Detection device for tower crane and tower crane

Abstract

An embodiment of the present invention provides a detection device for a tower crane and a tower crane. The detection device for a tower crane includes: a guiding light source; an image acquisition device; and a controller configured to: acquire an image acquired by the image acquisition device, wherein the image includes an image of the guiding light source; acquire the length of the tower crane's hoisting rope, the position information of the connection between the hoisting rope and the luffing trolley, the position information of the image acquisition device, and the focal length of the image acquisition device; determine the pixel coordinates of the geometric center of the light spot formed by the guiding light source in the image, the length of the pixel point, and the width of the pixel point; and determine the deflection angle of the hook based on the length of the hoisting rope, the position information of the connection, the position information of the image acquisition device, the focal length, the pixel coordinates, the length of the pixel point, and the width of the pixel point. The embodiment of the present invention can easily calculate the deflection angle of the hook, has a wide range of application scenarios, high reliability, strong anti-interference ability, and strong practicality.

Description

Technical Field

[0001] The present invention relates to the technical field of tower crane detection, in particular to a detection device for a tower crane and the tower crane. Background Art

[0002] Currently, the determination of slant lifting and tilting is primarily done by ground operators, who then provide feedback to the driver. Alternatively, cameras track the hook and transmit real-time images to the cab for visual evaluation. Swing angle monitoring devices can be categorized as either contact or non-contact. Existing contact detection systems use encoders to track the movement of the trolley and calculate the load's swing angle. However, the use of encoders can lead to inaccuracies. Key measurement errors can arise from encoder aging, mechanical design issues such as vibration and friction, deterioration of control system performance, or incorrect results. Non-contact detection devices often use laser detectors, but these instruments have strict requirements for a working environment and are expensive. For example, the system disclosed in patent CN111807225A utilizes a data acquisition unit, a video monitoring unit, and a viewing angle compensation unit to monitor the hook's operating status. However, this system still relies on the operator's visual assessment of the hook's operating status, making it prone to human error. Patent CN202110393591.3 discloses a dual-spreader swing angle detection method based on the convex lens imaging principle. This method simply calculates the swing angle based on the lens principle, limiting the detection distance. Summary of the Invention

[0003] The purpose of the embodiments of the present invention is to provide a detection device for a tower crane and a tower crane, so as to solve the above-mentioned technical problems in the prior art.

[0004] In order to achieve the above-mentioned objectives, the first aspect of the present invention provides a detection device for a tower crane, comprising: a guiding light source, arranged at the hook of the tower crane, the light-emitting surface of the guiding light source being arranged vertically upward from the ground; an image acquisition device, arranged on the luffing trolley of the tower crane, the image acquisition device being configured to acquire images toward the hook; and a controller, configured to: acquire an image acquired by the image acquisition device, wherein the image includes an image of the guiding light source; acquire the length of the lifting rope of the tower crane, the position information of the connection between the lifting rope and the luffing trolley, the position information of the image acquisition device, and the focal length of the image acquisition device; determine the pixel coordinates of the geometric center of the light spot formed by the guiding light source in the image, the length of the pixel point, and the width of the pixel point; and determine the deflection angle of the hook according to the length of the lifting rope, the position information of the connection, the position information of the image acquisition device, the focal length, the pixel coordinates, the length of the pixel point, and the width of the pixel point.

[0005] In an embodiment of the present invention, pixel coordinates are defined as (u, v); where, n is the number of all pixels in the light spot, and i is the i-th pixel in the light spot.

[0006] In an embodiment of the present invention, determining the deflection angle of the hook based on the length of the lifting rope, the position information of the connection, the position information of the image acquisition device, the focal length, the pixel coordinates, the length of the pixel point and the width of the pixel point includes: querying a preset table based on the length of the lifting rope, the position information of the connection, the position information of the image acquisition device, the focal length, the pixel coordinates, the length of the pixel point and the width of the pixel point to determine the deflection angle, wherein the preset table stores the correspondence between the length of the lifting rope, the position information of the connection, the position information of the image acquisition device, the focal length, the pixel coordinates, the length of the pixel point, the width of the pixel point and the deflection angle.

[0007] In the embodiment of the present invention, the correspondence between the length of the suspension rope, the position information of the connection point, the position information of the image acquisition device, the focal length, the pixel coordinates, the length of the pixel point, the width of the pixel point, and the deflection angle satisfies: in, θ is the deflection angle, dx is the length of the pixel, dy is the width of the pixel, (u, v) is the pixel coordinate, f is the focal length, x0 is the distance between the connection point and the image acquisition device in the direction perpendicular to the tower arm and parallel to the ground, y0 is the distance between the connection point and the image acquisition device in the direction parallel to the tower arm, and L is the length of the suspension rope.

[0008] In an embodiment of the present invention, the guiding light source is arranged at the connection between the hook and the hanging rope.

[0009] In an embodiment of the present invention, the guiding light source is an infrared guiding light source, which is configured to emit infrared light.

[0010] In an embodiment of the present invention, the infrared guiding light source is an active infrared guiding light source.

[0011] In an embodiment of the present invention, the image acquisition device is an infrared camera.

[0012] In an embodiment of the present invention, the detection device for a tower crane further includes a filter, which is provided on the infrared camera and configured to filter stray light.

[0013] In an embodiment of the present invention, the wavelength of the filter is equal to the strongest luminous wavelength of the infrared guiding light source and the strongest sensing wavelength of the infrared camera.

[0014] A second aspect of the present invention provides a tower crane, comprising: a hook; a hoisting rope; a luffing trolley; and the detection device for a tower crane according to the aforementioned embodiment.

[0015] The aforementioned embodiment of the present invention can easily calculate the deflection angle of the hook through its technical solution, has a wide range of application scenarios, high reliability, strong anti-interference ability, and strong practicality.

[0016] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present invention, but do not constitute a limitation of the embodiments of the present invention. In the accompanying drawings:

[0018] Figure 1 1 is a schematic structural diagram of a detection device 100 for a tower crane according to an embodiment of the present invention;

[0019] Figure 2 2 is a schematic structural diagram of a tower crane 200 according to an embodiment of the present invention;

[0020] Figure 3 1 is a schematic structural diagram of a tower crane according to an example of the present invention;

[0021] Figure 4 Schematic diagram of the positional relationship between the hook deflection and the hook vertically downward according to an example of the present invention;

[0022] Figure 5 is a schematic diagram of the effect of an image captured by an industrial infrared camera according to an example of the present invention; and

[0023] Figure 6 It is a mathematical geometry diagram of the application scenario of the example of the present invention. DETAILED DESCRIPTION

[0024] The following describes the specific implementation of the embodiment of the present invention in detail with reference to the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the embodiment of the present invention and is not used to limit the embodiment of the present invention.

[0025] It should be noted that if the implementation methods of this application involve directional indications (such as up, down, left, right, front, back, etc.), such directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0026] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of this application, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features specified as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0027] like Figure 1 As shown, in an embodiment of the present invention, a detection device 100 for a tower crane is provided, comprising: a guiding light source 110 , an image acquisition device 130 and a controller 150 .

[0028] The guiding light source 110 is, for example, disposed at a hook of a tower crane, and the light-emitting surface of the guiding light source 110 is, for example, disposed vertically upward from the ground.

[0029] The image acquisition device 130 is, for example, disposed on a luffing trolley of a tower crane. The image acquisition device 130 is, for example, configured to acquire images toward the hook.

[0030] The controller 150 is configured to perform the following steps, for example:

[0031] (S110) An image captured by the image acquisition device 130 is obtained, where the image includes an image of the guide light source 110. The image captured by the image acquisition device 130 can be transmitted to the controller 150 via a wireless or wired method, for example, including but not limited to a CAN bus, optical fiber, etc.; and a wireless method including but not limited to 4G, 5G, WiFi, etc.

[0032] (S120) The length of the tower crane's rope, the position information of the connection between the rope and the luffing trolley, the position information of the image acquisition device 130, and the focal length of the image acquisition device 130 are obtained. The rope length mentioned in this embodiment of the present invention refers to the actual lowered length of the rope in the current state to be detected. The rope length can be obtained, for example, by the controller of the tower crane itself. Of course, this embodiment of the present invention is not limited to this. The rope length can also be calculated based on the imaging size of the light spot. The controller 150 can be, for example, the controller of the tower crane itself or an additional controller.

[0033] (S130) Determine the pixel coordinates, pixel length, and pixel width of the geometric center of the light spot formed by the guiding light source 110 in the image. In the embodiment of the present invention, the calculation method of the geometric center of the light spot includes but is not limited to determining it through image recognition technology, and can also be determined by using a smaller imaging light source or other appropriate methods. And

[0034] (S140) Determine the deflection angle of the hook according to the length of the rope, the position information of the connection point, the position information of the image acquisition device 130, the focal length, the pixel coordinates, the length of the pixel point, and the width of the pixel point.

[0035] Specifically, the controller 150 may be, for example, an industrial computer, a laptop computer, a tablet computer, an embedded system, a microprocessor, a mobile phone, a programmable logic device, or other control device.

[0036] Specifically, the pixel coordinates are defined as: (u, v), for example. n is the number of all pixels in the light spot, and i is the i-th pixel in the light spot.

[0037] Specifically, the deflection angle of the hook is determined based on the length of the rope, the position information of the connection, the position information of the image acquisition device 130, the focal length, the pixel coordinates, the length of the pixel point, and the width of the pixel point. That is, step S140 includes, for example:

[0038] (a1) Querying a preset table based on the length of the suspension rope, the location information of the connection, the location information of the image acquisition device 130, the focal length, the pixel coordinates, the length of the pixel, and the width of the pixel to determine the deflection angle. The preset table may, for example, store a correspondence between the length of the suspension rope, the location information of the connection, the location information of the image acquisition device 130, the focal length, the pixel coordinates, the length of the pixel, the width of the pixel, and the deflection angle.

[0039] Specifically, the correspondence between the length of the suspension rope, the position information of the connection point, the position information of the image acquisition device 130, the focal length, the pixel coordinates, the length of the pixel point, the width of the pixel point, and the deflection angle satisfies, for example: in, θ is the deflection angle, dx is the length of the pixel, dy is the width of the pixel, (u, v) is the pixel coordinate, f is the focal length, x0 is the distance between the connection point and the image acquisition device in the direction perpendicular to the tower arm and parallel to the ground, y0 is the distance between the connection point and the image acquisition device in the direction parallel to the tower arm, and L is the length of the suspension rope.

[0040] Specifically, the guiding light source 110 is, for example, disposed at the connection between the hook and the hanging rope. Of course, the embodiment of the present invention is not limited thereto, and the guiding light source 110 may also be disposed at other appropriate locations.

[0041] Specifically, the guiding light source 110 is, for example, an infrared guiding light source, which is configured to emit infrared light. Of course, the embodiment of the present invention is not limited thereto, and the guiding light source 110 may also be, for example, a high-precision laser.

[0042] Specifically, the infrared guiding light source is, for example, an active infrared guiding light source.

[0043] Specifically, the image acquisition device 130 is, for example, an infrared camera.

[0044] Furthermore, the detection device 100 for a tower crane, for example, further includes a filter 170 . The filter 170 is, for example, disposed on the infrared camera. The filter 170 is, for example, configured to filter stray light.

[0045] Specifically, the wavelength of the filter 170 is equal to the strongest emission wavelength of the infrared guide light source and the strongest sensing wavelength of the infrared camera, for example.

[0046] Specifically, the infrared camera is, for example, an industrial infrared camera.

[0047] In an embodiment of the present invention, a tower crane 200 is provided, comprising: a hook 210, a lifting rope 230, a luffing trolley 250, and a detection device 270. The detection device 270 may be, for example, the detection device 100 for a tower crane according to any of the aforementioned embodiments. The specific functions and details of the detection device 270 can be found in the description of the aforementioned embodiments and are not further elaborated here.

[0048] The following is an example to illustrate the working process of the detection device for a tower crane according to an embodiment of the present invention. The specific content of the example is as follows:

[0049] An active infrared guidance light source, an industrial infrared camera, a filter, and a controller, specifically an image processor, are used to monitor the hook's swing amplitude, or the hook's deflection angle. The active infrared guidance light source is installed near the end of the lifting rope on the hook, with its emitting surface facing upward, perpendicular to the ground. The industrial infrared camera and filter are mounted on the tower crane's luffing trolley, facing downward to capture an overall image of the area below. By identifying and measuring the position of the active infrared guidance light source using image data, the hook's offset from the vertical can be determined, allowing the determination of whether the hook is within a safe range or if any slanting or tilting has occurred.

[0050] A specific wavelength filter, such as 850 nanometers or 650 nanometers, is added to the industrial infrared camera, matching the camera's strongest sensing band and the active infrared guide light source's strongest emission band. This prevents stray light from interfering with measurements during daytime conditions. The active infrared guide light source mounted on the hook forms an image on the industrial infrared camera, and the geometric center of the resulting light spot is used as the location of the hook-rope connection, facilitating the calculation of the hook's coordinates. Once the pixel coordinates of the image's geometric center are obtained, combined with the rope length (i.e., the length of the rope lowered), the actual hook coordinates relative to the industrial infrared camera can be calculated. This provides the hook's position relative to the camera and allows the determination of its deflection state.

[0051] The following is a detailed introduction to the principle and process of determining the deflection angle:

[0052] like Figure 3 The figure shows the structure of a tower crane according to an example of the present invention, wherein ① is a luffing trolley, ② is an industrial infrared camera, ③ is a hook, ④ is an active infrared guide light source, and ⑤ is a tower crane body.

[0053] When the hook produces oblique pulling and lifting, such as Figure 4 As shown, point R is the camera installation location, ∠KRN is the camera's field of view, T is the hook's vertical downward position (i.e., its static position when unaffected by external forces), S is the hook's position when deflected, and θ, or ∠TMS, is the deflection angle. The lowered length L of the rope can be obtained from the tower crane controller. Let MT = MS = L, and GS ⊥ MT.

[0054] 1. Calculation of the image coordinates of the feature point, i.e. the hook or active infrared guide light source, i.e. the pixel coordinates in the image

[0055] The imaging position of the active infrared guide light source on the image collected by the industrial infrared camera, that is, the pixel coordinates of the geometric center of the light spot, is used to indirectly calculate the distance between the active infrared guide light source, that is, the straight line where the hook is located, and the vertical direction. Figure 4 The angle between the line segment MT and the straight line. Figure 5 The following is a schematic diagram of the effect of an image captured by an industrial infrared camera. Let the geometric center of the light spot in the image be J, which is also the position of the active infrared guide light source or the hook. Then the pixel coordinates of J are (u, v). n is the number of all photosensitive pixels in the image, that is, all pixels in the light spot, and i is the i-th pixel in the light spot.

[0056] 2. Conversion between image coordinates and world coordinates

[0057] The relationship between the image coordinates and the world coordinates on the image is as follows:

[0058]

[0059] Among them, the coordinates of any point in the camera coordinate system are (X c ,Y c ,Z c ), the coordinates of any point in the world coordinate system are (X w ,Y w ,Z w ), (u, v) represents the pixel coordinates of any point in the image, dx and dy represent the length and width of the pixel in the image respectively, (u0, v0) represents the coordinate origin of the image, and f represents the focal length of the industrial infrared camera. The specific formula derivation will not be described in detail here.

[0060] In formula (1) It represents the operation of coinciding the world coordinate system with the camera coordinate system through rotation and / or translation transformation. In actual application scenarios, the industrial infrared camera is usually used as the reference system to judge the deflection state of the hook. Therefore, the industrial infrared camera can be considered to be stationary. Therefore, it can be assumed that the world coordinate system and the camera coordinate system are exactly the same, so formula (1) can be further rewritten as:

[0061]

[0062] Further we can get:

[0063]

[0064] 3. Calculate the deflection angle θ

[0065] Use mathematical geometry diagrams to represent application scenarios such as Figure 6 As shown in the figure, Oxyz is the camera coordinate system, the y-axis is parallel to the boom, point O is the location of the industrial infrared camera, point P is the connection between the lifting rope and the luffing trolley, point B is the active infrared guide light source, also the location of the hook, and PB represents the lifting rope. PD ⊥ plane xOy, DA ∥ x-axis, DC ∥ y-axis, point D is the projection of point B onto PD, AD ⊥ AB, and BC ⊥ DC.

[0066] Suppose the distance between point P and the x-axis and the distance between point P and the y-axis are y0 and x0 respectively, then the coordinates of point P are (x0, y0, 0), and the length of the rope is L.

[0067] When the hook is stationary without any external force, the pixel coordinates of the active infrared guiding light source, i.e. the hook, satisfy:

[0068]

[0069] When generating an oblique pull and slant lift, the rope is shown as line segment PB. Let ∠APD = α, ∠DPC = β, and ∠DPB = θ, then PD = h = L*cosθ, and the coordinates of point D are (x0, y0, h). Point B is the location of the active infrared guide light source, also known as the hook. Let the coordinates of point B be (X, Y, L*cosθ). Substituting into equation (3), the pixel coordinates of point B are:

[0070]

[0071] Depend on Figure 6 The geometric relationship in :

[0072]

[0073]

[0074] (tanα) 2 +(tanβ) 2 =(tanθ) 2 (8)

[0075] From equations (5), (6), and (7), we can obtain:

[0076]

[0077]

[0078] Combining equations (8), (9), and (10), we can obtain:

[0079] a*(cosθ) 2 +b*cosθ+c=0 (11)

[0080] Then we have:

[0081]

[0082] Further:

[0083]

[0084] in:

[0085]

[0086]

[0087]

[0088] Formulas (13) to (16) are the formulas for calculating the deflection angle θ under the current oblique-pull and oblique-hang conditions.

[0089] 4. Application of table lookup method

[0090] As can be seen from the foregoing description, the deflection angle θ can be calculated when the length dx and width dy of the pixel in the image, the position information of the connection point P between the suspension rope and the luffing trolley, the position information and focal length f of the industrial infrared camera, the pixel coordinates (u, v) of the geometric center of the light spot, and the length L of the suspension rope are known. To further improve detection efficiency, the correspondence between the length dx and width dy of the pixel in the image, the position information of the connection point P between the suspension rope and the luffing trolley, the position information and focal length f of the industrial infrared camera, the pixel coordinates (u, v) of the geometric center of the light spot, the length L of the suspension rope, and the deflection angle θ can be stored in a preset table. Thus, when the length dx and width dy of the pixel in the image, the position information of the connection point P between the suspension rope and the luffing trolley, the position information and focal length f of the industrial infrared camera, the pixel coordinates (u, v) of the geometric center of the light spot, and the length L of the suspension rope are obtained, the deflection angle θ can be quickly obtained using a table lookup method. Usually in practical applications, under a certain working condition, the length dx and width dy of the pixel point in the image, the position information of the connection P between the lifting rope and the variable-length trolley, the position information and focal length f of the industrial infrared camera are relatively fixed. In this way, after obtaining the current length L of the lifting rope and obtaining the actual image data through the industrial infrared camera, it is only necessary to calculate the pixel coordinates (u, v) of the geometric center of the corresponding light spot to find the corresponding deflection angle θ, thereby improving the response speed of the system, facilitating the early detection of oblique lifting and ensuring the safety of tower crane operation.

[0091] Finally, by installing light-receiving and light-emitting devices on the luffing trolley and the hook, the hook's deflection angle can be indirectly calculated, thereby determining whether there is an oblique pull or tilt. Based on the relationship between image coordinates, camera coordinates, and world coordinates, the camera coordinate system and the world coordinate system are set to coincide during the calculation process. This allows the length and width of the pixel points in the image, the position of the connection between the rope and the luffing trolley, the position and focal length of the industrial infrared camera, the pixel coordinates of the geometric center of the light spot, the length of the rope, and the relationship between the deflection angle of the hook to be calculated.

[0092] In summary, the embodiment of the present invention can easily calculate the deflection angle of the hook, has a wide range of application scenarios, high reliability, strong anti-interference ability, and strong practicality.

[0093] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0094] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0095] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0096] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0097] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0098] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0099] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0100] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0101] The above are merely embodiments of the present invention and are not intended to limit the present invention. It will be apparent to those skilled in the art that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are intended to be included within the scope of the claims of the present invention.

Claims

1. A detection device for a tower crane, characterized in that: include: A guiding light source is provided at the hook of the tower crane, and a light-emitting surface of the guiding light source is vertically arranged upward; an image acquisition device, disposed on the luffing trolley of the tower crane, the image acquisition device being configured to acquire images toward the hook; as well as The controller is configured to: Acquire an image captured by the image acquisition device, wherein the image includes an image of the guiding light source; Acquire the length of the hoisting rope of the tower crane, the position information of the connection between the hoisting rope and the luffing trolley, the position information of the image acquisition device, and the focal length of the image acquisition device; Determining the pixel coordinates of the geometric center, the length of the pixel, and the width of the pixel of the light spot formed by the guiding light source in the image; as well as The deflection angle of the hook is determined according to the length of the suspension rope, the position information of the connection point, the position information of the image acquisition device, the focal length, the pixel coordinates, the length of the pixel point and the width of the pixel point.

2. The detection device according to claim 1, characterized in that The pixel coordinates are defined as ( u , v ); in, , , n is the number of all pixels in the light spot, i is the first i pixels.

3. The detection device according to claim 1, characterized in that Determining the deflection angle of the hook according to the length of the suspension rope, the position information of the connection point, the position information of the image acquisition device, the focal length, the pixel coordinates, the length of the pixel point, and the width of the pixel point includes: A preset table is queried based on the length of the suspension rope, the position information of the connection, the position information of the image acquisition device, the focal length, the pixel coordinates, the length of the pixel point, and the width of the pixel point to determine the deflection angle, wherein the preset table stores the correspondence between the length of the suspension rope, the position information of the connection, the position information of the image acquisition device, the focal length, the pixel coordinates, the length of the pixel point, the width of the pixel point, and the deflection angle.

4. The detection device according to claim 1, characterized in that The corresponding relationship among the length of the suspension rope, the position information of the connection point, the position information of the image acquisition device, the focal length, the pixel coordinates, the length of the pixel point, the width of the pixel point and the deflection angle satisfies: ； in, , , ; θ is the deflection angle, dx is the length of the pixel, dy is the width of the pixel, ( u , v ) is the pixel coordinate, f is the focal length, x 0 is the distance between the connection point and the image acquisition device in a direction perpendicular to the tower arm and parallel to the ground, y 0 is the distance between the connection point and the image acquisition device in a direction parallel to the tower arm, L is the length of the sling.

5. The detection device according to claim 1, characterized in that The guiding light source is arranged at the connection between the hook and the hanging rope.

6. The detection device according to claim 1, characterized in that The guiding light source is an infrared guiding light source, and the infrared guiding light source is configured to emit infrared light.

7. The detection device according to claim 6, characterized in that The infrared guiding light source is an active infrared guiding light source.

8. The detection device according to claim 6, characterized in that The image acquisition device is an infrared camera.

9. The detection device according to claim 8, characterized in that The invention further comprises a filter, which is disposed on the infrared camera and configured to filter stray light.

10. The detection device according to claim 9, characterized in that: The wavelength of the filter is equal to the strongest luminous wavelength of the infrared guiding light source and the strongest sensing wavelength of the infrared camera.

11. A tower crane, characterized in that: include: hook; sling; luffing trolley; as well as A detection device for a tower crane according to any one of claims 1 to 10.

Images