Real-time photographic measuring method of position and swing angle of lifting hook of crane

Abstract

The invention relates to a photographic measuring method of a position and a swing angle of a lifting hook of a crane. The method comprises the steps of: mounting a set of gesture measuring system and a set of lifting hook photographic measuring system at the top end of an arm rest of a crane, which is close to a lifting rope rolling wheel; mounting a cooperation mark on the lifting hook; measuring inclination gesture of the lifting hook photographic measuring system in real time through a gesture measuring system; measuring the position of the cooperation mark on the lifting hook, with respect to the lifting hook photographic measuring system in real time and in an intersecting manner through double cameras of the lifting hook photographic measuring system; representing the position of the lifting hook by using a horizontal coordinate system based on the inclination gesture; and calculating a swing angle of the lifting hook in real time by utilizing the position of the lifting hook represented by the horizontal coordinate system. As the photographic measuring method is utilized to solve the measurement problem of the position and swing angle of the lifting hook of the crane, the photographic measuring method of the position and the swing angle of the lifting hook of the crane, disclosed by the invention, has the advantages of easy implementation of relevant treatment and calculation and high real-time capability, and can be applied to measurement of positions and swing angles of lifting hooks of multiple cranes.

Description

technical field [0001] The invention relates to the technical field of cranes, in particular to a method for measuring the relative position and swing angle of a hook in real time by means of camera measurement, and the measurement results can be used for the hook stabilization control of the crane. Background technique [0002] During the operation of the crane, due to the deviation of the lifting rope from the direction of gravity or the movement of the hook during lifting, the hook and its heavy objects will sway to a certain extent. The swaying of the hook is not conducive to accurate lifting and placement, affecting The efficiency of crane operation will also pose a threat to personal safety and property safety. [0003] At present, the sway stability control of the crane hook mainly depends on experienced operators. In order to reduce the dependence on the operating experience of the operator, some researches on the automatic control of the stable hook have been carri...

AI Technical Summary

Problems solved by technology

[0002] During the operation of the crane, due to the deviation of the lifting rope from the direction of gravity or the movement of the hook during lifting, the hook and its heavy objects will sway to a certain extent. The swaying of the hook is not conducive to accurate lifting and placement, affecting The efficiency of crane operation will also pose a threat to personal safety and property safety

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