal length D of the image pickup device are obtained by the calculation unit in the embodiment;
an included angle β between the straight line BC and the plane z is calculated as follows, where the straight line BC is a connection line between the position point C of the suspended load device and the position point B of the image pickup device:
in the formula: z is a radical of c Coordinates of the camera device on the z axis; z is a radical of 3 The coordinate of the hoisting device on the z axis is shown; x is a radical of a fluorine atom c Coordinates of the camera device on an x axis; y is 3 The coordinate of the hoisting device on the y axis is shown; y is c The coordinates of the camera on the y-axis.
In particular, wherein the camera module B (x) c ，y c ，z c ) Is fixed, the sling position a (0, y) 3 ，z 3 ) Is variable and can be according to variable y 3 ，z 3 The value of the angle beta, namely the vertical rotation parameter, is calculated in real time.
The focal length of the camera is calculated as follows:
the distance between position point C and position point B is calculated as follows:
in the formula: l BC Is the distance between position point C and position point B; x is the number of c Coordinates of the camera device on an x axis; 3 the coordinate of the hoisting device on the y axis is shown; y is c Coordinates of the camera device on the y axis; z is a radical of c Coordinates of the camera device on the z axis; z is a radical of 3 The coordinate of the suspended load device on the z-axis.
The focal length of the camera is calculated as follows:
D＝l BC ×D max /l max (400)
in the formula: d is the focal length of the camera device; d max The focal length of the lifting device and the camera device is the farthest distance; l max The farthest distance between the hoisting device and the camera device.
S5: according to the rotation angle alpha of the camera around the z axis final The rotation angle beta of the camera device around the x axis and the focal length D of the camera device control the camera angle of the camera device and track the suspended load device in real time.
Specifically, in the present embodiment, the calculation unit calculates the rotation angle α of the imaging device about the z-axis final The rotation angle beta of the camera device around the x axis and the focal length D of the camera device are transmitted to the camera shooting assembly, and the camera shooting tripod head adjusts the angle according to the parameters to realize the rotation of the camera device.
The device and the method for automatically tracking the hoisting position of the crane by the camera have the following beneficial effects:
1. the crane is combined with a special structure to realize real-time tracking of the hoisting device. In the crane, the hoisting device moves in a limited range, parameters are calculated according to the characteristics and the positions of the crane trolley mechanism and the hoisting mechanism, and the camera is controlled to realize real-time tracking of the hoisting device.
2. The device has simple structure and can be suitable for cranes with various specifications and models in the market. The data required by the camera control parameter calculation is only the position of the trolley mechanism and the position of the hoisting mechanism, and is irrelevant to the structure, environment and data outside the crane, so the method can be used in most cranes.
3. Has high expansibility and flexibility. The invention can expand and add the camera shooting component to deal with different requirements. For example, the device is expanded to a crane and two camera assemblies, and the real-time tracking of the hoisting device from two angles is realized.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. A device for automatically tracking the hoisting position of a crane comprises a cart mechanism (1) and a trolley mechanism (2), wherein a trolley mechanism running track (21) is arranged on the cart mechanism, and the trolley mechanism (2) is arranged on the cart mechanism (1) and moves along the trolley mechanism running track (21); the method is characterized in that: the method comprises the following steps: the device comprises a lifting mechanism (3), a plurality of camera components, a first signal acquisition device and a second signal acquisition device; a calculation unit;
the hoisting mechanism (3) comprises a hoisting device (31) and a hoisting device (6); the lifting device (31) is fixedly arranged on the trolley mechanism (2); the hoisting device (6) is connected with the lifting device (31) and vertically moves along the vertical direction through the lifting device (31);
the camera shooting assembly comprises a camera shooting pan-tilt (4) and a camera shooting device (5); the camera shooting pan-tilt (4) is fixedly arranged below the cart mechanism (1); the camera device (5) is fixedly connected with the camera holder (4);
the first signal acquisition device is arranged on the trolley mechanism to acquire the coordinates of the position point A of the trolley mechanism in real time;
the second signal acquisition device is arranged on the lifting device to acquire the coordinate of the position point C of the lifting device (6) in real time;
the first signal acquisition device and the second signal acquisition device are in communication connection with the computing unit so as to acquire the rotation angle of the camera device and the focal length of the camera device according to the coordinates of the position point A of the trolley mechanism, the coordinates of the position point C of the hoisting device and the coordinates of the position point B of the camera device;
the computing unit is in communication connection with the camera shooting pan-tilt (4) so as to transmit the rotation angle of the camera shooting device and the focal length of the camera shooting device to the camera shooting pan-tilt, and the camera shooting device (5) is controlled to move through the camera shooting pan-tilt to realize automatic tracking of the suspended load device;
the first signal acquisition device, the second signal acquisition device, the calculation unit and the camera shooting assembly are all connected with a power supply.
2. An arrangement for automatic tracking of the position of a crane load according to claim 1, characterized in that the cart mechanism (1) comprises two main beams (11), a first end beam (12) and a second end beam (13); the first end beam (12) and the second end beam (13) are arranged in parallel relatively.
Two ends of the main beam (11) are respectively fixedly connected with one ends of the first end beam (12) and the second end beam (13); the two main beams (11) are arranged in parallel relatively;
the trolley mechanism running track (21) is arranged on the main beam (11) in parallel; so that the trolley mechanism (2) moves along the trolley mechanism running track (21).
3. The method for automatically tracking the hoisting position of the crane according to any one of claims 1 to 2, characterized by comprising the following steps:
s1: taking the middle point of the first end beam (12) as a coordinate origin; the advancing direction of the cart mechanism (1) is the positive direction of an x axis, the advancing direction of the trolley mechanism (2) is the positive direction of a y axis, and the vertical upward direction is the positive direction of a z axis to establish a rectangular coordinate system;
s2: acquiring the coordinate of a position point A of the trolley mechanism (2) through the first signal acquisition device; acquiring the coordinate of a position point C of the hoisting device (6) through the second signal acquisition device;
s3: according to the coordinates of the position point A of the trolley mechanism (2) and the coordinates of the position point B of the camera device, the rotation angle alpha of the camera device around the z axis is obtained final ；
S4: acquiring a rotation angle beta of the camera around an x axis and a focal length D of the camera according to the coordinates of the position point C of the hoisting device (6) and the coordinates of the position point B of the camera;
s5: according to the rotation angle alpha of the camera around the z axis final The rotation angle beta of the camera device around the x axis and the focal length D of the camera device control the camera angle of the camera device and track the suspended load device in real time.
4. The method for automatically tracking the suspended load position of a crane according to claim 3, wherein the rotation angle α of the camera around the z-axis is final The calculation is as follows:
the included angle alpha between the straight line AB and the negative direction of the x axis is obtained as follows:
tanα＝(y 1 -y c )/x c (100)
in the formula: y is 1 The coordinate of the trolley mechanism on the y axis is shown; y is c Coordinates of the camera device on the y axis; x is the number of c Coordinates of the camera device on an x axis;
in the formula: alpha is alpha init Is the initial camera angle of the camera device.
5. The method for automatically tracking the suspended load position of a crane according to claim 4, wherein the included angle β between the straight line BC and the plane z-0 is calculated as follows:
in the formula: z is a radical of c Coordinates of the camera device on the z axis; z is a radical of 3 The coordinate of the hoisting device on the z axis is shown; x is the number of c Coordinates of the camera device on an x axis; y is 3 The coordinate of the hoisting device on the y axis is shown; y is c The coordinates of the camera on the y-axis.
6. The method for automatically tracking the suspended load position of the crane according to claim 5, wherein the focal distance of the camera is calculated as follows:
the distance between position point C and position point B is calculated as follows:
in the formula: l BC Is the distance between position point C and position point B; x is the number of c Coordinates of the camera device on an x axis; y is 3 The coordinate of the hoisting device on the y axis is shown; y is c Coordinates of the camera device on the y axis; z is a radical of c Coordinates of the camera device on the z axis; z is a radical of 3 The coordinate of the hoisting device on the z axis is shown;
the focal length of the camera is calculated as follows:
D＝l BC ×D max /l max (400)
in the formula: d is the focal length of the camera device; d max The focal length of the lifting device and the camera device is the farthest distance; l max The farthest distance between the hanging device and the camera device.
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| CN202210730556.0A CN115072564A (en) | 2022-06-24 | 2022-06-24 | Device and method for automatically tracking hoisting position of crane |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115784025A (en) * | 2022-10-09 | 2023-03-14 | 太原重工股份有限公司 | Video intelligent following control system for remotely operating crane hook |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115784025A (en) * | 2022-10-09 | 2023-03-14 | 太原重工股份有限公司 | Video intelligent following control system for remotely operating crane hook |
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