Method, device and system for measuring attitude of lifting hook of engineering machinery

Abstract

The invention discloses a method, device and system for measuring the attitude of a lifting hook of engineering machinery. The method comprises the following steps: continuously acquiring images of mark points of the lifting hook simultaneously shot by at least two cameras, and respectively confirming the three dimensional coordinate of each pixel of the images; according to the three dimensional coordinate of each pixel of the images, continuously splicing the images simultaneously shot by the at least two cameras into one frame; aiming at each spliced frame, identifying and taking out the mark points of the lifting hook from the spliced frames to generate images containing only the mark points; carrying out optical flow tracking on the three dimensional coordinates of the images containing only the mark points to calculate the motion state parameters of the mark points; and measuring the attitude of the lifting hook according to the change of the calculated motion state parameters of the mark points. According to the invention, there is no need to install any measuring instrument and equipment on the lifting hook to realize the measurement of the attitude of the lifting hook, the measurement method is simple, convenient, and real-time, and has high measurement precision.

Description

technical field [0001] The invention relates to the technical field of engineering measurement, in particular to a method, device and system for measuring the posture of a hook of an engineering machinery. Background technique [0002] During the lifting operation of construction machinery, the hook must not only move vertically, but also move laterally. Due to inertia or external force, the hook and the goods suspended on the upper part of the crane arm through the wire rope will form a corresponding swing. Therefore The movement of the hook is a three-dimensional trajectory. [0003] There are many methods for measuring the attitude of the hook. For example, the first coordinate system and the second coordinate system are respectively established for the hook to be measured. The second coordinate system is related to the movement of the hook, and the first coordinate system is related to the movement of the hook. The motion of the hook is irrelevant, so that the change of...

AI Technical Summary

Problems solved by technology

[0006] The invention provides a method, device and system for measuring the attitude of the hook of construction machinery, which are used to realize non-contact measurement of the hook of construction machinery, thereby avoiding the large workload of arranging sensors in the existing measurement methods and the measurement cost. Higher, and the problem of lower accuracy of the measurement method

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