Detection system and detection method for swing of crane hook

Abstract

The invention provides a crane hook swing detection system and method, and the system comprises a monitoring unit which is used for shooting a detection image of a hook in real time; the angle sensor is used for detecting the lifting angle of the main arm relative to the horizontal direction; the processor is mounted in the crane and is used for calculating a first swinging distance and a second swinging distance of the lifting hook swinging relative to the first direction and the second direction according to the detection image and the lifting angle; wherein the processor is further used for judging the first swing distance and the second swing distance, and when the first swing distance and / or the second swing distance are / is larger than a preset distance, a corresponding alarm instruction is sent out. And the swing amplitude of the lifting hook can be detected.

Description

Technical Field

[0001] The invention relates to the field of image processing, and in particular to a detection system and a detection method for the swing of a crane hook. Background Art

[0002] Cranes are important equipment widely used in industries, construction, ports, etc., mainly used for moving and handling heavy objects. The outer arm is extended and retracted through a hydraulic system. A hook is set on the outer arm. The hook moves up and down to lift and lower the heavy object, and the overall slewing mechanism below is used to rotate left and right. This multi-degree-of-freedom motion design enables the crane to operate flexibly in complex working environments, greatly improving production efficiency.

[0003] However, in actual use, the safety of cranes has always been an important concern. Especially when the slewing mechanism drives the outer arm to rotate, or when encountering external environmental factors such as strong winds, the hook may swing significantly in the spatial dimension. The swing of the hook will not only affect the smooth progress of the operation, but may also bring serious safety hazards: when the swing amplitude of the hook is too large, it may cause the center of gravity of the crane to shift, thereby increasing the risk of the crane tipping over. Once tipping occurs, it will not only cause damage to the equipment, but may also pose a threat to the safety of personnel and property on site. Therefore, there is room for improvement. Summary of the invention

[0004] The object of the present invention is to provide a detection system and method for the swing of a crane hook, which can detect the swing amplitude of the hook.

[0005] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0006] The present invention provides a crane hook swing detection system, comprising:

[0007] The monitoring unit comprises at least two cameras, which are respectively installed on opposite sides of the main arm of the crane in a first direction, and are used to simultaneously capture detection images of the hook; wherein the main arm is provided with a telescopic joint, and a hook is installed at the front end of the telescopic joint; the first direction and the second direction are respectively parallel to the horizontal plane, the second direction represents the direction from the vehicle body connection toward the hook, and the first direction is perpendicular to the second direction;

[0008] an angle sensor, mounted at the rear end of the main arm, for detecting a lifting angle of the main arm relative to a horizontal direction; and

[0009] A processor, configured to calculate a first swing distance and a second swing distance of the hook relative to a first direction and a second direction according to the detection image and the lifting angle;

[0010] Wherein, the processor is also used to judge the first swing distance and the second swing distance: when the first swing distance and / or the second swing distance is greater than a preset distance, a corresponding alarm instruction is issued.

[0011] In one embodiment of the present invention, the processor is further configured to judge the detection images taken simultaneously according to the following steps:

[0012] Performing grayscale processing on the detection image to obtain a corresponding grayscale image;

[0013] Calculating the gradient value of each pixel in the grayscale image in the horizontal direction and the height direction;

[0014] Adding the gradient values ​​of all pixels in each of the grayscale images respectively to calculate the total gradient value of the grayscale image;

[0015] Determine the total gradient value of each grayscale image and the preset gradient value:

[0016] If the total gradient value of all the grayscale images is greater than a preset gradient value, retaining the captured detection image;

[0017] Otherwise, delete the captured detection image.

[0018] In one embodiment of the present invention, the processor is used to calculate the first swing distance according to the following steps:

[0019] Identify two detection images taken at the same time, and determine the pixels of the center position and the edge position of the hook in the two detection images, which are expressed as a first center pixel, a first edge pixel, a second center pixel, and a second edge pixel;

[0020] Calculate the size of each pixel in the corresponding detection image in the horizontal direction according to the first center pixel, the first edge pixel, and the distance between the center position and the edge position of the hook to generate first pixel data;

[0021] According to the second central pixel, the second edge pixel, and the distance between the center position and the edge position of the hook, the size of each pixel in the corresponding detection image in the horizontal direction is calculated to generate second pixel data;

[0022] A first swing distance is generated according to the first pixel data, the second pixel data, the first central pixel, and the second central pixel.

[0023] In one embodiment of the present invention, the processor is used to calculate the first pixel data and the second pixel data according to the following steps:

[0024] Obtaining the number of pixels between the first center pixel and the first edge pixel in the horizontal direction to generate a first pixel number; calculating the size of each pixel in the corresponding detection image in the horizontal direction according to the ratio of the distance between the center position and the edge position of the hook to the first pixel number to generate first pixel data;

[0025] Obtain the number of pixels between the second center pixel and the second edge pixel in the horizontal direction to generate a second pixel number; calculate the size of each pixel in the corresponding detection image in the horizontal direction according to the ratio of the distance between the center position and the edge position of the hook to the second pixel number to generate second pixel data.

[0026] In one embodiment of the present invention, the processor is used to calculate the first swing distance according to the following steps:

[0027] Performing weighted sum processing on the first pixel data and the second pixel data of all pixels in the two detection images, calculating the sizes of all pixels in the horizontal direction, and generating third pixel data;

[0028] Acquire the number of pixels between the first central pixel and the second central pixel in the horizontal direction to generate a third number of pixels;

[0029] Calculate the product of the third pixel quantity and the third pixel data to generate offset data;

[0030] The difference between the offset data and the distance between the two cameras is calculated to generate a first swing distance.

[0031] In one embodiment of the present invention, the processor is used to calculate the second swing distance according to the following steps:

[0032] Calculate the product of the distance between the two cameras and the focal length of the camera, and generate a first distance between the center position of the hook and the camera in the second direction according to the ratio of the product to the third number of pixels;

[0033] Calculating the sum of the distance between the camera and the vehicle body and the first distance to generate a second distance;

[0034] The second swing distance is calculated according to the second spacing, the lifting angle, and the total length of the main arm and the extended telescopic section.

[0035] In one embodiment of the present invention, the processor is used to calculate the second swing distance according to the following steps:

[0036] According to the lifting angle and the total length, in the second direction, the distance between the front end of the telescopic joint and the connection point of the vehicle body is calculated, which is expressed as a third distance;

[0037] The difference between the second spacing and the third spacing is calculated to generate a second swing distance.

[0038] In one embodiment of the present invention, a distance sensor is further included. The distance sensor is installed on the hook and is used to detect the hook distance between the center position of the hook and the front end of the telescopic joint. The ratio of the preset distance to the hook distance is between 0.05 and 0.2.

[0039] In one embodiment of the present invention, it further comprises an audible and visual alarm, wherein the audible and visual alarm is installed on the crane;

[0040] The processor issues a first alarm instruction when the first swing distance is greater than a preset distance;

[0041] The processor issues a second alarm instruction when the second swing distance is greater than a preset distance;

[0042] The sound and light alarm performs a first type of alarm according to the first alarm instruction, performs a second type of alarm according to the second alarm instruction, and performs a third type of alarm according to both the first alarm instruction and the second alarm instruction.

[0043] The present invention also discloses a method for detecting the swing of a crane hook, comprising:

[0044] Real-time capture of hook detection images;

[0045] Obtain the lifting angle of the main arm and the vehicle body in the horizontal direction;

[0046] Calculate the first swing distance and the second swing distance of the hook relative to the first direction and the second direction according to the detection image and the lifting angle; wherein the first direction and the second direction are parallel to the horizontal plane respectively, the second direction represents the direction from the vehicle body connection toward the hook, and the first direction is perpendicular to the second direction;

[0047] Determine the first swing distance and the second swing distance: when the first swing distance and / or the second swing distance is greater than a preset distance, issue a corresponding alarm instruction.

[0048] As described above, the present invention provides a detection system and method for the swing of a crane hook. By detecting the swing distance of the hook in different directions, when the swing distance exceeds a preset safety threshold, the sound and light alarm will issue different types of alarms, which can help operators to find abnormal situations at the first time and take necessary measures to avoid the occurrence of safety accidents. : By real-time monitoring of the swing of the hook, the swing situation that may cause the center of gravity of the crane to shift can be discovered in time, thereby reducing the risk of the crane tipping over. When abnormal swing is detected, the operator can adjust the operation in time according to the alarm, reduce the interruption of the operation caused by the swing of the hook, and improve the smooth progress of the operation. Through the multi-type alarm function of the sound and light alarm, not only the operator is notified, but also other staff and related personnel on site can be reminded to pay attention to safety, avoiding unnecessary casualties and property losses.

[0049] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0051] Figure 1 A schematic diagram of a crane hook swing detection system according to an embodiment of the present invention;

[0052] Figure 2 The present invention is a flowchart of a method for detecting the swing of a crane hook in one embodiment of the present invention.

[0053] In the figure: 100, monitoring unit; 200, angle sensor; 300, distance sensor; 400, sound and light alarm; 500, processor. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] See also Figure 1The present invention discloses a crane hook swing detection system, which can detect the crane hook to determine whether the swing amplitude of the hook exceeds a preset distance. The detection system may include a monitoring unit 100, an angle sensor 200, a distance sensor 300, an audible and visual alarm 400, and a processor 500.

[0056] In one embodiment, the monitoring unit 100 may include at least two cameras. The function of the cameras is to simultaneously capture detection images of the hooks so as to accurately grasp the working status and position of the hooks for subsequent processing.

[0057] In one embodiment, the main boom is the main working arm of the crane, which is used to lift heavy objects. The telescopic section is a part inside the main boom, which can be extended and retracted to adjust the length of the main boom. A hook is installed at the front end of the telescopic section. Two cameras can be installed on opposite sides of the main boom in a first direction. The first direction is a direction parallel to the horizontal plane, and the two cameras are installed on opposite sides of the main boom of the crane in this direction. The second direction is a direction parallel to the horizontal plane and perpendicular to the first direction. The second direction represents the direction from the body connection of the crane toward the hook.

[0058] In one embodiment, the camera can be fixed on the main arm through a bracket. The bracket can not only fix the camera, but also drive the camera to rotate. Through the rotation function of the bracket, the shooting angle of the camera can be flexibly adjusted, so as to better capture the hook when debugging the camera.

[0059] In one embodiment, the angle sensor 200 can be installed at the rear end of the main arm, that is, the connection between the main arm and the vehicle body. The vehicle body connection refers to the connection point between the main arm and the crane vehicle body, which is the fulcrum of the main arm movement. The angle sensor 200 can detect the lifting angle of the main arm relative to the horizontal direction. By measuring the lifting angle, the inclination degree of the main arm can be determined for subsequent processing.

[0060] In one embodiment, the distance sensor 300 can be installed at the center of the hook. The center refers to the geometric center or the lifting point of the hook. The distance sensor 300 can detect the distance between the center of the hook and the front end of the telescopic section, which can be recorded as the hook distance. The front end of the telescopic section refers to the front end of the telescopic part of the main arm, that is, the position where the hook is installed.

[0061] In one embodiment, the processor 500 may be installed in a crane. The processor 500 may be used to make a judgment based on the detection images taken at the same time to delete the detection images that do not meet the requirements.

[0062] In one embodiment, the processor 500 can perform grayscale processing on the detection images taken at the same time to obtain the corresponding grayscale image. Specifically, the purpose of grayscale processing is to convert the color image into a grayscale image, simplify the image data, reduce the computational complexity, and retain the main structural information of the image. For example, the function in the image processing library (such as OpenCV) can be used to convert the color image into a grayscale image. Grayscale processing is completed by converting the RGB value of each pixel into a grayscale value.

[0063] In one embodiment, the processor 500 can calculate the gradient value of each pixel in the grayscale image in the horizontal direction and the height direction. Specifically, the purpose of calculating the gradient value is to obtain the edges and details of the detected image, and the gradient value can reflect the clarity and structural complexity of the image. For example, gradient operators such as Sobel operator, Prewitt operator, Laplace operator, etc. can be used to calculate the gradient value, and the above gradient operator calculates the gradient value of each pixel through convolution operation. The gradient value of each pixel in each grayscale image in the horizontal direction (U direction) can be expressed as: The gradient value of each pixel in each grayscale image in the vertical direction (V direction) can be expressed as: f(u,v) refers to the gradient value of the pixel at the pixel position (u,v).

[0064] In one embodiment, the processor 500 may add up the gradient values ​​of all pixels in each grayscale image to calculate the total gradient value of the grayscale image. The purpose of calculating the total gradient value is to evaluate the overall clarity and structural complexity of the image by the sum of the gradient values. The total gradient value of the grayscale image is calculated by adding up the horizontal gradient values ​​and the vertical gradient values ​​of all pixels in each grayscale image.

[0065] In one embodiment, the processor 500 can determine the total gradient value of each grayscale image and the preset gradient value: if the total gradient value of all grayscale images is greater than the preset gradient value, the detection image taken at that moment is retained; otherwise, the detection image taken at that moment is deleted. Through the above steps, the processor 500 can effectively screen out high-quality detection images and exclude blurred or unclear images caused by factors such as lighting, angle or jitter.

[0066] In one embodiment, the purpose of the preset gradient value is to provide a reference value for judging whether the detected image meets the requirements. The preset gradient value is calculated and obtained based on a preset standard image. The standard image is an image that can clearly capture the hook, and its resolution can be 720*480, etc. The specific value can be set according to actual needs. The total gradient value of the standard image can be obtained by the same gradient calculation method as above, and the value is set as the preset gradient value.

[0067] In one embodiment, the processor 500 may also calculate a first swing distance and a second swing distance of the hook relative to a first direction and a second direction according to the detection image and the lifting angle.

[0068] In one embodiment, when calculating the first swing distance, the processor 500 can identify the two detection images taken simultaneously, determine the pixels at the center position and the edge position of the hook in the two detection images, and express them as the first center pixel (U1, V1), the first edge pixel (U1_1, V1_1), the second center pixel (U2, V2), and the second edge pixel (U2_2, V2_2). Wherein, the pixel (U, V) represents the pixel at the Uth column and the Vth row in the detection image.

[0069] In one embodiment, the processor 500 may use an image recognition algorithm (such as edge detection, template matching, deep learning, etc.) to identify the center position and edge position of the hook, and then the identified center position and edge position of the hook may be represented as pixels in the image. Among them, the first center pixel may be represented as a pixel at the center position of the hook in the first image. The first edge pixel may be represented as a pixel at the edge position of the hook in the first image. The second center pixel may be represented as a pixel at the center position of the hook in the second image. The second edge pixel may be represented as a pixel at the edge position of the hook in the second image. The edge position may be the right side position, left side position, upper side position, lower side position, etc. of the hook. The specific position of the edge position may not be limited, as long as the edge positions of the two detected images are at the same position.

[0070] In one embodiment, the processor 500 can calculate the size of each pixel in the corresponding detection image in the horizontal direction according to the first center pixel, the first edge pixel, and the spacing between the center position and the edge position of the hook, and generate the first pixel data. Specifically, the processor 500 can first calculate the number of pixels between the first center pixel and the first edge pixel in the horizontal direction, and generate the first pixel number, which is expressed as: U1_=|U1_1-U1|. Subsequently, the size of each pixel in the corresponding detection image in the horizontal direction can be calculated according to the ratio of the spacing between the center position and the edge position of the hook to the first pixel number, and generate the first pixel data, which is expressed as: U_M1=M / U1_, where M is the spacing between the center position and the edge position of the hook.

[0071] In one embodiment, the processor 500 can calculate the number of pixels between each pixel in the corresponding detection image in the horizontal direction according to the second center pixel, the second edge pixel, and the spacing between the center position and the edge position of the hook, and generate second pixel data. Specifically, the processor 500 can first calculate the difference between the second center pixel and the second edge pixel in the horizontal direction to generate the second number of pixels, expressed as: U2_=|U2_2-U2|. Subsequently, the size of each pixel in the corresponding detection image in the horizontal direction can be calculated according to the ratio of the spacing between the center position and the edge position of the hook to the second number of pixels, and the second pixel data can be generated, expressed as: U_M2=M / U2_.

[0072] In one embodiment, the processor 500 may generate a first swing distance according to the first pixel data, the second pixel data, the first central pixel, and the second central pixel.

[0073] In one embodiment, the processor 500 can perform weighted summation processing on the first pixel data and the second pixel data of all pixels in the two detection images, calculate the size of all pixels in the horizontal direction by integrating the size information of each pixel in the two detection images, and generate third pixel data, which is expressed as: Um=(U_M1+U_M2) / 2.

[0074] In one embodiment, the processor 500 may calculate the number of pixels between the first central pixel and the second central pixel in the horizontal direction to evaluate the horizontal position change of the hook in the two detection images, and generate a third number of pixels, expressed as: |U2-U1|.

[0075] In one embodiment, the processor 500 can calculate the product of the third pixel number and the third pixel data, and calculate the horizontal offset of the hook by combining the third pixel number and the third pixel data to generate offset data, which is expressed as: Vd=|U2-U1|×Um.

[0076] In one embodiment, the processor 500 can calculate the difference between the offset data and the distance between the two cameras, calculate the swing distance of the hook in the horizontal direction by comparing the offset data and the distance between the cameras, and generate a first swing distance, expressed as: Vy = |Vd-B|, where B represents the distance between the two cameras.

[0077] In one embodiment, when calculating the second swing distance, the processor 500 can calculate the product of the distance between the two cameras and the focal length of the camera, and generate the first distance between the center position of the hook and the camera in the second direction based on the ratio of the product to the third number of pixels, expressed as: Lx=fB / d, d=|U2-U1|, where f represents the focal length of the camera.

[0078] In one embodiment, the processor 500 may calculate the sum of the distance between the camera and the vehicle body and the first distance to generate a second distance, expressed as: d2=d+d1, where d1 represents the distance between the camera and the vehicle body.

[0079] In one embodiment, the processor 500 can calculate the second swing distance according to the second spacing, the lifting angle, and the total length of the main arm and the extended telescopic section. Specifically, the processor 500 can first calculate the spacing between the front end of the telescopic section and the connection with the vehicle body in the second direction according to the lifting angle and the total length, expressed as the third spacing, expressed as: d3 = x × cosα, where x represents the total length of the main arm and the extended telescopic section, and α represents the lifting angle. Subsequently, the processor 500 can calculate the difference between the second spacing and the third spacing to generate the second swing distance, expressed as: Vx = |d2-d3|.

[0080] In one embodiment, after calculating the first swing distance and the second swing distance, the processor 500 can also be used to determine the first swing distance and the second swing distance: when the first swing distance and / or the second swing distance is greater than a preset distance, a corresponding alarm instruction is issued. The size of the preset distance may not be limited. In this embodiment, the ratio of the preset distance to the hook distance is in the range of 0.05 to 0.2.

[0081] In one embodiment, the sound and light alarm 400 can be installed on a crane; when the processor 500 determines that the first swing distance is greater than a preset distance, the processor 500 issues a first alarm instruction; when the processor 500 determines that the second swing distance is greater than a preset distance, the processor 500 issues a second alarm instruction; the sound and light alarm 400 can perform a first type of alarm according to the first alarm instruction, a second type of alarm according to the second alarm instruction, and a third type of alarm according to both the first alarm instruction and the second alarm instruction.

[0082] In one embodiment, the sound and light alarm 400 can ensure that when abnormal swing of the hook is detected, the operator and surrounding personnel can be reminded in time. The sound and light alarm 400 can send out different types of alarm signals according to different alarm instructions so that the operator can quickly identify specific abnormal situations. For example, the first type of alarm refers to a specific alarm (such as a red light and an alarm sound), indicating that the swing in the left and right directions is too large. The second type of alarm refers to a specific alarm (such as a yellow light and an alarm sound), indicating that the swing in the front and back directions is too large. The third type of alarm refers to a higher level of alarm (such as red and yellow lights flashing alternately and an alarm sound), indicating that the swing in the left and right directions and the front and back directions are simultaneously too large.

[0083] It can be seen that in the above scheme, by detecting the swing distance of the hook in different directions, when the swing distance exceeds the preset safety threshold, the sound and light alarm will issue different types of alarms, which can help operators find abnormal situations at the first time and take necessary measures to avoid safety accidents. : By real-time monitoring of the swing of the hook, the swing that may cause the center of gravity of the crane to shift can be discovered in time, thereby reducing the risk of the crane tipping over. When abnormal swing is detected, the operator can adjust the operation in time according to the alarm, reduce the interruption of the operation caused by the swing of the hook, and improve the smooth progress of the operation. Through the multi-type alarm function of the sound and light alarm, not only the operator is notified, but also other staff and relevant personnel on site can be reminded to pay attention to safety, avoiding unnecessary casualties and property losses.

[0084] See also Figure 2 This embodiment also discloses a method for detecting the swing of a crane hook, which can be applied to the above detection system to detect the hook. The detection method may include the following steps:

[0085] Step S10, taking a detection image of the hook in real time;

[0086] Step S20, obtaining the lifting angle of the main arm and the vehicle body in the horizontal direction;

[0087] Step S30, calculating a first swing distance and a second swing distance of the hook relative to a first direction and a second direction according to the detection image and the lifting angle; wherein the first direction and the second direction are parallel to the horizontal plane respectively, the second direction represents a direction from the vehicle body connection toward the hook, and the first direction is perpendicular to the second direction;

[0088] Step S40, determining the first swing distance and the second swing distance: when the first swing distance and / or the second swing distance is greater than a preset distance, issuing a corresponding alarm instruction.

[0089] The embodiments of the present invention disclosed above are only used to help illustrate the present invention. The embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A crane hook swing detection system, characterized in that: include: The monitoring unit comprises at least two cameras, which are respectively installed on opposite sides of the main arm of the crane in a first direction, and are used to simultaneously capture detection images of the hook; wherein the main arm is provided with a telescopic joint, and a hook is installed at the front end of the telescopic joint; the first direction and the second direction are respectively parallel to the horizontal plane, the second direction represents the direction from the vehicle body connection toward the hook, and the first direction is perpendicular to the second direction; an angle sensor, mounted at the rear end of the main arm, for detecting a lifting angle of the main arm relative to a horizontal direction; and A processor, configured to calculate a first swing distance and a second swing distance of the hook relative to a first direction and a second direction according to the detection image and the lifting angle; Wherein, the processor is also used to judge the first swing distance and the second swing distance: when the first swing distance and / or the second swing distance is greater than a preset distance, a corresponding alarm instruction is issued.

2. The crane hook swing detection system according to claim 1, characterized in that: The processor is also used to judge the detection images taken at the same time according to the following steps: Performing grayscale processing on the detection image to obtain a corresponding grayscale image; Calculating the gradient value of each pixel in the grayscale image in the horizontal direction and the height direction; Adding the gradient values ​​of all pixels in each of the grayscale images respectively to calculate the total gradient value of the grayscale image; Determine the total gradient value of each grayscale image and the preset gradient value: If the total gradient value of all the grayscale images is greater than a preset gradient value, retaining the captured detection image; Otherwise, delete the captured detection image.

3. The crane hook swing detection system according to claim 1, characterized in that: The processor is used to calculate the first swing distance according to the following steps: Identify two detection images taken at the same time, and determine the pixels of the center position and the edge position of the hook in the two detection images, which are expressed as a first center pixel, a first edge pixel, a second center pixel, and a second edge pixel; Calculate the size of each pixel in the corresponding detection image in the horizontal direction according to the first center pixel, the first edge pixel, and the distance between the center position and the edge position of the hook to generate first pixel data; According to the second central pixel, the second edge pixel, and the distance between the center position and the edge position of the hook, the size of each pixel in the corresponding detection image in the horizontal direction is calculated to generate second pixel data; A first swing distance is generated according to the first pixel data, the second pixel data, the first central pixel, and the second central pixel.

4. The crane hook swing detection system according to claim 3, characterized in that: The processor is used to calculate the first pixel data and the second pixel data according to the following steps: Obtaining the number of pixels between the first center pixel and the first edge pixel in the horizontal direction to generate a first pixel number; calculating the size of each pixel in the corresponding detection image in the horizontal direction according to the ratio of the distance between the center position and the edge position of the hook to the first pixel number to generate first pixel data; Acquire the number of pixels between the second center pixel and the second edge pixel in the horizontal direction to generate a second number of pixels; According to the ratio of the distance between the center position and the edge position of the hook to the second number of pixels, the size of each pixel in the corresponding detection image in the horizontal direction is calculated to generate second pixel data.

5. The crane hook swing detection system according to claim 3, characterized in that: The processor is used to calculate the first swing distance according to the following steps: Performing weighted sum processing on the first pixel data and the second pixel data of all pixels in the two detection images, calculating the sizes of all pixels in the horizontal direction, and generating third pixel data; Acquire the number of pixels between the first central pixel and the second central pixel in the horizontal direction to generate a third number of pixels; Calculate the product of the third pixel quantity and the third pixel data to generate offset data; The difference between the offset data and the distance between the two cameras is calculated to generate a first swing distance.

6. The crane hook swing detection system according to claim 5, characterized in that: The processor is used to calculate the second swing distance according to the following steps: Calculate the product of the distance between the two cameras and the focal length of the camera, and generate a first distance between the center position of the hook and the camera in the second direction according to the ratio of the product to the third number of pixels; Calculating the sum of the distance between the camera and the vehicle body and the first distance to generate a second distance; The second swing distance is calculated according to the second spacing, the lifting angle, and the total length of the main arm and the extended telescopic section.

7. The crane hook swing detection system according to claim 6, characterized in that: The processor is used to calculate the second swing distance according to the following steps: According to the lifting angle and the total length, in the second direction, the distance between the front end of the telescopic joint and the connection point of the vehicle body is calculated, which is expressed as a third distance; The difference between the second spacing and the third spacing is calculated to generate a second swing distance.

8. The crane hook swing detection system according to claim 1, characterized in that: It also includes a distance sensor, which is installed on the hook and is used to detect the hook distance between the center position of the hook and the front end of the telescopic section. The ratio of the preset distance to the hook distance is between 0.05 and 0.

2.

9. The crane hook swing detection system according to claim 1, characterized in that: It also includes an audible and visual alarm, which is installed on the crane; The processor issues a first alarm instruction when the first swing distance is greater than a preset distance; The processor issues a second alarm instruction when the second swing distance is greater than a preset distance; The sound and light alarm performs a first type of alarm according to the first alarm instruction, performs a second type of alarm according to the second alarm instruction, and performs a third type of alarm according to both the first alarm instruction and the second alarm instruction.

10. A method for detecting the swing of a crane hook, characterized in that: include: Real-time capture of hook detection images; Obtain the lifting angle of the main arm and the vehicle body in the horizontal direction; Calculate the first swing distance and the second swing distance of the hook relative to the first direction and the second direction according to the detection image and the lifting angle; wherein the first direction and the second direction are parallel to the horizontal plane respectively, the second direction represents the direction from the vehicle body connection toward the hook, and the first direction is perpendicular to the second direction; Determine the first swing distance and the second swing distance: when the first swing distance and / or the second swing distance is greater than a preset distance, issue a corresponding alarm instruction.

Images