Multi-height calibration measurement method and crane anti-slanting and precise positioning method

A technology of precise positioning and measurement method, which is applied in the direction of measuring distance, measuring device, line-of-sight measurement, etc., can solve the problems of limiting the application range of the open-loop anti-sway control algorithm of the crane, so as to improve the operation safety and work efficiency, and improve the operation Safe and robust effects

Inactive Publication Date: 2020-01-14
WUHAN UNIV OF TECH
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Problems solved by technology

Therefore, in order to suppress the sway of the load, the large and small vehicles will run for a certain anti-sway distance, which will limit the application range of the open-loop anti-sway control algorithm of the crane

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  • Multi-height calibration measurement method and crane anti-slanting and precise positioning method
  • Multi-height calibration measurement method and crane anti-slanting and precise positioning method
  • Multi-height calibration measurement method and crane anti-slanting and precise positioning method

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[0033] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0034] Such as figure 2 As shown, a multi-height calibration measurement method based on a monocular camera includes the following steps:

[0035] S1. Select a monocular camera and obtain its following parameters: the maximum height Δl within the depth of field of the camera, the maximum horizontal field of view 2X of the camera, the maximum vertical field of view 2Y of the camera, and the maximum working distance l of the camera H ;

[0036]S2. Place the target within the field of view and depth of field of the monocular camera, divide Δl into H segments, and each segment has a height of Δl h ...

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Abstract

The invention discloses a multi-height calibration measurement method based on a monocular camera, and a crane anti-slanting and precise positioning method, wherein the target position is precisely measured by a monocular camera in the case of different heights through multi-height calibration based on a machine vision technology. According to the multi-height calibration measurement method, the depth-of-field range of a camera is divided into multiple segments, the camera visual field within each height range segment is equally divided into multiple segments in a horizontal direction and a vertical direction, and the target respectively performs horizontal moving and vertical moving multiple times within each segment of the depth-of-field change range during the camera calibration, such that the mathematical model of the pixel distance and the actual distance at different heights is established. According to the present invention, the method has advantages of high sensitivity, convenient implementation and strong robustness, and can greatly improve the operation safety and work efficiency of cranes and promote the automated, digitized and intelligent development of cranes.

Description

technical field [0001] The invention belongs to the technical field of crane safety control, and in particular relates to a multi-height calibration measurement method based on a monocular camera and a crane anti-cable pull and precise positioning method. Background technique [0002] As a logistics transportation tool, cranes can realize the lifting and transportation of goods, especially the lifting and transportation of large goods, which saves manpower and material resources, greatly improves work efficiency, and promotes economic development. At the same time, with the development of industrial automation and digitalization, especially the application of frequency converters, the electrical automation level of cranes has been continuously improved, which further increases the operation stability and safety of cranes. At the same time, according to the actual application of the frequency converter on the crane, during the deceleration process of the crane's operating mec...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B66C15/00B66C13/16G01C3/00
CPCB66C13/16B66C15/00G01C3/00G06F30/17
Inventor 汪小凯吴庆祥徐强危刚华林
Owner WUHAN UNIV OF TECH
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