CN119660576A - Device and method for automatically measuring height of lifting hook in following mode - Google Patents
Device and method for automatically measuring height of lifting hook in following mode Download PDFInfo
- Publication number
- CN119660576A CN119660576A CN202411833239.7A CN202411833239A CN119660576A CN 119660576 A CN119660576 A CN 119660576A CN 202411833239 A CN202411833239 A CN 202411833239A CN 119660576 A CN119660576 A CN 119660576A
- Authority
- CN
- China
- Prior art keywords
- hook
- camera
- image
- height
- measuring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Control And Safety Of Cranes (AREA)
Abstract
本发明公开了一种自动跟随测量吊钩高度的装置及方法，属于起重机控制技术领域，装置包括：云台摄像头，力矩限制器，视频控制器，所述云台摄像头安装在起重机转台或吊臂上，其安装位置满足摄像头能够通过云台俯仰覆盖吊装区域；所述力矩限制器安装在起重机上，用于检测吊臂的幅度；所述视频控制器安装在起重机上，所述视频控制器与云台摄像头和力矩限制器通过专用视频线和/或通讯总线电连接；所述视频控制器用于获取安装在起重机转台或吊臂上的云台摄像头在水平状态采集的图像，通过图像识别算法识别摄像头图像中的吊钩，计算出吊钩高度；本发明可以自动追随吊钩不需用户手动调整，同时实现不依赖起重机的高度传感器即可测量吊钩高度。
The invention discloses a device and method for automatically following and measuring the height of a hook, and belongs to the technical field of crane control. The device comprises: a pan-tilt camera, a torque limiter, and a video controller. The pan-tilt camera is installed on a turntable or a boom of the crane, and its installation position satisfies that the camera can cover a hoisting area through the pitch of the pan-tilt; the torque limiter is installed on the crane and is used to detect the amplitude of the boom; the video controller is installed on the crane, and the video controller is electrically connected to the pan-tilt camera and the torque limiter through a dedicated video line and/or a communication bus; the video controller is used to obtain an image collected by a pan-tilt camera installed on the turntable or the boom of the crane in a horizontal state, recognize the hook in the camera image through an image recognition algorithm, and calculate the height of the hook; the invention can automatically follow the hook without manual adjustment by the user, and at the same time, the hook height can be measured without relying on the height sensor of the crane.
Description
Technical Field
The invention relates to a device and a method for automatically measuring the height of a lifting hook in a following way, and belongs to the technical field of crane control.
Background
The condition near the hoisted object and the lifting height of the hoisted object are concerned at any time during the hoisting operation of the crane. Manual observation has little problem when the distance is relatively short, but the hoisting state can be clearly seen by means of video monitoring equipment when the distance is long. Meanwhile, the hoisting height is also a very important parameter, and the real-time display of the hoisting height can enable a driver to operate more efficiently.
In the prior art, the position of a rope at which the winch is out is detected by installing an encoder on the lifting winch, and the height of the lifting hook is reversely calculated by the winding multiplying power of the lifting hook. And detecting the environment near the hoisted object through monitoring equipment. The height detection and the video monitoring are two sets of independent devices, a lifting hook height encoder reversely calculated by a winch encoder in the prior art needs to be installed in an accurate matching mode with the winch, each working condition needs to be calibrated to be zero, the installation and calibration are troublesome, the price of the selected encoder is high, and a large number of cranes are not adopted. Meanwhile, the visual monitoring equipment needs to be manually adjusted by a user according to the position of the hoisted object, and the condition that monitoring cannot be adjusted in place in real time possibly exists in the hoisting process.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a device and a method for automatically measuring the height of a lifting hook in a following way, which can automatically follow the lifting hook without manual adjustment of a user, and can measure the height of the lifting hook without depending on a height sensor of a crane.
In order to achieve the above purpose, the invention is realized by adopting the following technical scheme:
In a first aspect, the invention provides a method of automatically following measurement of hook height, comprising:
acquiring an image acquired by a cradle head camera mounted on a crane turntable or a crane boom in a horizontal state, and identifying a lifting hook in the camera image through an image identification algorithm;
if the lifting hook is not detected, acquiring an image of the pan-tilt camera after the set angle is upward, and identifying until the lifting hook is detected;
After the lifting hook is detected, calculating the longitudinal position y of the lower edge of the lifting hook in the image, and comparing the y with the longitudinal center coordinate h/2 of the image;
According to the comparison result of y and h/2, adjusting the angle of the cradle head camera to enable the lower edge of the lifting hook to move towards the center of the image until y is equal to h/2 in a set error range;
when y is equal to H/2 in the set error range, calculating the height H of the lifting hook according to the current pan-tilt camera angle arf, the amplitude R of the lifting arm and the position coordinates of the pan-tilt camera.
Further, the calculation formula of the hook height H is as follows:
H=h1+h0;
wherein h 0 is the mounting height of the tripod head camera, h 1 is the height of the lifting hook from the horizontal plane where the tripod head camera is located, and the calculation formula is as follows:
h1=(R-L)*tan(arf);
Wherein L is the horizontal distance between the cradle head camera and the rotation center of the crane turntable.
Further, the set angle value of the tilt-up of the pan-tilt camera is k (y-h/2), wherein k is a set proportionality coefficient.
Further, the allowable error range in which y is equal to h/2 in the set error range is 1 pixel.
Further, the method further comprises the step of carrying out distortion correction on the image acquired by the cradle head camera.
Further, the method includes displaying the calculated hook height through a pre-installed display.
Furthermore, the image recognition algorithm is realized by adopting a template matching method or a deep learning target detection method.
In a second aspect, the present invention provides an apparatus for automatically following a measurement of hook height, comprising:
the cradle head camera is arranged on a crane turntable or a crane boom, and the installation position of the cradle head camera is that the camera can cover a hoisting area through pitching of the cradle head;
the moment limiter is arranged on the crane and used for detecting the amplitude of the suspension arm;
the video controller is arranged on the crane and is electrically connected with the cradle head camera and the moment limiter through special video lines and/or communication buses, and the video controller is used for executing the method for automatically following and measuring the height of the lifting hook.
Further, a first display module is arranged on the video controller and used for displaying images acquired by the camera.
Further, a second display module is arranged on the moment limiter and used for displaying the calculated height of the lifting hook.
In a third aspect, the present invention provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the method of any of the preceding claims.
In a fourth aspect, the present invention provides a computer device comprising:
A memory for storing computer programs/instructions;
a processor for executing the computer program/instructions to implement the steps of the method of any one of the preceding claims.
In a fifth aspect, the invention provides a computer program product comprising computer programs/instructions which when executed by a processor implement the steps of the method of any of the preceding claims.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a device and a method for automatically measuring the height of a lifting hook in a following way, by acquiring an image acquired by a cradle head camera arranged on a crane turntable or a lifting arm in a horizontal state, the lifting hook in the camera image is identified through the image identification algorithm, the height of the lifting hook is calculated, the lifting hook can be automatically followed without manual adjustment of a user, and meanwhile the height of the lifting hook can be measured without depending on a height sensor of the crane.
Drawings
FIG. 1 is a diagram showing the components of a system of devices for automatically measuring the height of a lifting hook in a follow-up manner according to an embodiment of the present invention;
FIG. 2 is a schematic view of a device for automatically measuring the height of a lifting hook in a following manner according to an embodiment of the present invention;
FIG. 3 is a schematic view of a hook height calculation according to an embodiment of the present invention;
Fig. 4 is a control flow chart of a method for automatically measuring the height of a lifting hook in a following manner according to an embodiment of the present invention.
In the figure, 1, a lifting hook, 2, a suspension arm, 3, a tripod head camera, 4 and a turntable.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
Embodiment 1, this embodiment describes a method for automatically following a measurement of hook height, comprising:
Acquiring an image acquired by a cradle head camera 3 arranged on a crane turntable 4 or a crane boom 2 in a horizontal state, and identifying a lifting hook 1 in the camera image through an image identification algorithm;
if the lifting hook 1 is not detected, acquiring an image of the pan-tilt camera 3 after the set angle is upward for identification until the lifting hook 1 is detected;
After the lifting hook 1 is detected, calculating the longitudinal position y of the lower edge of the lifting hook 1 in the image, and comparing the y with the longitudinal center coordinate h/2 of the image;
According to the comparison result of y and h/2, adjusting the angle of the cradle head camera 3 to enable the lower edge of the lifting hook 1 to move towards the center of the image until y is equal to h/2 in the set error range;
When y is equal to H/2 in the set error range, calculating the height H of the lifting hook 1 according to the current holder camera 3 angle arf, the amplitude R of the lifting arm 2 and the position coordinates of the holder camera 3.
As shown in fig. 1 to 4, the embodiment provides a device and a method for automatically measuring the height of a lifting hook in a following manner, which are specifically as follows:
As shown in fig. 1 and fig. 4, an automatic follow-up device for measuring the height of a lifting hook comprises a video controller, a pan-tilt camera 3 and a moment limiter, wherein the video controller is responsible for processing visual signals of the pan-tilt camera and angle signals of the pan-tilt camera and is electrically connected with the pan-tilt camera 3 through a special video line and/or a communication bus, the video controller also comprises a display module, images acquired by the pan-tilt camera 3 can be displayed, the video controller is also responsible for acquiring amplitude information of the moment limiter and is electrically connected with the moment limiter through the communication bus, the device is arranged on a crane and used for monitoring the lifting view of the crane and the height of the lifting hook 1, the pan-tilt camera 3 is installed on a crane turntable 4 or a lifting arm 2, and the installation position meets the condition that the camera can cover a lifting area through the pitching of the pan-tilt.
According to the method, when a system is operated for the first time, a cradle head camera 3 is in a horizontal state, a cradle head 1 in a camera image is identified through an image identification algorithm, if the cradle head 1 is not detected, the cradle head is lifted up by a certain angle and then re-detected until the cradle head 1 is detected, the longitudinal position y of the lower edge of the cradle head 1 in the image is calculated through a video controller after the cradle head 1 is detected, the total number of longitudinal pixels of the image is set to be h, the uppermost longitudinal coordinate of the image is set to be 0, the size of y and the size of the longitudinal central coordinate h/2 of the image are compared, if y=h/2 indicates that the lower edge of the cradle head 1 is exactly the image center, if y > h/2 indicates that the lower edge of the cradle head 1 is located below the image center, the cradle head is lifted up by a certain angle, the lower edge of the cradle head is enabled to be closer to the image center, meanwhile, cyclic detection operation is carried out on the lower edge of the cradle head 1 in the image until y=h/2, the corresponding lower edge of the cradle head is located above the image center, if y=h/2 indicates that the lower edge of the cradle head 1 is located at the image center, the lower edge of the cradle head is enabled to be lower by a certain angle, the cradle head is enabled to be closer to the image center than the image center, and the lower edge of the cradle head is enabled to be higher than the image center 1, and the image can be displayed by the optical position h=1, and the optical position can be calculated according to the geometric limit, and the geometric limit is calculated when the image is higher than the image is calculated by the image, and the image is higher than the image sensor.
Further description of this embodiment is as follows:
1. The image recognition algorithm can be used for recognizing the lifting hook in the camera image by adopting a template matching method or a deep learning target detection method in the prior art;
2. the certain angle of the upward and downward pitching of the cradle head can be a value related to y-h/2, for example, k is (y-h/2), and k is a set proportionality coefficient;
3. The optional y=h/2 allows for a certain error range, e.g. 1 pixel, within which y=h/2 is considered;
4. the camera image is subjected to distortion correction;
5. The formula for calculating the height of the lifting hook is as follows, h=h1+h0, wherein H0 is obtained according to the measurement of the mounting position, h1= (R-L) tan (arf), wherein L is obtained according to the measurement of the mounting position, R is given through force limiter communication, arf is given according to the data of the cradle head, and tan is the tangent operation. (as shown in figure 3).
In this patent for detecting the lifting hook, in practice also can change the detection target into the hoist and mount thing, also can detect hoist and mount thing height.
The system composition diagram of the patent consists of three parts, and because the video controller and the moment limiter are driven by the programmable controller, the situation that the video controller and the moment limiter are split into a plurality of logic units or combined into one logic unit possibly exists, and the deformation is also in the protection scope of the patent.
Embodiment 2, this embodiment provides an apparatus for automatically measuring the height of a hook, comprising:
the cradle head camera is arranged on a crane turntable or a crane boom, and the installation position of the cradle head camera is that the camera can cover a hoisting area through pitching of the cradle head;
the moment limiter is arranged on the crane and used for detecting the amplitude of the suspension arm;
The automatic following method for measuring the height of the lifting hook comprises a video controller, a control device and a control device, wherein the video controller is arranged on a crane and is electrically connected with a cradle head camera and a moment limiter through special video lines and/or communication buses, and the video controller is used for executing the automatic following method for measuring the height of the lifting hook according to any one of the embodiment 1.
The video controller is provided with a first display module for displaying images acquired by the camera of the table, and the moment limiter is provided with a second display module for displaying the calculated height of the lifting hook.
Specific functions of the pan-tilt camera, the moment limiter and the video controller are related to the method in reference to embodiment 1, and are not repeated.
Embodiment 3 provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method of any of embodiment 1.
Embodiment 4, the present embodiment provides a computer apparatus, including:
A memory for storing computer programs/instructions;
A processor for executing the computer program/instructions to implement the steps of the method of any one of embodiment 1.
Embodiment 5 provides a computer program product comprising a computer program/instructions which, when executed by a processor, implement the steps of the method of any of embodiment 1.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
It will be appreciated by those skilled in the art that embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that the foregoing embodiments are merely for illustrating the technical solution of the present disclosure and not for limiting the scope of protection thereof, and although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that various changes, modifications or equivalents may be made to the specific embodiments of the invention after reading the present disclosure, and these changes, modifications or equivalents are within the scope of protection of the claims appended hereto.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411833239.7A CN119660576A (en) | 2024-12-12 | 2024-12-12 | Device and method for automatically measuring height of lifting hook in following mode |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411833239.7A CN119660576A (en) | 2024-12-12 | 2024-12-12 | Device and method for automatically measuring height of lifting hook in following mode |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN119660576A true CN119660576A (en) | 2025-03-21 |
Family
ID=95000072
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202411833239.7A Pending CN119660576A (en) | 2024-12-12 | 2024-12-12 | Device and method for automatically measuring height of lifting hook in following mode |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN119660576A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN120726277A (en) * | 2025-06-24 | 2025-09-30 | 长沙电建产业发展有限公司 | A method and system for detecting the hanging state of a safety rope hook for high-altitude operations |
-
2024
- 2024-12-12 CN CN202411833239.7A patent/CN119660576A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN120726277A (en) * | 2025-06-24 | 2025-09-30 | 长沙电建产业发展有限公司 | A method and system for detecting the hanging state of a safety rope hook for high-altitude operations |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9303473B2 (en) | Videometric systems and methods for offshore and oil-well drilling | |
| CN105271004B (en) | Using the suspender space positioning apparatus and method of monocular vision | |
| CN102862915A (en) | Performance line display unit | |
| CN116358436A (en) | Intelligent Monitoring and Data Processing System of Building Deformation Based on Computer Vision | |
| CN114890280B (en) | A method and apparatus for testing and aligning a lifting device | |
| CN115215221B (en) | Tower crane and control method, control device and controller thereof | |
| CN112580517A (en) | Anti-smashing protection system and method for truck head, computer storage medium and gantry crane | |
| CN115984177A (en) | Machine vision detection device, control method thereof, control device, and storage medium | |
| CN114897981A (en) | Hanger pose identification method based on visual detection | |
| CN107555316B (en) | Container stacking system integrating unbalanced load detection and working method thereof | |
| CN114655850A (en) | Method, device and system for determining swing angle of ship unloader grab | |
| CN117119170A (en) | Camera holder testing method | |
| CN112562018B (en) | Lifting point following positioning method and system | |
| AU2025279197A1 (en) | Method for identifying rotation flexibility of circular balance rope in mine shaft | |
| CN114677642B (en) | Cable coil rotation angle calibration method and system based on digital image processing | |
| CN114314350B (en) | Automatic calibration method for positioning swing angle of automatic crane lifting appliance | |
| CN115471545B (en) | Positioning methods, devices, electronic equipment, and readable storage media | |
| CN116402784A (en) | Auxiliary centering method, system, equipment and storage medium based on machine vision | |
| CN114524366B (en) | A steel tower segment hoisting path guidance system and method for tower crane hoisting | |
| CN117819386A (en) | Tower crane hoisting object size detection method, system and tower crane based on multi-sensor fusion | |
| CN115546712A (en) | Method for controlling crane, controller and storage medium | |
| CN115861801A (en) | Pointer instrument identification method and system, electronic equipment and readable storage medium | |
| JP3673029B2 (en) | Automatic monitoring device | |
| CN115724349B (en) | Method, device, equipment and storage medium for determining position of camera | |
| CN114693798A (en) | Manipulator control method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |