A crane intelligent rapid hoisting target object motion posture monitoring method and system
By establishing a GPS three-dimensional spatial model and controlling the extension and retraction of the hydraulic boom, the problems of communication time and collision damage during crane lifting were solved, achieving fast and safe lifting results.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- STATE GRID SHANGHAI MUNICIPAL ELECTRIC POWER CO
- Filing Date
- 2023-10-20
- Publication Date
- 2026-07-31
AI Technical Summary
When existing cranes are used to lift electrical equipment, operators and on-site personnel spend a lot of time communicating over long distances via handheld walkie-talkies, resulting in low efficiency and a high risk of collision damage.
By acquiring the acceleration signal of the lifting hook, the image signal of the angle between the hydraulic rod and the cantilever, the image signal of the lifting hook, the image signal of the object being lifted, the GPS signal of the object, the GPS signal of the rotating bed, and the GPS signal of the object to be installed, a GPS three-dimensional spatial model is established. The extension and retraction lengths of the hydraulic rod and the cantilever are controlled to ensure that the object and the object to be installed are on the same cross section, and the displacement in the direction of movement is predicted to achieve precise lifting.
It enables a fast, safe, and precise hoisting process, reduces labor costs, improves hoisting efficiency, and avoids equipment collision damage.
Smart Images
Figure CN117430029B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of crane technology, specifically to a method and system for monitoring the motion posture of a crane during intelligent and rapid lifting of an object. Background Technology
[0002] For electrical equipment, cranes are usually used to lift it. During the lifting process, since the crane operator cannot see the lifting situation on site, they can only communicate with the on-site personnel remotely through handheld walkie-talkies. They understand the lifting situation based on the description of the on-site personnel, and then lift the electrical equipment to the required position by controlling the extension and retraction length of the hydraulic rod and the cantilever.
[0003] However, the existing operating methods require on-site personnel and crane operators to communicate remotely multiple times via handheld walkie-talkies to gradually adjust the operation, which consumes a lot of time and results in excessively high labor costs. Moreover, during the operation, the equipment is prone to swinging, which can cause it to collide with other objects and be damaged. Summary of the Invention
[0004] The purpose of this invention is to provide a method and system for monitoring the motion posture of a crane during intelligent and rapid lifting of objects, which can improve the efficiency of crane lifting of objects.
[0005] To achieve the above objectives, the present invention is implemented through the following technical solution:
[0006] A method for monitoring the motion posture of a target object during intelligent and rapid lifting by a crane, comprising the following steps:
[0007] S1. Acquire the following signals: crane hook acceleration signal, hydraulic rod and cantilever angle image signal, crane hook image signal, crane target image signal, target GPS signal, rotary bed GPS signal, and the target location GPS signal.
[0008] S2. Based on the GPS signal of the target object, the GPS signal of the rotating bed, and the GPS signal of the target object to be installed, establish a GPS three-dimensional spatial model;
[0009] S3. The target object is hoisted based on the GPS three-dimensional spatial model, so that the target object, the rotating bed and the target object to be installed are in the same cross section;
[0010] S4. Based on the image signal of the angle between the hydraulic rod and the cantilever, the image signal of the lifting hook, and the image signal of the object to be lifted, control the extension length of the hydraulic rod and / or the extension length of the cantilever so that the Y-axis value of the object is equal to the Y-axis value threshold of the object to be installed.
[0011] S5. Based on the crane hook acceleration signal, predict the displacement of the target in the direction of movement per unit time, and make the coordinates of the target to be installed the same as the coordinates of the target.
[0012] Preferably, step S1 includes:
[0013] An acceleration sensor is installed on the lifting hook to acquire the hook's acceleration signal during lifting.
[0014] The first camera module acquires the image signal of the angle between the hydraulic rod and the cantilever; the second camera module acquires the image signal of the lifting hook and the image signal of the object being lifted;
[0015] A first GPS locator is installed on the target object to obtain the target object's GPS signal; a second GPS locator is installed at the rotation center of the rotary bed to obtain the rotary bed's GPS signal; and a third GPS locator is installed at the location of the target object to be installed to obtain the location of the target object to be installed.
[0016] Preferably, step S2 includes: establishing a GPS three-dimensional spatial model with the rotary bed as the reference position, the direction directly above the rotary bed as the positive Z-axis, the direction from the rotary bed to the target to be installed as the positive Y-axis, and the right part of the direction perpendicular to the positive Y-axis as the positive X-axis.
[0017] Furthermore, step S3 includes: hoisting the target object based on the GPS three-dimensional spatial model so that the target object lands on the plane formed by the positive Y-axis and the positive Z-axis.
[0018] Preferably, step S4 includes: determining the angle value between the hydraulic rod and the cantilever based on the image signal of the angle between the hydraulic rod and the cantilever.
[0019] Further, determining the angle between the hydraulic rod and the cantilever based on the image signal of the angle between the hydraulic rod and the cantilever includes:
[0020] Image signal denoising processing is performed on the image signal of the angle between the hydraulic rod and the cantilever.
[0021] Perform image signal segmentation processing on the image signal denoising result;
[0022] The hydraulic rod and cantilever features are identified from the image signal segmentation results, and the included angle between the hydraulic rod and the cantilever is calculated.
[0023] Preferably, step S4 includes: determining the swing degree of the lifting hook or / and the lifting target based on the image signal of the lifting hook and / or the image signal of the lifting target, and controlling the extension and retraction speed of the hydraulic rod or / and the cantilever.
[0024] Furthermore, the lifting hook is provided with several cylindrical areas of equal area of different colors, and the determination of the swing degree of the lifting hook and / or the object being lifted based on the image signal of the lifting hook includes:
[0025] The degree of sway of the lifting hook and / or the object being lifted is determined by the ratio between different colored areas on the lifting hook and the rate of change of the ratio between different colored areas.
[0026] Preferably, step S5 includes: controlling the extension and retraction length of the hydraulic rod and / or the extension and retraction length of the cantilever so that the target falls at a position where the coordinates of the target and the coordinates of the target to be installed are equal on the Z-axis.
[0027] A motion attitude monitoring system for the above-mentioned intelligent rapid lifting and transporting of targets by a crane, wherein the crane includes a lifting hook, a hydraulic rod, a cantilever, and a rotating bed, comprising:
[0028] The signal acquisition unit is used to acquire the crane hook acceleration signal, the image signal of the angle between the hydraulic rod and the cantilever, the crane hook image signal, the image signal of the crane target, the GPS signal of the target, the GPS signal of the rotating bed, and the GPS signal of the target to be installed.
[0029] The modeling unit establishes a GPS three-dimensional spatial model based on the GPS signals of the target object, the rotating bed, and the GPS signals of the target object to be installed.
[0030] The hoisting unit hoists the target object based on a GPS three-dimensional spatial model, ensuring that the target object, the rotating bed, and the target object to be installed are on the same cross-section.
[0031] The control unit controls the extension length of the hydraulic rod and / or the extension length of the cantilever based on the image signal of the angle between the hydraulic rod and the cantilever, the image signal of the lifting hook, and the image signal of the object to be lifted, so that the Y-axis value of the object is equal to the Y-axis value threshold of the object to be installed.
[0032] The calculation unit predicts the displacement of the target object per unit time in the direction of movement based on the acceleration signal of the crane hook, and makes the coordinates of the target object to be installed the same as the coordinates of the target object.
[0033] The present invention has the following beneficial effects:
[0034] This invention discloses a method and system for monitoring the motion posture of a target object during intelligent and rapid lifting using a crane. The method establishes a three-dimensional GPS spatial model using GPS signals from the target object, the rotating bed, and the location of the target object to be installed. Based on this GPS three-dimensional spatial model, the target object is lifted, ensuring that the target object, the rotating bed, and the target object to be installed are on the same cross-section. The extension and retraction lengths of the hydraulic rod and / or the cantilever are controlled to ensure that the Y-axis value of the target object is equal to a threshold value of the Y-axis value at the location of the target object to be installed. Based on the crane hook acceleration signal, the method predicts the displacement of the target object per unit time in the direction of motion, ensuring that the coordinates at the location of the installed target object are the same as the coordinates of the target object.
[0035] Using this invention, the lifting of objects can be completed quickly, safely, and accurately, with less time and lower labor costs. Compared with the existing technology that relies on multiple communications over a long distance using a handheld walkie-talkie to gradually adjust the operation, this invention can greatly improve the efficiency of crane lifting of objects. Attached Figure Description
[0036] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the description will be briefly introduced below. Obviously, the drawings described below are one embodiment of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort:
[0037] Figure 1 This is a flowchart illustrating a method for monitoring the motion posture of a target object using an intelligent and rapid lifting mechanism, as provided in an embodiment of the present invention. Detailed Implementation
[0038] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become clearer from the following description. It should be noted that the drawings are in a very simplified form and use non-precise proportions, used only to facilitate and clearly illustrate the embodiments of the present invention. Please refer to the drawings to make the objectives, features, and advantages of the present invention more apparent and understandable. It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the implementation conditions of the present invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to the size, without affecting the effects and objectives achieved by the present invention, should still fall within the scope of the technical content disclosed in the present invention.
[0039] like Figure 1 As shown, this embodiment provides a method for monitoring the motion posture of a target object during intelligent and rapid lifting by a crane, including the following steps:
[0040] S1. Acquire the following signals: crane hook acceleration signal, hydraulic rod and cantilever angle image signal, crane hook image signal, crane target image signal, target GPS signal, rotary bed GPS signal, and the target location GPS signal.
[0041] S2. Based on the GPS signal of the target object, the GPS signal of the rotating bed, and the GPS signal of the target object to be installed, establish a GPS three-dimensional spatial model;
[0042] S3. The target object is hoisted based on the GPS three-dimensional spatial model, so that the target object, the rotating bed and the target object to be installed are in the same cross section;
[0043] S4. Based on the image signal of the angle between the hydraulic rod and the cantilever, the image signal of the lifting hook, and the image signal of the object to be lifted, control the extension length of the hydraulic rod and / or the extension length of the cantilever so that the Y-axis value of the object is equal to the Y-axis value threshold of the object to be installed.
[0044] S5. Based on the crane hook acceleration signal, predict the displacement of the target in the direction of movement per unit time, and make the coordinates of the target to be installed the same as the coordinates of the target.
[0045] In a preferred embodiment, step S1 in this example includes:
[0046] S101. Install an acceleration sensor on the lifting hook to obtain the acceleration signal of the lifting hook during the hoisting process;
[0047] In this embodiment, the accelerometer transmits the crane hook acceleration signal to the intelligent control terminal.
[0048] S102, The first camera module acquires the image signal of the angle between the hydraulic rod and the cantilever; the second camera module acquires the image signal of the lifting hook and the image signal of the lifting target;
[0049] In this embodiment, the first camera module transmits the image signal of the angle between the hydraulic rod and the cantilever to the intelligent control terminal, and the second camera module transmits the image signal of the lifting hook and the image signal of the lifting target to the intelligent control terminal.
[0050] S103. Install a first GPS locator on the target object to obtain the target object's GPS signal; install a second GPS locator at the rotation center of the rotary bed to obtain the rotary bed's GPS signal; install a third GPS locator at the location of the target object to be installed to obtain the location of the target object to be installed.
[0051] As a preferred embodiment, step S2 in this embodiment includes: establishing a GPS three-dimensional spatial model with the rotary bed as the reference position, the direction directly above the rotary bed as the positive Z-axis, the direction from the rotary bed to the target to be installed as the positive Y-axis, and the right part of the direction perpendicular to the positive Y-axis as the positive X-axis.
[0052] The coordinates of the rotating bed are (0, 0, 0), the coordinates of the object to be installed are (0, Yn, Zn), and the coordinates of the object are (Xn, Yn, Zn). The intelligent control terminal displays the coordinates of the rotating bed, the coordinates of the object to be installed, and the coordinates of the object.
[0053] Specifically, step S3 in this embodiment includes: hoisting the target object based on the GPS three-dimensional spatial model so that the target object falls on the plane formed by the positive Y-axis and the positive Z-axis.
[0054] In this embodiment, the determination condition for the target, the rotating bed, and the target to be installed to be located in the same cross section includes: taking the rotating bed as the origin and the direction from the rotating bed to the target to be installed as the positive Y-axis, when the value of the X-axis based on the GPS signal of the target is (0, Y1, Z1), that is, the target falls on the positive Y-axis, it is determined that the three GPS signals are in the same cross section.
[0055] In this embodiment, controlling the extension and retraction length of the hydraulic rod and / or the cantilever to make the Y-axis value of the target equal to the Y-axis value threshold at the location where the target is to be installed includes:
[0056] The coordinates of the installation point are (0, Y2, Z201), and the coordinates of the object are (0, Y2, Z301). The coordinates of the installation point and the coordinates of the object are equal on the Y-axis, but not equal on the Z-axis.
[0057] Based on the coordinates of the target object and the coordinates of the target object to be installed, the vertical distance (Z-axis) and horizontal distance (Y-axis) are decomposed. The height between the target object and the rotary bed, the height between the target object to be installed and the rotary bed, the horizontal distance between the target object and the rotary bed, and the horizontal distance between the target object to be installed and the rotary bed are determined, and displayed in real time on the intelligent control terminal. Based on the results of the vertical and horizontal distance decomposition, the extension and retraction lengths of the hydraulic rod and / or the cantilever are controlled so that the horizontal distance (Y-axis) between the target object and the rotary bed is equal to the horizontal distance (Y-axis) between the target object to be installed and the rotary bed, and the vertical distance between the target object and the rotary bed is greater than the vertical distance between the target object to be installed and the rotary bed.
[0058] During the hoisting process, based on the image signal of the angle between the hydraulic rod and the cantilever, the acceleration signal of the lifting hook, and / or the image signal of the lifting hook and the image signal of the target object, the extension and retraction length of the hydraulic rod and / or the extension and retraction length of the cantilever are controlled so that the height between the target object and the rotary bed is greater than the height between the target object to be installed and the rotary bed, and the horizontal distance (Y-axis) between the target object and the rotary bed is equal to the horizontal distance (Y-axis) between the target object to be installed and the rotary bed.
[0059] The length of the telescopic rod is shortened by controlling the angle value determined based on the image signal of the angle between the hydraulic rod and the cantilever, so that the horizontal distance between the target and the rotary bed is equal to the horizontal distance between the target to be installed and the rotary bed; or, the height between the target and the rotary bed is greater than the height between the target to be installed and the rotary bed, and the horizontal distance (Y-axis) between the target and the rotary bed is greater than the horizontal distance (Y-axis) between the target to be installed and the rotary bed. The telescopic length of the cantilever is shortened by controlling the horizontal distance (Y-axis) between the target and the rotary bed, so that the horizontal distance (Y-axis) between the target and the rotary bed is equal to the horizontal distance (Y-axis) between the target to be installed and the rotary bed.
[0060] In a preferred embodiment, step S4 in this embodiment includes: determining the angle value formed between the hydraulic rod and the cantilever based on the image signal of the angle between the hydraulic rod and the cantilever.
[0061] Specifically, in this embodiment, determining the angle between the hydraulic rod and the cantilever based on the image signal of the angle between the hydraulic rod and the cantilever includes:
[0062] Image signal denoising is performed on the image signal of the angle between the hydraulic rod and the cantilever. The expression for image signal denoising is shown below:
[0063]
[0064] in, For the denoised image, x,y=0,1,2,...,N-1, L is the set of coordinates of the center points of the neighborhood of (x,y), and R is the number of coordinate points in the set;
[0065] Image signal segmentation is performed on the denoised image signal. The expression for image signal segmentation is shown below:
[0066]
[0067] in, Let G1 be the gray value of each point in the region G1 after segmentation by average gray value. The total number of pixels in region G1;
[0068] The hydraulic rod and cantilever features are identified from the image signal segmentation results, and the included angle between the hydraulic rod and the cantilever is calculated.
[0069] In this embodiment, the degree of rotation of the lifting hook during the lifting process is determined based on the image signal of the lifting hook, and the intelligent control terminal displays the image signal of the object being lifted in real time.
[0070] In a preferred embodiment, step S4 in this embodiment includes: determining the swing degree of the lifting hook or / and the lifting target based on the image signal of the lifting hook and / or the image signal of the lifting target, and controlling the extension and retraction speed of the hydraulic rod or / and the cantilever.
[0071] Specifically, in this embodiment, the lifting hook is provided with several cylindrical areas of equal area of different colors. The degree of swing of the lifting hook and / or the object being lifted is determined based on the image signal of the lifting hook, including:
[0072] The degree of sway of the lifting hook and / or the object being lifted is determined by the ratio between different colored areas on the lifting hook and the rate of change of the ratio between different colored areas.
[0073] Specifically, in this embodiment, the swing degree (inertia) of the lifting hook and the lifting target is determined based on the image signal of the lifting hook and / or the image signal of the lifting target, and the extension speed of the hydraulic rod and / or the extension speed of the cantilever is controlled to prevent excessive speed from causing inertia and resulting in collision damage.
[0074] Determining the degree of sway of the lifting hook and the target object based on the image signal of the lifting hook includes the following steps: The lifting hook has several different colored areas, each of equal area, and the colored areas are cylindrical. The image signal of the lifting hook is acquired by a second camera module and transmitted to an intelligent control terminal. The intelligent control terminal judges the degree of sway based on the ratio between the different colored areas and the rate of change of the ratio between the different colored areas, thus preventing the inertial target object from colliding with the installation site and causing damage. It should be noted that because the distance between the lifting hook and the target object and the camera changes during transportation, and the moving target may also undergo translational and rotational motion, the shape and size of its image on the camera's image plane change. The degree of sway is determined by judging the ratio between the different colored areas and the rate of change of the ratio between the different colored areas.
[0075] In a preferred embodiment, step S5 in this embodiment includes: controlling the extension and retraction length of the hydraulic rod and / or the extension and retraction length of the cantilever so that the target falls at a position where the coordinates of the target and the coordinates of the target to be installed are equal on the Z-axis.
[0076] In this embodiment, the coordinates of the installation point and the coordinates of the object are equal on the Y-axis and equal on the Z-axis. The cantilever crane drum is controlled to wind up and unwind the crane rope so that the Z-axis coordinates of the installation point and the Z-axis coordinates of the object are the same, thus completing the lifting of the object.
[0077] This embodiment also provides a motion attitude monitoring system for the above-mentioned intelligent rapid lifting and transporting target motion attitude monitoring method of crane. The crane includes a lifting hook, a hydraulic rod, a cantilever, and a rotating bed, comprising:
[0078] The signal acquisition unit is used to acquire the crane hook acceleration signal, the image signal of the angle between the hydraulic rod and the cantilever, the crane hook image signal, the image signal of the crane target, the GPS signal of the target, the GPS signal of the rotating bed, and the GPS signal of the target to be installed.
[0079] The modeling unit establishes a GPS three-dimensional spatial model based on the GPS signals of the target object, the rotating bed, and the GPS signals of the target object to be installed.
[0080] The hoisting unit hoists the target object based on a GPS three-dimensional spatial model, ensuring that the target object, the rotating bed, and the target object to be installed are on the same cross-section.
[0081] The control unit controls the extension length of the hydraulic rod and / or the extension length of the cantilever based on the image signal of the angle between the hydraulic rod and the cantilever, the image signal of the lifting hook, and the image signal of the object to be lifted, so that the Y-axis value of the object is equal to the Y-axis value threshold of the object to be installed.
[0082] The calculation unit predicts the displacement of the target object per unit time in the direction of movement based on the acceleration signal of the crane hook, and makes the coordinates of the target object to be installed the same as the coordinates of the target object.
[0083] This embodiment provides a method and system for monitoring the motion attitude of a target object during intelligent and rapid lifting using a crane. A three-dimensional GPS spatial model is established using GPS signals from the target object, the rotating bed, and the location of the target object to be installed. Based on this GPS three-dimensional spatial model, the target object is lifted, ensuring that the target object, the rotating bed, and the target object to be installed are on the same cross-section. The extension and retraction lengths of the hydraulic rod and / or the cantilever are controlled to ensure that the Y-axis value of the target object equals the threshold Y-axis value of the target object to be installed. Based on the crane hook acceleration signal, the displacement of the target object per unit time in the direction of motion is predicted, and the coordinates of the target object to be installed are made the same as the coordinates of the target object. This method enables rapid, safe, and accurate lifting of the target object, reducing time and labor costs.
[0084] In this embodiment, the angle between the hydraulic rod and the cantilever can be quickly and accurately determined based on the image signal of the angle between the hydraulic rod and the cantilever.
[0085] In this embodiment, the second camera module acquires the image signal of the lifting hook and transmits it to the intelligent control terminal. The intelligent control terminal judges the degree of swing based on the ratio between different color areas and the rate of change of the ratio between different color areas, and controls the extension and retraction speed of the hydraulic rod and / or the extension and retraction speed of the cantilever to avoid the inertial target from colliding with the installation site and causing damage.
[0086] Although the present invention has been described in detail through the preferred embodiments above, it should be understood that the above description should not be considered as a limitation of the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above description. Therefore, the scope of protection of the present invention should be defined by the appended claims.
Claims
1. A method for monitoring the motion posture of a target object hoisted by a crane in an intelligent and rapid manner, characterized in that, Includes the following steps: S1. Acquire the following signals: crane hook acceleration signal, hydraulic rod and cantilever angle image signal, crane hook image signal, crane target image signal, target GPS signal, rotary bed GPS signal, and the target location GPS signal. S2. Based on the GPS signal of the target object, the GPS signal of the rotating bed, and the GPS signal of the target object to be installed, establish a GPS three-dimensional spatial model, including: taking the rotating bed as the reference position, the direction perpendicular to the top of the rotating bed as the positive Z-axis, the direction from the rotating bed to the target object to be installed as the positive Y-axis, and the right part of the direction perpendicular to the positive Y-axis as the positive X-axis, to establish a GPS three-dimensional spatial model. S3. Lifting the target object based on the GPS three-dimensional spatial model, so that the target object, the rotating bed and the target object to be installed are in the same cross section, including: lifting the target object based on the GPS three-dimensional spatial model, so that the target object falls on the plane formed by the positive Y axis and the positive Z axis. S4. Based on the image signal of the angle between the hydraulic rod and the cantilever, the image signal of the lifting hook, and the image signal of the object to be lifted, control the extension length of the hydraulic rod and / or the extension length of the cantilever to make the Y-axis value of the object equal to the Y-axis value threshold at the location of the object to be installed, including: determining the angle value formed between the hydraulic rod and the cantilever based on the image signal of the angle between the hydraulic rod and the cantilever; and The degree of swing of the lifting hook and / or the lifting target is determined based on the image signal of the lifting hook and / or the image signal of the lifting target, and the extension and retraction speed of the hydraulic rod and / or the cantilever is controlled. The determination of the angle between the hydraulic rod and the cantilever based on the image signal of the angle between the hydraulic rod and the cantilever includes: Image signal denoising processing is performed on the image signal of the angle between the hydraulic rod and the cantilever. Perform image signal segmentation processing on the image signal denoising result; The hydraulic rod and cantilever features are identified from the image signal segmentation results, and the included angle between the hydraulic rod and the cantilever is calculated. The lifting hook has several cylindrical areas of equal area of different colors. Determining the degree of swing of the lifting hook and / or the object being lifted based on the image signal of the lifting hook includes: The degree of swing of the lifting hook and / or the object being lifted is determined by the ratio between different colored areas on the lifting hook and the rate of change of the ratio between different colored areas. S5. Based on the crane hook acceleration signal, predict the displacement of the target object in the direction of motion per unit time, and make the coordinates of the target object to be installed the same as the coordinates of the target object; including: controlling the extension and retraction length of the hydraulic rod and / or the extension and retraction length of the cantilever so that the target object falls at a position where the coordinates of the target object and the coordinates of the target object to be installed are equal on the Z-axis.
2. The motion gesture monitoring method of claim 1, wherein, Step S1 includes: An acceleration sensor is installed on the lifting hook to acquire the hook's acceleration signal during lifting. The first camera module acquires the image signal of the angle between the hydraulic rod and the cantilever; the second camera module acquires the image signal of the lifting hook and the image signal of the object being lifted; A first GPS locator is installed on the target object to obtain the target object's GPS signal; a second GPS locator is installed at the rotation center of the rotary bed to obtain the rotary bed's GPS signal; and a third GPS locator is installed at the location of the target object to be installed to obtain the location of the target object to be installed.
3. A motion posture monitoring system for use in a method of monitoring the motion posture of a load as claimed in any one of claims 1-2, said crane comprising a crane hook, a hydraulic boom, a jib and a rotating bed, characterized in that, include: The signal acquisition unit is used to acquire the crane hook acceleration signal, the image signal of the angle between the hydraulic rod and the cantilever, the crane hook image signal, the image signal of the crane target, the GPS signal of the target, the GPS signal of the rotating bed, and the GPS signal of the target to be installed. The modeling unit establishes a GPS three-dimensional spatial model based on the GPS signals of the target object, the rotating bed, and the GPS signals of the target object to be installed. The hoisting unit hoists the target object based on a GPS three-dimensional spatial model, ensuring that the target object, the rotating bed, and the target object to be installed are on the same cross-section. The control unit controls the extension length of the hydraulic rod and / or the extension length of the cantilever based on the image signal of the angle between the hydraulic rod and the cantilever, the image signal of the lifting hook, and the image signal of the object to be lifted, so that the Y-axis value of the object is equal to the Y-axis value threshold of the object to be installed. The calculation unit predicts the displacement of the target object per unit time in the direction of movement based on the acceleration signal of the crane hook, and makes the coordinates of the target object to be installed the same as the coordinates of the target object.