Position calibration method and device for lifting hook of tower crane and electronic equipment

Abstract

The invention relates to a position calibration method and device for a lifting hook of a tower crane and electronic equipment. The method comprises the following steps: controlling a lifting hook of the tower crane to sequentially fall at a plurality of set positions, and controlling a zoom camera to collect a picture where the lifting hook is located when the lifting hook is at each set position; acquiring a variable amplitude data set, a lifting value data set, an up-down rotation amplitude data set and a scaling value data set of the lifting hook; according to the amplitude variation data set and the lifting value data set, an included angle data set of the lifting hook is obtained through calculation; according to the variable amplitude data set, the lifting value data set, the up-down rotation amplitude data set, the zoom value data set and the included angle data set, a first calibration value of the position relation between the up-down rotation amplitude of the zoom camera and the lifting hook and a second calibration value of the position relation between the zoom value of the zoom camera and the lifting hook are obtained through calculation. The technical problem that potential safety hazards exist due to the fact that a traditional fixed-focus camera for safety monitoring of the tower crane has a monitoring blind area is solved.

Description

Technical Field

[0001] The present application relates to the field of pan / tilt camera automation control, and in particular to a method, device and electronic equipment for calibrating the position of a tower crane hook. Background Art

[0002] In recent years, the use of tower cranes on construction sites has become increasingly common. The use of tower cranes plays an important role in improving construction progress and reducing the labor intensity of construction workers. Various types of tower crane operation safety accidents caused by illegal over-limit operations of tower cranes and interference and collision of tower crane groups have occurred frequently, causing huge losses of life and property. The PTZ (Pan-Tilt-Zoom, horizontal movement Pan, vertical movement Tilt and zoom Zoom) camera realizes all-round (left / right / up / down) movement and lens magnification and zoom control, which can meet the needs of tower crane safety operation monitoring and management. The PTZ camera is used to track the tower crane hook in real time, and the real-time image of the hook position is transmitted to the monitoring system, providing a more powerful technical guarantee for the company's security prevention and efficient management. Traditional tower crane safety monitoring is to install a fixed-focus camera for viewing. Since the fixed-focus camera has a monitoring blind spot, it cannot follow the tower crane hook to transmit the monitoring image in real time, which has the potential to cause safety accidents. Summary of the invention

[0003] The present application provides a method, device and electronic device for calibrating the position of a tower crane hook, so as to solve the technical problem that a conventional fixed-focus camera for safety monitoring of a tower crane has a monitoring blind spot, resulting in potential safety hazards.

[0004] In a first aspect, the present application provides a method for calibrating the position of a tower crane hook, comprising: controlling the hook of the tower crane to drop in a plurality of set positions in sequence, and controlling a zoom camera to capture a picture of the hook when the hook is at each set position, so that the hook is at the center of the picture of the zoom camera, wherein the zoom camera is arranged at the root of the boom of the tower crane; obtaining a data group of amplitude change, a data group of lifting value, a data group of up and down rotation amplitude, and a data group of scaling value of the hook, wherein the data group of amplitude change includes the amplitude change of the tower crane when the hook is at each set position, the data group of lifting value includes the lifting value of the tower crane when the hook is at each set position, and the data group of up and down rotation amplitude includes the data of the scaling value. the up and down rotation amplitude of the zoom camera when the hook is at each set position, and the zoom value data group includes the zoom value of the zoom camera when the hook is at each set position; according to the amplitude data group and the lifting value data group, the angle data group of the hook is calculated, wherein the angle data group includes the angle between the line connecting the hook to the zoom camera and the boom of the tower crane when the hook is at each set position; according to the amplitude data group, the lifting value data group, the up and down rotation amplitude data group, the zoom value data group and the angle data group, a first calibration value of the relationship between the up and down rotation amplitude of the zoom camera and the position of the hook, and a second calibration value of the relationship between the zoom value of the zoom camera and the position of the hook are calculated.

[0005] In a second aspect, the present application provides a position calibration device for a tower crane hook, comprising: a control module, for controlling the hook of the tower crane to drop in a plurality of set positions in sequence, and controlling a zoom camera to capture a picture of the hook when the hook is at each set position, so that the hook is at the center of the picture of the zoom camera, wherein the zoom camera is arranged at the root of the boom of the tower crane; an acquisition module, for acquiring a data group of amplitude change, a data group of lifting value, a data group of up and down rotation amplitude, and a data group of scaling value of the hook, wherein the data group of amplitude change includes the amplitude change of the tower crane when the hook is at each set position, the data group of lifting value includes the lifting value of the tower crane when the hook is at each set position, and the data group of up and down rotation amplitude includes the data of the hook The up and down rotation amplitude of the zoom camera at each set position, the zoom value data group includes the zoom value of the zoom camera when the hook is at each set position; a first calculation module, used to calculate the angle data group of the hook according to the amplitude data group and the lifting value data group, wherein the angle data group includes the angle between the line connecting the hook to the zoom camera and the boom of the tower crane when the hook is at each set position; a second calculation module, used to calculate the first calibration value of the relationship between the up and down rotation amplitude of the zoom camera and the position of the hook, and the second calibration value of the relationship between the zoom value of the zoom camera and the position of the hook according to the amplitude data group, the lifting value data group, the up and down rotation amplitude data group, the zoom value data group and the angle data group.

[0006] As an optional example, the above-mentioned device also includes: a setting module, which is used to set multiple set positions of the above-mentioned hook before controlling the hook of the tower crane to drop in multiple set positions in sequence, wherein the above-mentioned multiple set positions include the upper, middle and lower positions of the tip of the boom of the above-mentioned tower crane, the upper, middle and lower positions of the middle of the boom of the above-mentioned tower crane, and the upper, middle and lower positions of the root of the boom of the above-mentioned tower crane.

[0007] As an optional example, the first calculation module includes: a first calculation unit, used to calculate the angle between the line from the hook to the zoom camera and the boom of the tower crane when the hook is at each set position according to the lifting value of the tower crane when the hook is at each set position and the amplitude change of the tower crane when the hook is at each set position, so as to obtain the angle data group of the hook.

[0008] As an optional example, the first calibration value includes a first sub-calibration value and a second sub-calibration value, and the second calculation module includes: a second calculation unit, used to calculate the first sub-calibration value of the hook at each set position according to the up and down rotation amplitude of the zoom camera when the hook is at each set position and the angle between the line connecting the hook to the zoom camera and the boom of the tower crane when the hook is at each set position; a third calculation unit, used to calculate the second sub-calibration value of the hook at each set position according to the first sub-calibration value of the hook at each set position, the up and down rotation amplitude of the zoom camera when the hook is at each set position, and the angle between the line connecting the hook to the zoom camera and the boom of the tower crane when the hook is at each set position a calibration value; a fourth calculation unit, used for calculating the maximum error value of the above-mentioned up and down rotation amplitude of the above-mentioned hook at each set position according to the first sub-calibration value of the above-mentioned hook at each set position, the second sub-calibration value of the above-mentioned hook at each set position, the above-mentioned up and down rotation amplitude data group and the above-mentioned angle data group; an acquisition unit, used for acquiring the target position serial number corresponding to the minimum error value among all the above-mentioned maximum error values; a first determination unit, used for determining the first sub-calibration value corresponding to the above-mentioned target position serial number in all the first sub-calibration values ​​as the first sub-calibration value of the relationship between the up and down rotation amplitude of the above-mentioned zoom camera and the position of the above-mentioned hook, and determining the second sub-calibration value corresponding to the above-mentioned target position serial number in all the second sub-calibration values ​​as the second sub-calibration value of the relationship between the up and down rotation amplitude of the above-mentioned zoom camera and the position of the above-mentioned hook.

[0009] As an optional example, the fourth calculation unit includes: a first sub-calculation unit, for calculating the calibrated up and down rotation amplitude of the zoom camera when the hook is at each set position according to the first sub-calibration value when the hook is at each set position, the angle between the line connecting the hook to the zoom camera and the boom of the tower crane when the hook is at each set position, and the second sub-calibration value when the hook is at each set position; a second sub-calculation unit, for calculating the maximum error value of the up and down rotation amplitude of the zoom camera when the hook is at each set position and the calibrated up and down rotation amplitude of the zoom camera when the hook is at each set position.

[0010] As an optional example, the second calibration value includes a third sub-calibration value and a fourth sub-calibration value, and the second calculation module includes: a fifth calculation unit, used to calculate the length of a connection line from the hook to the zoom camera when the hook is at each set position according to the amplitude variation data group and the lifting value data group; a sixth calculation unit, used to calculate the third sub-calibration value of the hook at each set position according to the zoom value of the zoom camera when the hook is at each set position and the length of a connection line from the hook to the zoom camera when the hook is at each set position; a seventh calculation unit, used to calculate the third sub-calibration value of the hook at each set position according to the zoom value of the zoom camera when the hook is at each set position The fourth sub-calibration value of the hook at each set position is calculated by using the zoom value of the zoom camera at a set position, the third sub-calibration value of the hook at each set position, and the length of the connection line from the hook to the zoom camera at each set position; a second determining unit is used to determine the third sub-calibration value corresponding to the target position serial number in all the third sub-calibration values ​​as the third sub-calibration value of the relationship between the zoom value of the zoom camera and the position of the hook, and to determine the fourth sub-calibration value corresponding to the target position serial number in all the fourth sub-calibration values ​​as the fourth sub-calibration value of the relationship between the zoom value of the zoom camera and the position of the hook.

[0011] As an optional example, the sixth calculation unit includes: a third sub-calculation unit, used to calculate the length of the connection from the hook to the zoom camera when the hook is at each set position according to the lifting value of the tower crane and the amplitude change of the tower crane when the hook is at each set position.

[0012] In a third aspect, the present application provides a storage medium storing a computer program, wherein the computer program executes the above-mentioned tower crane hook position calibration method when executed by a processor.

[0013] In a fourth aspect, the present application further provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the above-mentioned tower crane hook position calibration method through the above-mentioned computer program.

[0014] The above technical solution provided by the embodiment of the present application has the following advantages compared with the prior art:

[0015] The present application adopts a method of controlling the hook of a tower crane to drop in a plurality of set positions in sequence, and at the same time controlling a zoom camera to collect a picture of the hook when the hook is at each set position, so that the hook is at the center of the picture of the zoom camera, wherein the zoom camera is arranged at the root of the boom of the tower crane; obtaining a data group of amplitude change, a data group of lifting value, a data group of up and down rotation amplitude, and a data group of scaling value of the hook, wherein the data group of amplitude change includes the amplitude change of the tower crane when the hook is at each set position, and the data group of lifting value includes the data of the hook at each set position. the lifting value data group comprises the lifting value of the tower crane when the hook is in each set position, the up and down rotation amplitude data group comprises the up and down rotation amplitude of the zoom camera when the hook is in each set position, and the zoom value data group comprises the zoom value of the zoom camera when the hook is in each set position; according to the amplitude data group and the lifting value data group, the angle data group of the hook is calculated, wherein the angle data group comprises the angle between the line connecting the hook to the zoom camera and the boom of the tower crane when the hook is in each set position; according to the amplitude data group, the lifting value data group, the up and down rotation amplitude data group comprises the up and down rotation amplitude of the zoom camera when the hook is in each set position, and the zoom value data group comprises the zoom value of the zoom camera when the hook is in each set position The method of calculating the first calibration value of the relationship between the up and down rotation amplitude of the zoom camera and the position of the hook, and the second calibration value of the relationship between the zoom value of the zoom camera and the position of the hook by using the up and down rotation amplitude data group, the zoom value data group and the angle data group, because in the above method, a zoom camera is added to perform real-time dynamic monitoring of the tower crane hook, and the amplitude change and lifting value of the hook, the up and down rotation amplitude and zoom value of the zoom camera are collected at multiple set positions by the hook, and the first calibration value of the relationship between the up and down rotation amplitude of the zoom camera and the position of the hook is calculated based on these collected data. The first calibration value and the second calibration value of the relationship between the zoom value of the zoom camera and the position of the hook are used to calibrate the position relationship between the zoom camera and the hook. This enables fast and accurate calibration of the position relationship between the zoom camera and the hook of the tower crane, and enables the zoom camera to track the hook of the tower crane in real time. The real-time image of the hook of the tower crane is transmitted to the monitoring system, providing technical support for the safe use of the tower crane, thereby solving the technical problem that the traditional fixed-focus zoom camera for safety monitoring of the tower crane has a monitoring blind spot, which leads to safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0018] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0019] Figure 1 is a flow chart of an optional method for calibrating the position of a tower crane hook according to an embodiment of the present application;

[0020] Figure 2 is a structural diagram of a tower crane according to an optional method for calibrating the position of a tower crane hook in an embodiment of the present application;

[0021] Figure 3 is a schematic structural diagram of an optional tower crane hook position calibration device according to an embodiment of the present application;

[0022] Figure 4 is a schematic diagram of an optional electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0024] The disclosure below provides many different embodiments or examples to realize the different structures of the present application. In order to simplify the disclosure of the present application, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeat reference numbers and / or letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0025] Embodiment 1, in order to solve the technical problem that the fixed-focus zoom camera for the safety monitoring of the traditional tower crane has a monitoring blind spot, resulting in potential safety hazards, according to the first aspect of the embodiment of the present application, a method for calibrating the position of the hook of the tower crane is provided, optionally, as Figure 1 As shown, the above method includes:

[0026] S102, controlling the hook of the tower crane to drop at a plurality of set positions in sequence, and controlling the zoom camera to capture a picture of the hook when the hook is at each set position, so that the hook is at the center of the picture of the zoom camera, wherein the zoom camera is arranged at the base of the boom of the tower crane;

[0027] S104, obtaining a data group of amplitude change, a data group of lifting value, a data group of up and down rotation amplitude, and a data group of zoom value of the hook, wherein the data group of amplitude change includes the amplitude change of the tower crane when the hook is at each set position, the data group of lifting value includes the lifting value of the tower crane when the hook is at each set position, the data group of up and down rotation amplitude includes the up and down rotation amplitude of the zoom camera when the hook is at each set position, and the data group of zoom value includes the zoom value of the zoom camera when the hook is at each set position;

[0028] S106, calculating a hook angle data group according to the luffing data group and the lifting value data group, wherein the angle data group includes an angle between a line connecting the hook to the zoom camera and the boom of the tower crane when the hook is at each set position;

[0029] S108, based on the amplitude data group, the lifting value data group, the up and down rotation amplitude data group, the zoom value data group and the angle data group, calculate the first calibration value of the relationship between the up and down rotation amplitude of the zoom camera and the position of the hook, and the second calibration value of the relationship between the zoom value of the zoom camera and the position of the hook.

[0030] Optionally, in this embodiment 1, if Figure 2 As shown in the structural diagram of the tower crane, the zoom camera is set at the root of the tower crane's boom. Therefore, the zoom camera moves with the tower crane's boom. Therefore, the left and right rotation amplitude of the zoom camera should be a fixed value. The average value of the left and right rotation amplitude of the zoom camera corresponding to all set positions collected is used as the third calibration value of the relationship between the left and right rotation amplitude of the zoom camera and the position of the hook.

[0031] Optionally, in the first embodiment, the zoom camera is controlled to collect data on the hook at multiple set positions, and the positional relationship between the zoom camera and the hook is calculated and calibrated based on all the collected data. Specifically, the hook of the tower crane is controlled to drop the hook at multiple set positions in turn, and each time the hook reaches a certain set position, the zoom camera starts to collect images to ensure that the hook is located at the center of the camera screen. The amplitude change of the tower crane, the lifting value of the tower crane, the up and down rotation amplitude of the zoom camera, and the zoom value of the zoom camera are recorded at each set position of the hook to obtain an amplitude change data group, a lifting value data group, an up and down rotation amplitude data group, and a zoom value data group. According to the amplitude change of the tower crane and the lifting value of the tower crane at each set position of the hook, the angle between the connecting line from the hook to the zoom camera and the boom of the tower crane at each set position of the hook is calculated to obtain an angle data group. Combined with the amplitude data group, the lifting value data group, the up and down rotation amplitude data group, the scaling value data group and the angle data group, the first calibration value of the up and down rotation amplitude of the zoom camera and the position relationship of the hook, and the second calibration value of the scaling value of the zoom camera and the position relationship of the hook are calculated. By collecting images at multiple set positions and recording relevant data, the various position parameters of the hook can be accurately calculated. This makes the positioning of the hook more accurate and improves the accuracy of the operation. By acquiring and calculating the amplitude, lifting value, up and down rotation amplitude and scaling value data group of the tower crane, the control of the zoom camera can be better optimized so that it can accurately track the position of the hook, thereby reducing operating errors, reducing accident risks, and improving the safety of crane operation. Through automated data collection and calculation, human operation can be reduced, work efficiency can be improved, the accuracy and safety of tower crane operation can be greatly improved, and the operation of the crane in a complex environment can be more efficient and reliable.

[0032] Optionally, in the first embodiment of the present invention, a zoom camera is added to perform real-time dynamic monitoring of the hook of the tower crane. The hook's amplitude and lifting values, the up and down rotation amplitude and zoom value of the zoom camera are collected at multiple set positions through the hook. A first calibration value of the relationship between the up and down rotation amplitude of the zoom camera and the position of the hook, as well as a second calibration value of the relationship between the zoom value of the zoom camera and the position of the hook are calculated based on the collected data. The position relationship between the zoom camera and the hook is calibrated based on the first calibration value and the second calibration value, thereby achieving fast and accurate calibration of the position relationship between the zoom camera and the hook of the tower crane, realizing real-time tracking of the tower crane hook by the zoom camera, and transmitting the real-time image of the tower crane hook to the monitoring system, so as to provide technical guarantee for the safe use of the tower crane, thereby solving the technical problem that the traditional fixed-focus zoom camera for safety monitoring of the tower crane has a monitoring blind spot, resulting in safety hazards.

[0033] In the second embodiment, in order to improve the accuracy of various parameters of the tower crane and the zoom camera, multiple setting positions of the hook are set, and the hook of the tower crane is controlled to drop in the multiple setting positions in turn to obtain various parameters of the tower crane and the zoom camera when the hook is in the multiple setting positions.

[0034] As an optional example, before controlling the hook of the tower crane to drop at a plurality of set positions in sequence, the method further includes:

[0035] A plurality of setting positions of the hook are set, wherein the plurality of setting positions include the upper, middle and lower positions of the tip of the boom of the tower crane, the upper, middle and lower positions of the middle of the boom of the tower crane, and the upper, middle and lower positions of the root of the boom of the tower crane.

[0036] Optionally, in the second embodiment, if Figure 2 The structural diagram of the tower crane shown in the figure has multiple setting positions for setting the hook, including an upper position 1 of the tip of the tower crane's boom, a middle position 2 of the tip of the tower crane's boom, a lower position 3 of the tip of the tower crane's boom, an upper position 4 of the middle of the tower crane's boom, a middle position 5 of the middle of the tower crane's boom, a lower position 6 of the middle of the tower crane's boom, an upper position 7 of the tower crane's boom root, a middle position 8 of the tower crane's boom root, and a lower position 9 of the tower crane's boom root.

[0037] Optionally, in the second embodiment, by setting positions at different heights at the top, middle and bottom of the three main parts of the boom, namely the boom tip, the middle and the boom root, the entire boom can be fully covered, and the position of the hook can be more comprehensively controlled and monitored. Data collection at multiple set positions can provide richer data support for analyzing and optimizing the calibration of the zoom camera and the tower crane hook position relationship.

[0038] In the third embodiment, the calculation of the angle between the line connecting the hook to the zoom camera and the boom of the tower crane when the hook is in each set position needs to be calculated based on the lifting value of the tower crane when the hook is in each set position and the amplitude change of the tower crane when the hook is in each set position.

[0039] As an optional example, according to the amplitude data group and the lifting value data group, the hook angle data group is calculated to include:

[0040] According to the lifting value of the tower crane when the hook is at each set position and the amplitude change of the tower crane when the hook is at each set position, the angle between the line connecting the hook to the zoom camera and the boom of the tower crane when the hook is at each set position is calculated to obtain a hook angle data group.

[0041] Optionally, in the third embodiment, taking the case where the hook is at the middle position 2 of the boom tip of the tower crane as an example, at this time, the lifting value of the tower crane is H2, the amplitude variation of the tower crane is S2, and the angle θ2 between the line connecting the hook to the zoom camera and the boom of the tower crane is the inverse tangent value of the ratio of the lifting value H2 to the amplitude variation S2, thereby calculating the angle between the line connecting the hook to the zoom camera and the boom of the tower crane when the hook is at each set position, and obtaining the angle data group of the hook.

[0042] In the fourth embodiment, when calculating the first calibration value of the relationship between the up and down rotation amplitude of the zoom camera and the position of the hook, it is necessary to first calculate the first calibration value of the relationship between the up and down rotation amplitude of the zoom camera and the position of the hook when the hook is in each set position based on the amplitude data group, the lifting value data group, the up and down rotation amplitude data group, the scaling value data group and the angle data group, and then determine the final first calibration value based on the maximum error value of the up and down rotation amplitude of the hook at each set position.

[0043] As an optional example, the first calibration value includes a first sub-calibration value and a second sub-calibration value. According to the up and down rotation amplitude data group and the angle data group, the first calibration value of the relationship between the up and down rotation amplitude of the zoom camera and the position of the hook is calculated, including:

[0044] The first sub-calibration value of the hook at each set position is calculated according to the up and down rotation amplitude of the zoom camera when the hook is at each set position and the angle between the connecting line from the hook to the zoom camera and the boom of the tower crane when the hook is at each set position;

[0045] The second sub-calibration value of the hook at each set position is calculated according to the first sub-calibration value when the hook is at each set position, the up and down rotation amplitude of the zoom camera when the hook is at each set position, and the angle between the connecting line from the hook to the zoom camera and the boom of the tower crane when the hook is at each set position;

[0046] According to the first sub-calibration value when the hook is at each set position, the second sub-calibration value when the hook is at each set position, the up and down rotation amplitude data group and the angle data group, the maximum error value of the up and down rotation amplitude of the hook at each set position is calculated;

[0047] Get the target position sequence number corresponding to the minimum error value among all maximum error values;

[0048] The first sub-calibration value corresponding to the target position serial number in all the first sub-calibration values ​​is determined as the first sub-calibration value of the relationship between the up and down rotation range of the zoom camera and the position of the hook, and the second sub-calibration value corresponding to the target position serial number in all the second sub-calibration values ​​is determined as the second sub-calibration value of the relationship between the up and down rotation range of the zoom camera and the position of the hook.

[0049] Optionally, in the fourth embodiment, the first calibration value of the relationship between the up and down rotation amplitude of the zoom camera and the position of the hook at each set position is calculated based on the up and down rotation amplitude data group and the angle data group, and the first calibration value includes a first sub-calibration value and a second sub-calibration value. Then, based on the first calibration value of the relationship between the up and down rotation amplitude of the zoom camera and the position of the hook at each set position, the up and down rotation amplitude of the zoom camera, and the angle between the connecting line from the hook to the zoom camera and the boom of the tower crane, the maximum error value of the up and down rotation amplitude of the hook at each set position is calculated, and the target position number corresponding to the maximum error value with the smallest value among all the maximum error values ​​is taken, and the first calibration value corresponding to the target position number among all the first calibration values ​​is determined as the final first calibration value.

[0050] Optionally, in the fourth embodiment, when calculating the first calibration value of the relationship between the up and down rotation amplitude of the zoom camera and the position of the hook when the hook is at each set position, taking the case where the hook is at the upper position 1 of the boom tip of the tower crane as an example, the first difference between the up and down rotation amplitude T1 of the zoom camera when the hook is at position 1 and the up and down rotation amplitude T2 of the zoom camera when the hook is at position 2 is calculated, and the second difference between the angle θ1 between the line connecting the hook to the zoom camera and the boom of the tower crane when the hook is at position 1 and the angle θ2 between the line connecting the hook to the zoom camera and the boom of the tower crane when the hook is at position 2 is calculated, and finally the ratio of the first difference to the second difference is calculated to obtain the first first sub-calibration value K when the hook is at position 1. 11,12 , and so on, according to the up and down rotation amplitude T1 of the zoom camera when the hook is in position 1, the up and down rotation amplitude T3 of the zoom camera when the hook is in position 3, the angle θ1 between the line connecting the hook to the zoom camera and the boom of the tower crane when the hook is in position 1, and the angle θ3 between the line connecting the hook to the zoom camera and the boom of the tower crane when the hook is in position 3, the second first sub-calibration value K is calculated 11,13 , and obtain all the first sub-calibration values ​​K when the hook is in each set position 11,12 , K 11,13 , K 11,14 , K 11,15 , K 11,16 , K 11,17 , K 11,18 , K 11,19 , K 12,13 , K 12,14 , K 12,15 , K 12,16 , K 12,17 , K 12,18 , K 12,19 , K 13,14 , K 13,15 , K 13,16 , K 13,17, K 13,18 , K 13,19 , K 14,15 , K 14,16 , K 14,17 , K 14,18 , K 14,19 , K 15,16 , K 15,17 , K 15,18 , K 15,19 , K 16,17 , K 16,18 , K 16,19 , K 17,18 , K 17,19 , K 18,19 Calculate the first sub-calibration value K when the hook is in position 1 11,12 The first product of the angle θ1 between the line connecting the hook to the zoom camera and the boom of the tower crane when the hook is in position 1, and then the third difference between the up and down rotation amplitude T1 of the zoom camera when the hook is in position 1 and the first product is calculated to obtain the first second sub-calibration value B when the hook is in position 1 11,1w Thus, all the second sub-calibration values ​​B of the hook at each set position are obtained. 11,1w , B 11,13 , B 11,14 , B 11,15 , B 11,16 , B 11,17 , B 11,18 , B 11,19 , B 12,13 , B 12,14 , B 12,15 , B 12,16 , B 12,17 , B 12,18 , B 12,19 , B 13,14 , B 13,15 , B 13,16 , B 13,17 , B 13,18 , B 13,19 , B 14,15 , B 14,16 , B 14,17 , B 14,18 , B 14,19 , B 15,16 , B 15,17 , B 15,18 , B 15,19 , B 16,17 , B 16,18 , B 16,19 , B 17,18 , B 17,19 , B 18,19Then, according to the first sub-calibration value and the second sub-calibration value at each setting position of the hook, the up and down rotation amplitude of the zoom camera, and the angle between the line connecting the hook to the zoom camera and the boom of the tower crane, the maximum error value of the up and down rotation amplitude of the hook at each setting position is calculated. Taking the hook at the upper position 1 of the boom tip of the tower crane as an example, according to all the first sub-calibration values ​​K when the hook is at position 1 11,12 , K 11,13 , K 11,14 , K 11,15 , K 11,16 , K 11,17 , K 11,18 , K 11,19 and all the second sub-calibration values ​​B 11,12 , B 11,13 , B 11,14 , B 11,15 , B 11,16 , B 11,17 , B 11,18 , B 11,19 , the up and down rotation amplitude T1 of the zoom camera and the angle θ1 between the line connecting the hook to the zoom camera and the boom of the tower crane, and the maximum error value Err of the up and down rotation amplitude when the hook is in position 1 is calculated 1,2 , Err 1,3 , Err 1,4 , Err 1,5 , Err 1,6 , Err 1,7 , Err 1,8 , Err 1,9 Thus, the maximum error value Err of the hook's up and down rotation amplitude at each set position is obtained. 1,2 , Err 1,3 , Err 1,4 , Err 1,5 , Err 1,6 , Err 1,7 , Err 1,8 , Err 1,9 , Err 2,3 , Err 2,4 , Err 2,5 , Err 2,6 , Err 2,7 , Err 2,8 , Err 2,9 , Err 3,4 , Err 3,5 , Err 3,6 , Err 3,7 , Err 3,8 , Err 3,9 , Err 4,5 , Err4,6 , Err 4,7 , Err 4,8 , Err 4,9 , Err 5,6 , Err 5,7 , Err 5,8 , Err 5,9 , Err 6,7 , Err 6,8 , Err 6,9 , Err 7,8 , Err 7,9 , Err 8,9 , if the maximum error value of the up and down rotation amplitude is the smallest when the hook is at position (3,9), then the target position number is determined to be (3,9), then K 13,19 Determine as the final first sub-calibration value, and set B 13,19 Determined as the final second sub-calibration value.

[0051] Optionally, in the fourth embodiment, by calculating the maximum error value of the up and down rotation amplitude and selecting the minimum maximum error value, the positioning error can be effectively controlled to ensure the accuracy and reliability of the calibration value of the zoom value of the zoom camera and the position relationship of the hook. Through precise calculation and calibration, the accuracy and reliability of the hook positioning can be improved, the error can be reduced, and the automation and work efficiency of the system can be improved.

[0052] Embodiment 5, for the calculation of the maximum error value of the up and down rotation amplitude of the hook at each set position, it is necessary to calculate it based on the first sub-calibration value of the hook at each set position, the second sub-calibration value of the hook at each set position, the up and down rotation amplitude of the zoom camera when the hook is at each set position, and the angle between the line connecting the hook to the zoom camera and the boom of the tower crane when the hook is at each set position.

[0053] As an optional example, according to the first sub-calibration value of the hook at each set position, the second sub-calibration value of the hook at each set position, the up and down rotation amplitude data group and the angle data group, calculating the maximum error value of the up and down rotation amplitude of the hook at each set position includes:

[0054] The calibrated up and down rotation range of the zoom camera at each set position of the hook is calculated according to the first sub-calibration value at each set position of the hook, the angle between the line connecting the hook to the zoom camera and the boom of the tower crane at each set position of the hook, and the second sub-calibration value at each set position of the hook;

[0055] According to the up and down rotation amplitude of the zoom camera when the hook is at each set position and the calibrated up and down rotation amplitude of the zoom camera when the hook is at each set position, the maximum error value of the up and down rotation amplitude of the hook at each set position is calculated.

[0056] Optionally, in the fifth embodiment, when calculating the maximum error value of the up and down rotation amplitude of the hook at each set position, taking the case where the hook is at the upper position 1 of the boom tip of the tower crane as an example, the angle θ1 between the line connecting the hook to the zoom camera and the boom of the tower crane when the hook is at position 1 and the first sub-calibration value K when the hook is at position 1 are calculated. 11,12 Then calculate the second product and the first second sub-calibration value B when the hook is in position 1 11,12 The first sum of the values ​​of the zoom camera is obtained when the hook is in position 1, and the calibrated up and down rotation amplitude T1 is obtained. ′ ,1 . Thus, we get all the calibrated up and down rotation amplitudes T1 of the zoom camera when the hook is in position 1 ′ ,1 、T1 ′ ,2 、T1 ′ ,3 、T1 ′ ,4 、T1 ′ ,5 、T1 ′ ,6 、T1 ′ ,7 、T1 ′ ,8 、T1 ′ ,9 , and so on, to obtain all the calibrated up and down rotation amplitudes T1 of the hook at each set position ′ ,1 、T1 ′ ,2 、T1 ′ ,3 、T1 ′ ,4 、T1 ′ ,5 、T1 ′ ,6 、T1 ′ ,7 、T1 ′ ,8 、T1 ′ ,9 、T2 ′ ,3 、T2 ′ ,4 、T2 ′ ,5、T2 ′ ,6 、T2 ′ ,7 、T2 ′ ,8 、T2 ′ ,9 、T3 ′ ,4 、T3 ′ ,5 、T3 ′ ,6 、T3 ′ ,7 、T3 ′ ,8 、T3 ′ ,9 、T4 ′ ,5 、T4 ′ ,6 、T4 ′ ,7 、T4 ′ ,8 、T4 ′ ,9 、T5 ′ ,6 、T5 ′ ,7 、T5 ′ ,8 、T5 ′ ,9 、T6 ′ ,7 、T6 ′ ,8 、T6 ′ ,9 、T7 ′ ,8 、T7 ′ ,9 、T8 ′ ,9 Calculate the first calibrated up and down rotation amplitude T1 of the zoom camera when the hook is in position 1 ′ ,1 The absolute difference between the up and down rotation amplitude T1 of the zoom camera when the hook is in position 1, and the maximum error value Err of the first up and down rotation amplitude when the hook is in position 1 is obtained 1,2 , thus, the maximum error value Err of all up and down rotation amplitudes of the hook at each set position is calculated 1,2 , Err 1,3 , Err 1,4 , Err 1,5 , Err 1,6 , Err 1,7 , Err 1,8, Err 1,9 , Err 2,3 , Err 2,4 , Err 2,5 , Err 2,6 , Err 2,7 , Err 2,8 , Err 2,9 , Err 3,4 , Err 3,5 , Err 3,6 , Err 3,7 , Err 3,8 , Err 3,9 , Err 4,5 , Err 4,6 , Err 4,7 , Err 4,8 , Err 4,9 , Err 5,6 , Err 5,7 , Err 5,8 , Err 5,9 , Err 6,7 , Err 6,8 , Err 6,9 , Err 7,8 , Err 7,9 , Err 8,9 .

[0057] Optionally, in the fifth embodiment, by calculating the maximum error value of the up and down rotation amplitude and selecting the smallest maximum error value, the positioning error can be effectively controlled to ensure the accuracy and reliability of the calibration value of the relationship between the zoom value of the zoom camera and the position of the hook.

[0058] In the sixth embodiment, when calculating the second calibration value of the relationship between the up and down rotation amplitude of the zoom camera and the position of the hook, it is necessary to first calculate the length of the connection line between the hook and the zoom camera when the hook is at each set position based on the amplitude data group and the lifting value data group. Then, the second calibration value of the relationship between the zoom value of the zoom camera and the position of the hook when the hook is at each set position is calculated based on the connection length data group and the zoom value data group, and finally, the final second calibration value is determined based on the maximum error value of the up and down rotation amplitude of the hook at each set position.

[0059] As an optional example, the second calibration value includes a third sub-calibration value and a fourth sub-calibration value. According to the amplitude data group, the lifting value data group, the up and down rotation amplitude data group, the zoom value data group and the angle data group, the second calibration value of the relationship between the zoom value of the zoom camera and the position of the hook is calculated and includes:

[0060] According to the amplitude data group and the lifting value data group, the length of the connection line between the hook and the zoom camera when the hook is at each set position is calculated;

[0061] The third sub-calibration value of the hook at each set position is calculated according to the zoom value of the zoom camera when the hook is at each set position and the length of the connection line from the hook to the zoom camera when the hook is at each set position;

[0062] The fourth sub-calibration value of the hook at each set position is calculated according to the zoom value of the zoom camera when the hook is at each set position, the third sub-calibration value when the hook is at each set position, and the length of the connection line from the hook to the zoom camera when the hook is at each set position;

[0063] The third sub-calibration value corresponding to the target position serial number in all the third sub-calibration values ​​is determined as the third sub-calibration value of the relationship between the zoom value of the zoom camera and the position of the hook, and the fourth sub-calibration value corresponding to the target position serial number in all the fourth sub-calibration values ​​is determined as the fourth sub-calibration value of the relationship between the zoom value of the zoom camera and the position of the hook.

[0064] Optionally, in the sixth embodiment, the length of the line from the hook to the zoom camera is calculated at each set position according to the amplitude data group and the lifting value data group, and then the second calibration value of the relationship between the zoom value of the zoom camera and the position of the hook at each set position is calculated according to the length of the line from the hook to the zoom camera at each set position and the zoom value of the zoom camera at each set position, and the second calibration value includes a third sub-calibration value and a fourth sub-calibration value. Then, the second calibration value corresponding to the target position sequence number in all the second calibration values ​​is determined as the final second calibration value.

[0065] Optionally, in the sixth embodiment, when calculating the length of the connection line from the hook to the zoom camera when the hook is in each set position based on the amplitude variation data group and the lifting value data group, taking the case where the hook is in upper position 1 of the boom tip of the tower crane, the sum of the squares of the lifting value H1 of the tower crane when the hook is in position 1 and the amplitude variation S1 of the tower crane when the hook is in position 1 is calculated to obtain the length L1 of the connection line from the hook to the zoom camera when the hook is in position 1, thereby obtaining the lengths L1, L2, L3, L4, L5, L6, L7, L8, L9 of the connection line from the hook to the zoom camera at each set position.

[0066] Optionally, in the sixth embodiment, when calculating the second calibration value of the relationship between the zoom value of the zoom camera and the position of the hook at each set position according to the length of the connection line between the hook and the zoom camera and the zoom value of the zoom camera at each set position, taking the case where the hook is at the upper position 1 of the boom tip of the tower crane as an example, first calculate the fourth difference between the zoom value Z1 of the zoom camera when the hook is at position 1 and the zoom value Z2 of the zoom camera when the hook is at position 2, and the fifth difference between the length L1 of the connection line between the hook and the zoom camera when the hook is at position 1 and the length L2 of the connection line between the hook and the zoom camera when the hook is at position 2, and then calculate the ratio of the fourth difference to the fifth difference to obtain the first third sub-calibration value K when the hook is at position 1. 21,22 By analogy, we can get all the third sub-calibration values ​​K when the hook is in position 1. 21,22 , K 21,23 , K 21,24 , K 21,25 , K 21,26 , K 21,27 , K 21,28 , K 21,29 . Calculate the first fourth sub-calibration value K 21,22 and the second product of the length L1 of the line from the hook to the zoom camera when the hook is in position 1, and then calculate the sixth difference between the zoom value Z1 of the zoom camera when the hook is in position 1 and the second product to obtain the first fourth sub-calibration value B when the hook is in position 1 21,22 , thus, all the third sub-calibration values ​​K of the relationship between the zoom value of the zoom camera and the position of the hook when the hook is at each set position are obtained 21,22 , K 21,23 , K 21,24 , K 21,25 , K 21,26 , K 21,27 , K 21,28 , K 21,29 , K 22,23 , K 22,24 , K 22,25 , K 22,26 , K 22,27 , K 22,28 , K 22,29 , K 23,24 , K 23,25 , K 23,26 , K 23,27 , K 23,28 , K 23,29 , K 24,25 , K 24,26 , K 24,27 , K 24,28 , K 24,29 , K 25,26 , K 25,27 , K 25,28, K 25,29 , K 26,27 , K 26,28 , K 26,29 , K 27,28 , K 27,29 , K 28,29 , all the fourth sub-calibration values ​​B of the relationship between the zoom value of the zoom camera and the position of the hook at each set position 21,22 , B 21,23 , B 21,24 , B 21,25 , B 21,26 , B 21,27 , B 21,28 , B 21,29 , B 22,23 , B 22,24 , B 22,25 , B 22,26 , B 22,27 , B 22,28 , B 22,29 , B 23,24 , B 23,25 , B 23,26 , B 23,27 , B 23,28 , B 23,29 , B 24,25 , B 24,26 , B 24,27 , B 24,28 , B 24,29 , B 25,26 , B 25,27 , B 25,28 , B 25,29 , B 26,27 , B 26,28 , B 26,29 , B 27,28 , B 27,29 , B 28,29 Finally, according to the target position sequence number, the third sub-calibration value and the fourth sub-calibration value corresponding to the target position sequence number in all the third sub-calibration values ​​and the fourth sub-calibration values ​​are determined as the final second calibration value. If the target position sequence number is (3,9), then the final second calibration value is K 23,29 and B 23,29 .

[0067] Optionally, in the sixth embodiment, by selecting the smallest maximum error value among the maximum error values ​​of the up and down rotation amplitudes, the positioning error can be effectively controlled to ensure the accuracy and reliability of the calibration value of the zoom value of the zoom camera and the position relationship of the hook. Through precise calculation and calibration, the accuracy and reliability of the hook positioning can be improved, the error can be reduced, and the automation and work efficiency of the system can be improved.

[0068] Embodiment 7: The calculation of the length of the line from the hook to the zoom camera when the hook is at each set position needs to be calculated based on the lifting value of the tower crane and the amplitude change of the tower crane when the hook is at each set position.

[0069] As an optional example, according to the amplitude data set and the lifting value data set, calculating the length of the connection line from the hook to the zoom camera when the hook is at each set position includes:

[0070] According to the lifting value of the tower crane when the hook is at each set position and the amplitude change of the tower crane when the hook is at each set position, the length of the connection line from the hook to the zoom camera when the hook is at each set position is calculated.

[0071] Optionally, in the seventh embodiment, when calculating the length of the connection line from the hook to the zoom camera when the hook is in each set position, taking the case where the hook is in upper position 1 of the boom tip of the tower crane as an example, the sum of the squares of the lifting value H1 of the tower crane when the hook is in position 1 and the amplitude change S1 of the tower crane when the hook is in position 1 is calculated to obtain the length L1 of the connection line from the hook to the zoom camera when the hook is in position 1, thereby obtaining the lengths L1, L2, L3, L4, L5, L6, L7, L8, L9 of the connection line from the hook to the zoom camera when the hook is in each set position.

[0072] In conjunction with an example, the present application relates to a method for calibrating the position of a tower crane hook, such as Figure 2 The structural diagram of the tower crane shown in the figure sets 9 set positions 1, 2, 3, 4, 5, 6, 7, 8, and 9 respectively. The hook of the tower crane is controlled to drop in the 9 set positions in turn. Whenever the hook reaches a certain set position, the zoom camera starts to collect images to ensure that the hook is located at the center of the camera screen. At the same time, the amplitude change of the tower crane, the lifting value of the tower crane, the up and down rotation amplitude of the zoom camera, and the zoom value of the zoom camera are recorded when the hook is at each set position. Based on these collected data, the first calibration value of the relationship between the up and down rotation amplitude of the zoom camera and the position of the hook is calculated, and the first calibration value includes a first sub-calibration value and a second sub-calibration value. The second calibration value of the relationship between the zoom value of the zoom camera and the position of the hook, and the second calibration value includes a third sub-calibration value and a fourth sub-calibration value:

[0073] 1. Calculate the arctangent value of the ratio of the lifting value of the tower crane when the hook is at each set position to the luffing of the tower crane when the hook is at each set position, and obtain the angle between the line connecting the hook to the zoom camera and the boom of the tower crane when the hook is at each set position;

[0074] 2. Calculate the first difference between the up and down rotation amplitude of the zoom camera and the up and down rotation amplitude of the zoom camera when the hook is at each set position, the second difference between the angle between the line connecting the hook to the zoom camera and the boom of the tower crane when the hook is at each set position, and the angle between the line connecting the hook to the zoom camera and the boom of the tower crane when the hook is at each set position, and finally calculate the ratio of the first difference to the second difference to obtain the first sub-calibration value of the hook at each set position;

[0075] 3. Calculate the first product of the first sub-calibration value when the hook is at each set position and the angle between the line connecting the hook to the zoom camera and the boom of the tower crane when the hook is at each set position, and then calculate the third difference between the up and down rotation amplitude of the zoom camera when the hook is at each set position and the first product to obtain the second sub-calibration value when the hook is at each set position;

[0076] 4. Calculate the second product of the angle between the line connecting the hook to the zoom camera and the boom of the tower crane at each set position of the hook and the first sub-calibration value at each set position of the hook, and then calculate the first sum of the second product and the second sub-calibration value at each set position of the hook to obtain the calibrated up and down rotation amplitude of the zoom camera at each set position of the hook; calculate the absolute difference between the calibrated up and down rotation amplitude of the zoom camera at each set position of the hook and the up and down rotation amplitude of the zoom camera at each set position of the hook, and obtain the maximum error value of the up and down rotation amplitude of the hook at each set position;

[0077] 5. Take the target position sequence number corresponding to the maximum error value with the smallest value among all the maximum error values, and determine the first sub-calibration value corresponding to the target position sequence number among all the first sub-calibration values ​​as the final first sub-calibration value; take the target position sequence number corresponding to the maximum error value with the smallest value among all the maximum error values, and determine the second sub-calibration value corresponding to the target position sequence number among all the second sub-calibration values ​​as the final second sub-calibration value;

[0078] 6. Calculate the lifting value of the tower crane when the hook is at each set position and the sum of the squares of the luffing of the tower crane when the hook is at each set position, and obtain the length of the line from the hook to the zoom camera when the hook is at each set position;

[0079] 7. Calculate a fourth difference between the zoom value of the zoom camera when the hook is at each set position and the zoom value of the zoom camera when the hook is at each set position, a fifth difference between the length of the connection line from the hook to the zoom camera when the hook is at each set position and the length of the connection line from the hook to the zoom camera when the hook is at each set position, and then calculate the ratio of the fourth difference to the fifth difference to obtain a third sub-calibration value when the hook is at each set position;

[0080] 8. Calculate the second product of each fourth sub-calibration value and the length of the connection line from the hook to the zoom camera when the hook is at each set position, and then calculate the sixth difference between the zoom value of the zoom camera and the second product when the hook is at each set position, to obtain the fourth sub-calibration value of the hook at each set position;

[0081] 9. According to the target position serial number, the third sub-calibration value and the fourth sub-calibration value corresponding to the target position serial number among all the third sub-calibration values ​​and the fourth sub-calibration values ​​are determined as the final second calibration value.

[0082] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0083] According to another aspect of the embodiment of the present application, a device for calibrating the position of a tower crane hook is also provided. Figure 3 As shown, including:

[0084] The control module 302 is used to control the hook of the tower crane to drop at a plurality of set positions in sequence, and at the same time, when the hook is at each set position, control the zoom camera to collect a picture of the hook so that the hook is at the center of the picture of the zoom camera, wherein the zoom camera is arranged at the boom root of the tower crane;

[0085] The acquisition module 304 is used to acquire a data group of luffing, a data group of lifting value, a data group of up and down rotation amplitude, and a data group of zoom value of the hook, wherein the data group of luffing includes the luffing of the tower crane when the hook is at each set position, the data group of lifting value includes the lifting value of the tower crane when the hook is at each set position, the data group of up and down rotation amplitude includes the up and down rotation amplitude of the zoom camera when the hook is at each set position, and the data group of zoom value includes the zoom value of the zoom camera when the hook is at each set position;

[0086] A first calculation module 306 is used to calculate the hook angle data group according to the luffing data group and the lifting value data group, wherein the angle data group includes the angle between the line connecting the hook to the zoom camera and the boom of the tower crane when the hook is at each set position;

[0087] The second calculation module 308 is used to calculate the first calibration value of the relationship between the up and down rotation amplitude of the zoom camera and the position of the hook, and the second calibration value of the relationship between the zoom value of the zoom camera and the position of the hook based on the amplitude data group, the lifting value data group, the up and down rotation amplitude data group, the zoom value data group and the angle data group.

[0088] It should be noted that the control module 302 in this embodiment can be used to execute step S102 in the embodiment of the present application, the acquisition module 304 in this embodiment can be used to execute step S104 in the embodiment of the present application, the first calculation module 306 in this embodiment can be used to execute step S106 in the embodiment of the present application, and the second calculation module 308 in this embodiment can be used to execute step S108 in the embodiment of the present application.

[0089] As an optional example, the above device further includes:

[0090] A setting module is used to set multiple set positions of the hook before controlling the hook of the tower crane to drop in multiple set positions in sequence, wherein the multiple set positions include the upper, middle and lower positions of the tip of the tower crane's boom, the upper, middle and lower positions of the middle of the tower crane's boom, and the upper, middle and lower positions of the root of the tower crane's boom.

[0091] As an optional example, the first calculation module 306 includes:

[0092] The first calculation unit is used to calculate the angle between the line connecting the hook to the zoom camera and the boom of the tower crane when the hook is at each set position according to the lifting value of the tower crane when the hook is at each set position and the amplitude change of the tower crane when the hook is at each set position, so as to obtain the angle data group of the hook.

[0093] As an optional example, the first calibration value includes a first sub-calibration value and a second sub-calibration value, and the second calculation module 308 includes:

[0094] The second calculation unit is used to calculate the first sub-calibration value of the hook at each set position according to the up and down rotation amplitude of the zoom camera when the hook is at each set position and the angle between the connecting line from the hook to the zoom camera and the boom of the tower crane when the hook is at each set position;

[0095] a third calculation unit, for calculating a second sub-calibration value of the hook at each set position according to the first sub-calibration value of the hook at each set position, the up and down rotation amplitude of the zoom camera at each set position of the hook, and the angle between a line connecting the hook to the zoom camera and the boom of the tower crane at each set position of the hook;

[0096] a fourth calculation unit, for calculating a maximum error value of the up and down rotation amplitude of the hook at each set position according to the first sub-calibration value when the hook is at each set position, the second sub-calibration value when the hook is at each set position, the up and down rotation amplitude data group, and the angle data group;

[0097] An acquisition unit, used for acquiring a target position sequence number corresponding to a minimum error value among all maximum error values;

[0098] The first determination unit is used to determine the first sub-calibration value corresponding to the target position serial number in all the first sub-calibration values ​​as the first sub-calibration value of the relationship between the up and down rotation range of the zoom camera and the position of the hook, and determine the second sub-calibration value corresponding to the target position serial number in all the second sub-calibration values ​​as the second sub-calibration value of the relationship between the up and down rotation range of the zoom camera and the position of the hook.

[0099] As an optional example, the fourth computing unit includes:

[0100] A first sub-calculation unit is used to calculate the calibrated up and down rotation amplitude of the zoom camera when the hook is at each set position according to the first sub-calibration value when the hook is at each set position, the angle between the line connecting the hook to the zoom camera and the boom of the tower crane when the hook is at each set position, and the second sub-calibration value when the hook is at each set position;

[0101] The second sub-calculation unit is used to calculate the maximum error value of the up and down rotation amplitude of the hook at each set position according to the up and down rotation amplitude of the zoom camera when the hook is at each set position and the calibrated up and down rotation amplitude of the zoom camera when the hook is at each set position.

[0102] As an optional example, the second calibration value includes a third sub-calibration value and a fourth sub-calibration value, and the second calculation module 308 includes:

[0103] a fifth calculation unit, for calculating the length of a connection line from the hook to the zoom camera when the hook is at each set position according to the amplitude variation data group and the lifting value data group;

[0104] a sixth calculation unit, configured to calculate a third sub-calibration value of the hook at each set position according to a zoom value of the zoom camera when the hook is at each set position and a length of a connection line from the hook to the zoom camera when the hook is at each set position;

[0105] a seventh calculation unit, for calculating a fourth sub-calibration value of the hook at each set position according to the zoom value of the zoom camera when the hook is at each set position, the third sub-calibration value of the hook at each set position, and the length of a connection line from the hook to the zoom camera when the hook is at each set position;

[0106] The second determination unit is used to determine the third sub-calibration value corresponding to the target position serial number in all the third sub-calibration values ​​as the third sub-calibration value of the position relationship between the zoom value of the zoom camera and the hook, and determine the fourth sub-calibration value corresponding to the target position serial number in all the fourth sub-calibration values ​​as the fourth sub-calibration value of the position relationship between the zoom value of the zoom camera and the hook.

[0107] As an optional example, the sixth computing unit includes:

[0108] The third sub-calculation unit is used to calculate the length of the connection line from the hook to the zoom camera when the hook is at each set position according to the lifting value of the tower crane and the amplitude change of the tower crane when the hook is at each set position.

[0109] For other examples of this embodiment, please refer to the above examples and will not be repeated here.

[0110] Figure 4 is a schematic diagram of an optional electronic device according to an embodiment of the present application, such as Figure 4 As shown, it includes a processor 402, a communication interface 404, a memory 406 and a communication bus 408, wherein the processor 402, the communication interface 404 and the memory 406 communicate with each other through the communication bus 408, wherein,

[0111] Memory 406, used to store computer programs;

[0112] The processor 402 is used to implement the following steps when executing the computer program stored in the memory 406:

[0113] Control the hook of the tower crane to drop at a plurality of set positions in sequence, and at the same time control the zoom camera to collect a picture of the hook when the hook is at each set position, so that the hook is at the center of the picture of the zoom camera, wherein the zoom camera is arranged at the boom root of the tower crane;

[0114] Acquire a data group of amplitude variation, a data group of lifting value, a data group of up and down rotation amplitude, and a data group of zoom value of the hook, wherein the data group of amplitude variation includes the amplitude variation of the tower crane when the hook is at each set position, the data group of lifting value includes the lifting value of the tower crane when the hook is at each set position, the data group of up and down rotation amplitude includes the up and down rotation amplitude of the zoom camera when the hook is at each set position, and the data group of zoom value includes the zoom value of the zoom camera when the hook is at each set position;

[0115] Calculate the hook angle data set according to the amplitude data set and the lifting value data set, wherein the angle data set includes the angle between the line connecting the hook to the zoom camera and the boom of the tower crane when the hook is at each set position;

[0116] According to the amplitude data group, lifting value data group, up and down rotation amplitude data group, zoom value data group and angle data group, the first calibration value of the relationship between the up and down rotation amplitude of the zoom camera and the position of the hook and the second calibration value of the relationship between the zoom value of the zoom camera and the position of the hook are calculated.

[0117] Optionally, in this embodiment, the communication bus may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 The communication interface is used for communication between the above electronic device and other devices.

[0118] The memory may include RAM, or may include non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0119] As an example, the memory 406 may include, but is not limited to, the control module 302, the acquisition module 304, the first calculation module 306, and the second calculation module 308 in the position calibration device for the tower crane hook. In addition, it may also include, but is not limited to, other module units in the position calibration device for the tower crane hook, which will not be described in detail in this example.

[0120] The above-mentioned processor can be a general-purpose processor, which can include but not be limited to: CPU (Central Processing Unit), NP (Network Processor), etc.; it can also be DSP (Digital Signal Processing), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0121] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment will not be described in detail here.

[0122] It can be understood by those skilled in the art that Figure 4 The structure shown is for illustration only. The device for implementing the above-mentioned tower crane hook position calibration method may be a terminal device, which may be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a PDA, a mobile Internet device (Mobile Internet Devices, MID), a PAD, and other terminal devices. Figure 4 The structure of the electronic device is not limited. For example, the electronic device may also include Figure 4 More or fewer components (such as network interfaces, display devices, etc.) shown in, or having Figure 4 Different configurations shown.

[0123] A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the hardware related to the terminal device through a program, and the program can be stored in a computer-readable storage medium, which can include: a flash drive, ROM, RAM, a magnetic disk or an optical disk, etc.

[0124] According to another aspect of an embodiment of the present application, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program executes the steps in the above-mentioned tower crane hook position calibration method when executed by a processor.

[0125] Optionally, in this embodiment, a person of ordinary skill in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by instructing hardware related to the terminal device through a program, and the program may be stored in a computer-readable storage medium, and the storage medium may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc.

[0126] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0127] If the integrated units in the above embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in the above computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling one or more computer devices (which may be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.

[0128] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0129] In the several embodiments provided in the present application, it should be understood that the disclosed client can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0130] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0131] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0132] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for calibrating the position of a tower crane hook, characterized in that: include: Controlling the hook of the tower crane to drop at a plurality of set positions in sequence, and controlling the zoom camera to collect a picture of the hook when the hook is at each set position, so that the hook is at the center of the picture of the zoom camera, wherein the zoom camera is arranged at the boom root of the tower crane; Acquire a data group of amplitude variation, a data group of lifting value, a data group of up and down rotation amplitude, and a data group of zoom value of the hook, wherein the data group of amplitude variation includes the amplitude variation of the tower crane when the hook is at each set position, the data group of lifting value includes the lifting value of the tower crane when the hook is at each set position, the data group of up and down rotation amplitude includes the up and down rotation amplitude of the zoom camera when the hook is at each set position, and the data group of zoom value includes the zoom value of the zoom camera when the hook is at each set position; Calculating an angle data group of the hook according to the amplitude data group and the lifting value data group, wherein the angle data group includes an angle between a line connecting the hook to the zoom camera and the boom of the tower crane when the hook is at each set position; Based on the amplitude data group, the lifting value data group, the up and down rotation amplitude data group, the scaling value data group and the angle data group, a first calibration value of the relationship between the up and down rotation amplitude of the zoom camera and the position of the hook and a second calibration value of the relationship between the scaling value of the zoom camera and the position of the hook are calculated.

2. The method according to claim 1, characterized in that Before controlling the hook of the tower crane to drop at a plurality of set positions in sequence, the method further comprises: A plurality of setting positions of the hook are set, wherein the plurality of setting positions include the upper, middle and lower positions of the tip of the boom of the tower crane, the upper, middle and lower positions of the middle of the boom of the tower crane, and the upper, middle and lower positions of the root of the boom of the tower crane.

3. The method according to claim 1, characterized in that The step of calculating the hook angle data group based on the amplitude variation data group and the lifting value data group includes: According to the lifting value of the tower crane when the hook is at each set position and the amplitude change of the tower crane when the hook is at each set position, the angle between the line connecting the hook to the zoom camera and the boom of the tower crane when the hook is at each set position is calculated to obtain the angle data group of the hook.

4. The method according to claim 1, characterized in that: The first calibration value includes a first sub-calibration value and a second sub-calibration value. The first calibration value of the relationship between the up and down rotation amplitude of the zoom camera and the position of the hook is calculated based on the amplitude data group, the lifting value data group, the up and down rotation amplitude data group, the scaling value data group and the angle data group, and includes: The first sub-calibration value of the hook at each set position is calculated according to the up and down rotation amplitude of the zoom camera when the hook is at each set position and the angle between the connecting line from the hook to the zoom camera and the boom of the tower crane when the hook is at each set position; The second sub-calibration value of the hook at each set position is calculated based on the first sub-calibration value of the hook at each set position, the up and down rotation amplitude of the zoom camera at each set position, and the angle between the line connecting the hook to the zoom camera and the boom of the tower crane at each set position; According to the first sub-calibration value of the hook at each set position, the second sub-calibration value of the hook at each set position, the up and down rotation amplitude data group and the angle data group, the maximum error value of the up and down rotation amplitude of the hook at each set position is calculated; Obtain the target position sequence number corresponding to the minimum error value among all the maximum error values; The first sub-calibration value corresponding to the target position serial number in all the first sub-calibration values ​​is determined as the first sub-calibration value of the relationship between the up and down rotation range of the zoom camera and the position of the hook, and the second sub-calibration value corresponding to the target position serial number in all the second sub-calibration values ​​is determined as the second sub-calibration value of the relationship between the up and down rotation range of the zoom camera and the position of the hook.

5. The method according to claim 4, characterized in that The calculating of the maximum error value of the up and down rotation amplitude of the hook at each set position according to the first sub-calibration value of the hook at each set position, the second sub-calibration value of the hook at each set position, the up and down rotation amplitude data group and the angle data group comprises: Calculate the calibrated up and down rotation amplitude of the zoom camera at each set position of the hook according to the first sub-calibration value at each set position of the hook, the angle between the line connecting the hook to the zoom camera and the boom of the tower crane at each set position of the hook, and the second sub-calibration value at each set position of the hook; According to the up and down rotation amplitude of the zoom camera when the hook is at each set position and the calibrated up and down rotation amplitude of the zoom camera when the hook is at each set position, the maximum error value of the up and down rotation amplitude of the hook at each set position is calculated.

6. The method according to claim 1, characterized in that The second calibration value includes a third sub-calibration value and a fourth sub-calibration value, and the second calibration value of the relationship between the zoom value of the zoom camera and the position of the hook is calculated based on the amplitude data group, the lifting value data group, the up and down rotation amplitude data group, the zoom value data group and the angle data group, including: Calculating the length of the line from the hook to the zoom camera when the hook is at each set position according to the amplitude variation data group and the lifting value data group; Calculate the third sub-calibration value of the hook at each set position according to the zoom value of the zoom camera when the hook is at each set position and the length of the connection line from the hook to the zoom camera when the hook is at each set position; Calculate the fourth sub-calibration value of the hook at each set position according to the zoom value of the zoom camera when the hook is at each set position, the third sub-calibration value of the hook at each set position, and the length of the connection line from the hook to the zoom camera when the hook is at each set position; The third sub-calibration value corresponding to the target position serial number in all the third sub-calibration values ​​is determined as the third sub-calibration value of the relationship between the zoom value of the zoom camera and the position of the hook, and the fourth sub-calibration value corresponding to the target position serial number in all the fourth sub-calibration values ​​is determined as the fourth sub-calibration value of the relationship between the zoom value of the zoom camera and the position of the hook.

7. The method according to claim 6, characterized in that The step of calculating the length of the line from the hook to the zoom camera when the hook is at each set position according to the amplitude variation data group and the lifting value data group comprises: The length of the connection line from the hook to the zoom camera when the hook is at each set position is calculated according to the lifting value of the tower crane when the hook is at each set position and the amplitude change of the tower crane when the hook is at each set position.

8. A tower crane hook position calibration device, characterized in that: include: A control module, used for controlling the hook of the tower crane to drop at a plurality of set positions in sequence, and controlling the zoom camera to collect a picture of the hook when the hook is at each set position, so that the hook is at the center of the picture of the zoom camera, wherein the zoom camera is arranged at the base of the boom of the tower crane; an acquisition module, for acquiring a data group of amplitude variation, a data group of lifting value, a data group of up and down rotation amplitude, and a data group of zoom value of the hook, wherein the data group of amplitude variation includes the amplitude variation of the tower crane when the hook is at each set position, the data group of lifting value includes the lifting value of the tower crane when the hook is at each set position, the data group of up and down rotation amplitude includes the up and down rotation amplitude of the zoom camera when the hook is at each set position, and the data group of zoom value includes the zoom value of the zoom camera when the hook is at each set position; a first calculation module, configured to calculate an angle data group of the hook according to the amplitude data group and the lifting value data group, wherein the angle data group includes an angle between a line connecting the hook to the zoom camera and the boom of the tower crane when the hook is at each set position; The second calculation module is used to calculate a first calibration value of the relationship between the up and down rotation amplitude of the zoom camera and the position of the hook, and a second calibration value of the relationship between the zoom value of the zoom camera and the position of the hook based on the amplitude data group, the lifting value data group, the up and down rotation amplitude data group, the zoom value data group and the angle data group.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is executed.

10. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to execute the method according to any one of claims 1 to 7 through the computer program.

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