Positioning method based on automatic lifting hook system

A positioning method and hook technology, applied in the direction of load hanging components, transportation and packaging, etc., can solve the problems of inaccurate positioning, interference with the location and capture operation of the sling, and achieve the effect of precise positioning

Active Publication Date: 2016-07-27
NANKAI UNIV
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Problems solved by technology

Since the hook and its surroundings are made of ferromagnetic materials, it seriously interferes wi

Method used

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  • Positioning method based on automatic lifting hook system
  • Positioning method based on automatic lifting hook system
  • Positioning method based on automatic lifting hook system

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[0029] Example 1:

[0030] 1. The principle design of the automatic hook system positioning method involved in the present invention is as follows: figure 1 shown. Its goal is to achieve precise positioning between hook positioning point 1 and load positioning point 2. The combination of the hook positioning point and the lifting ring positioning point determines the relative position of the load and the hook, and the visual positioning results meet a certain accuracy, otherwise the automatic hook system cannot work normally.

[0031] Design the automatic hook system positioning hardware platform:

[0032] Based on the positioning method combining ultrasonic ranging and machine vision, the automatic hook system positioning method is adopted to realize the precise positioning of hook positioning point 1 and load positioning point 2. The installation position of the connection circuit composed of the ultrasonic sensor and the main controller of the hook is located at the anch...

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Abstract

The invention relates to a positioning method based on an automatic lifting hook system. The method is the positioning method based on the automatic lifting hook system combining ultrasonic ranging and machine vision. The automatic lifting hook system is designed, and therefore accurate positioning of a lifting hook positioning point and a load positioning point is achieved. Z-direction positioning is achieved through an ultrasonic ranging method. A sensor is connected with a lifting hook main controller, the lifting hook main controller sends out a ranging command, a timer obtains the return time of ultrasonic waves, and the system calculates the distance H of a lifting hook in the Z direction. A visual positioning method is adopted to achieve positioning in the X direction and the Y direction. A visual positioning algorithm is designed by using load information in a known scene, expected positional information for work of the lifting hook system serves as a reference road sign, a road sign database is built to serve as reference conditions, real-time images and video information are subject to object identification and feature matching treatment, relative positional information needed by the lifting hook system is obtained, and accurate positioning of the lifting hook in the X direction and the Y direction is achieved.

Description

technical field [0001] The invention belongs to the technical field of construction machinery, and in particular relates to a positioning method for the application of an automatic hook system for lifting equipment. Background technique [0002] In order to complete the automatic operation task of the automatic hook system, the relative position of the load and the hook is determined by the combination of the hook positioning point and the lifting ring positioning point. The positioning of the hook and the lifting ring needs to meet a certain positioning accuracy, otherwise the automatic hook system cannot work normally. . There are GPS and cellular wireless positioning in the outdoor environment, and the positioning accuracy is 5 meters and 150 meters respectively. The positioning in the indoor environment mainly adopts optical, A-GPS, infrared, ultrasonic, RFID, WIFI and other technologies. The positioning accuracy of RFID technology is related to the distribution number...

Claims

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Application Information

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IPC IPC(8): B66C13/04B66C13/16
CPCB66C13/04B66C13/16
Inventor 方勇纯郝敬乾钱辰李彬
Owner NANKAI UNIV
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