Lifting hook tracking device and operation machine

Abstract

The embodiment of the utility model provides a lifting hook tracking device and an operation machine. The lifting hook tracking device comprises a cradle head, the cradle head is connected to a second position of the boom, and the distance between the second position and the first position is larger than a preset distance threshold value; the monitoring device is installed on the holder and used for tracking the lifting hook, the needed installation cost is low, an operator can observe the environment information of the lifting hook in the vertical direction, observation of the environment information between a lifting hook object and the ground is particularly facilitated, the operation risk during lifting is reduced, and the safety of lifting work is improved.

Description

Technical Field

[0001] The present application relates to the field of mechanical technology, and in particular to a hook tracking device and an operating machine. Background Art

[0002] In order to avoid safety accidents involving operating machinery, monitoring equipment is often installed on the boom of the operating machinery so that the operator can observe the surrounding working environment centered on the hook in the cab.

[0003] In the prior art, the monitoring device is installed on the boom head so that the monitoring device lens is always facing the hook below, thereby achieving hook following. However, this method of installing the monitoring device directly above the hook makes it impossible for the driver to observe the environment between the hoisted object and the ground, which is easy to cause danger and reduce the safety of hoisting work. Utility Model Content

[0004] The purpose of the embodiments of the present application is to provide a hook tracking device and an operating machine to solve the problem of low safety of hoisting work caused by unreasonable installation position of monitoring equipment in the prior art.

[0005] In order to achieve the above-mentioned object, the first aspect of the present application provides a hook tracking device, which is applied to an operating machine, wherein the operating machine includes a boom and a hook, and the hook is connected to a first position of the boom through a connecting member, and the hook tracking device includes:

[0006] A gimbal, the gimbal connected to a second position of the arm, wherein a distance between the second position and the first position is greater than a preset distance threshold;

[0007] Monitoring device: The monitoring device is installed on the pan / tilt head and is used to track the hook.

[0008] In the embodiment of the present application, the monitoring range of the monitoring device covers the movable range of the hook.

[0009] In an embodiment of the present application, the pan head is installed toward the side where the hook is located, or the pan head is installed in a vertical direction.

[0010] In an embodiment of the present application, the gimbal is installed vertically on the arm.

[0011] In an embodiment of the present application, the pan-tilt head includes: a first rotating mechanism for driving the monitoring device to rotate around the central axis of the pan-tilt head; and a second rotating mechanism for driving the monitoring device to rotate in a plane parallel to the central axis of the pan-tilt head.

[0012] A second aspect of the present application provides a working machine, comprising:

[0013] Boom;

[0014] a hook connected to the first position of the boom via a connecting member; and

[0015] The hook tracking device mentioned above.

[0016] In the embodiment of the present application, the boom includes a main arm, and the first position is an arm tip of the main arm.

[0017] In the embodiment of the present application, the boom includes a main boom and at least one auxiliary boom, and the first position is the arm tip of the main boom, or the arm tip of the auxiliary boom farthest from the main boom.

[0018] In the embodiment of the present application, a position sensor is also included to obtain the position of the hook.

[0019] Through the above technical solution, the pan / tilt head is connected to the second position of the boom, and the distance between the second position and the first position of the boom is greater than the preset distance threshold, so that the operator can observe the environmental information in the up and down directions of the hook, which is particularly helpful for observing the environmental information between the hook object and the ground, reducing the operational risks during lifting and improving the safety of lifting work.

[0020] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0022] Figure 1 A schematic diagram of a hook tracking device according to an embodiment of the present application is schematically shown;

[0023] Figure 2 A schematic diagram of an installation of a hook tracking device according to an embodiment of the present application is shown schematically;

[0024] Figure 3 Another installation diagram of a hook tracking device according to an embodiment of the present application is schematically shown;

[0025] Figure 4a A schematic diagram schematically shows the working condition of the main arm according to an embodiment of the present application;

[0026] Figure 4b A schematic diagram schematically shows a working condition of a fixed jib according to an embodiment of the present application;

[0027] Figure 4c A schematic diagram schematically shows the working condition of the tower arm according to an embodiment of the present application;

[0028] Figure 5a A schematic diagram of a first working machine according to an embodiment of the present application is schematically shown;

[0029] Figure 5b A schematic diagram of a second working machine according to an embodiment of the present application is schematically shown;

[0030] Figure 5c A schematic diagram of a third working machine according to an embodiment of the present application is schematically shown;

[0031] Figure 6 A schematic diagram of the visual blind area of ​​the hook tracking device according to an embodiment of the present application is schematically shown.

[0032] Description of Reference Numerals

[0033] 101. PTZ 102. Monitoring device

[0034] 103. Connecting piece 104. U-shaped component. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme 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. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. 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.

[0036] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0037] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0038] like Figure 1As shown, in an embodiment of the present application, a hook tracking device 100 is provided, which is applied to an operating machine, wherein the operating machine includes a boom and a hook, and the hook is connected to a first position of the boom through a connecting member, and the hook tracking device includes:

[0039] The gimbal 101 is connected to a second position of the arm, and the distance between the second position and the first position is greater than a preset distance threshold;

[0040] The monitoring device 102 is installed on the pan-tilt head and is used to track the hook.

[0041] Working machinery refers to machinery used to perform corresponding mechanical operations according to demand. Working machinery may be lifting machinery, specifically, the working machinery may be a mobile crane, a boom-type tower crane, a port crane, emergency rescue equipment or a boom-type working robot, etc. Among them, mobile cranes may include crawler cranes, truck cranes or truck cranes, etc. Taking a mobile crane as an example, the working machinery may be a fuel vehicle, a new energy vehicle or a hybrid vehicle. For new energy vehicles, power batteries such as lithium batteries or hydrogen fuel cells may be used to drive the vehicle, or power may be supplied to devices such as the pan / tilt 101 and the monitoring device 102 after voltage transformation.

[0042] The boom can switch to different working postures so that the hook to be monitored can complete the corresponding work. The hook is a picking device, which can carry corresponding objects. The hook is connected to the first position of the boom through a connecting member. The connecting member may include a wire rope, etc. The first position may be the arm tip of the boom.

[0043] The hook tracking device 100 includes a pan-tilt head 101 and a monitoring device 102. In the embodiment of the present application, the pan-tilt head includes: a first rotating mechanism for driving the monitoring device to rotate around the central axis of the pan-tilt head; a second rotating mechanism for driving the monitoring device to rotate in a plane parallel to the central axis of the pan-tilt head. That is, the pan-tilt head 101 is a bidirectional pan-tilt head, driving the monitoring device to rotate horizontally and vertically.

[0044] The hook tracking device 100 further includes a connecting member 103. The connecting member 103 above the pan-tilt head 101 can be used to fix the hook tracking device 100 and internally control the horizontal rotation of the pan-tilt head 101. The horizontal rotation angle range of the pan-tilt head 101 can be 0° to 359°.

[0045] The hook tracking device 100 further includes a U-shaped component 104. The U-shaped component 104 beside the monitoring device 102 is respectively connected to the monitoring device 102 and the connecting member 103, and can internally control the vertical rotation of the pan-tilt head 101. The vertical rotation angle range of the pan-tilt head 101 can be 0° to 90°.

[0046] When the pan / tilt head 101 rotates horizontally, the U-shaped component 104 and the monitoring device 102 will rotate together as a whole, and the field of view can change horizontally. In conjunction with the vertical rotation of the pan / tilt head 101, the monitoring range of the monitoring device 102 can cover 360°, but the monitoring field of view at a certain moment is still determined by the field of view angle of the monitoring camera parameter.

[0047] The pan-tilt platform 101 is connected to the second position of the boom, and the distance between the second position and the first position is greater than a preset distance threshold. The preset distance threshold can be customized based on actual conditions. The monitoring device 102 is installed on the pan-tilt platform 101 and is used to track the hook. The hook can be installed on the main arm of the boom, or on the auxiliary arm farthest from the main arm.

[0048] In the embodiment of the present application, the platform is installed toward the side where the hook is located, or the platform is installed in a vertical direction. The platform can be installed at any angle to the boom of the operating machine. Figure 2 As shown, a schematic diagram of the installation of a hook tracking device is provided. Since the internal structure of the boom may vary slightly depending on the vehicle model, the hook tracking device will be at an angle t with the boom during installation. The angle t can be any angle. It indicates the range that the monitoring device 102 viewing angle should cover corresponding to the hook activity range, β indicates the angle formed by the hook tracking device 100 and the hook connection line and the main arm / tower arm / auxiliary arm. γ indicates the amplitude range of the pan / tilt head 101, and γ can be 0° to 90°.

[0049] When the lens of the monitoring device 102 is aligned with the top cover of the monitoring device 102, that is, Figure 2 The direction in which the lens of the monitoring device 102 is pointed is shown, and the amplitude angle of the pan / tilt is 0°. When the lens of the monitoring device 102 is pointed at the top cover of the monitoring device 102, the amplitude angle of the pan / tilt is 90°. At this time, the lens of the monitoring device 102 can realize monitoring within a 90° spatial range, that is, Figure 2 If the PTZ is rotated 180° horizontally, that is, the camera lens is adjusted to face the opposite direction, monitoring within a 90° space range in the opposite direction can be achieved, that is Figure 2 Monitoring of the left area shown.

[0050] In the embodiment of the present application, the pan-tilt is installed vertically to the arm. That is, the angle between the pan-tilt and the arm is 90°. Figure 3 As shown in FIG. 1 , another installation schematic diagram of the hook tracking device is provided. Figure 3 The angle t between the hook tracking device and the boom is 90°. At this time, the monitoring device has no visual blind spot, and the monitoring range of the monitoring device is parallel to the boom, which can cover the range of movement of the hook. In the embodiment of the present application, the monitoring device includes a camera.

[0051] In an embodiment of the present application, a working machine is provided, comprising:

[0052] Boom;

[0053] a hook connected to the first position of the boom via a connecting member; and

[0054] The hook tracking device mentioned above.

[0055] In the embodiment of the present application, the boom includes a main boom, and the first position is the arm tip of the main boom. That is, the hook can be connected to the arm tip of the main boom through a connecting member. The arm tip is an end away from the connection between the boom and the body of the working machine.

[0056] In the embodiment of the present application, the boom includes a main boom and at least one auxiliary boom, and the first position is the arm tip of the main boom, or the arm tip of the auxiliary boom farthest from the main boom. That is, the hook can be connected to the arm tip of the main boom through a connecting member, and can also be connected to the arm tip of the auxiliary boom farthest from the main boom through a connecting member.

[0057] The hook tracking device can be used to dynamically follow the operation of the hook to be monitored to monitor the movement of the hook, thereby ensuring the safety of the operating machine during the operation. If the first position is the tip of the main arm, the hook is installed on the main arm, and the hook tracking device can be installed on the main arm or on the tip of the auxiliary arm farthest from the main arm. If the first position is the tip of the auxiliary arm farthest from the main arm, the hook is installed on the farthest auxiliary arm, and the hook tracking device can be installed on the main arm or on the tip of the auxiliary arm farthest from the main arm.

[0058] In the embodiment of the present application, the working machine also includes a position sensor for obtaining the position of the hook.

[0059] In some examples, the position sensor may be an encoder disposed on the hoisting mechanism of the hook, and the length of the wire rope to be retracted and released is determined according to the number of rotations of the hoisting mechanism, thereby indirectly obtaining the position of the hook. In other examples, the position sensor may be an inertial unit and / or a positioning antenna disposed on the hook. In still other examples, the position sensor may be a visual sensor capable of acquiring depth information, such as a laser radar, a depth camera, or a double-sided camera, etc., which may obtain the position of the hook based on an existing target detection model.

[0060] The above scheme connects the pan / tilt head to the second position of the boom. The distance between the second position and the first position of the boom is greater than a preset distance threshold. The required installation cost is low, so that the operator can observe the environmental information in the up and down directions of the hook, which is particularly helpful for observing the environmental information between the hook object and the ground, reducing the operational risks during lifting and improving the safety of lifting work.

[0061] In some embodiments, further development can be performed on the hardware platform of the provided operating machinery to implement the following intelligent tracking method for the hook. It is worth noting that the following intelligent tracking method for the hook is an introduction to some feasible methods that can be applied to operating machinery. In actual applications, the hook can also be tracked by other existing tracking methods, such as tracking based on hook image recognition, etc.

[0062] The intelligent tracking method for the hook may include the following steps:

[0063] Step S1: Acquire the structural parameters of the operating machine and the working parameters at the current moment, wherein the structural parameters include a preset distance, and the working parameters include the distance from the hook to the end of the winch and the boom angle.

[0064] The operating machinery refers to machinery used to perform corresponding mechanical operations according to demand. The operating machinery may be a lifting machinery, specifically, the operating machinery may be a mobile crane, a boom-type tower crane, a port crane, an emergency rescue equipment or an arm-type operating robot, etc. Among them, the mobile crane may include a crawler crane, a truck crane or a truck crane, etc. Taking a mobile crane as an example, the operating machinery may be a fuel vehicle, a new energy vehicle or a hybrid vehicle. For new energy vehicles, a power battery such as a lithium battery or a hydrogen fuel cell may be used to drive the vehicle, or power may be supplied to equipment such as the pan / tilt 101 and the monitoring device 102 after voltage conversion. The operating machinery includes a boom, a hook to be monitored and a hook tracking device. The boom can switch different operating postures so that the hook to be monitored completes the corresponding operation. The hook to be monitored is a picking device, which can carry corresponding items.

[0065] The hook tracking device is spaced a preset distance from the target position of the boom. The target position is the tip of the boom on which the hook tracking device is located. The boom may include a main boom, and if the hook tracking device is mounted on the main boom, the target position may be the tip of the main boom. The tip of the boom is the end away from the connection between the boom and the body of the work machine. The boom may include a main boom and at least one auxiliary boom, and in this case, if the hook tracking device is mounted on the main boom, the target position is the tip of the main boom. If the hook tracking device is mounted on the auxiliary boom that is farthest from the main boom, the target position is the tip of the auxiliary boom that is farthest from the main boom.

[0066] When the hook tracking device is installed on the main arm, the preset distance is the first distance between the hook tracking device and the arm tip of the main arm. When the hook tracking device is installed on the auxiliary arm farthest from the main arm, the preset distance is the second distance between the hook tracking device and the arm tip of the farthest auxiliary arm.

[0067] The processor can obtain the structural parameters of the operating machine and the working condition parameters at the current moment. Specifically, after the operating machine is turned on, the on-board controller can collect the structural parameters of the operating machine at this time, wherein the structural parameters may include the distance between the installation position of the hook tracking device and the target position of the boom, that is, the preset distance. The processor can obtain the structural parameters of the operating machine through the on-board controller. The working condition parameters refer to the real-time operating parameters of the operating machine. The torque limiter can collect the working condition parameters of the operating machine, and the processor can obtain the working condition parameters of the operating machine through the torque limiter.

[0068] The processor can obtain the working mode of the working machine at the current moment, and can obtain the structural parameters and working parameters of the working machine based on the working mode. The working mode of the working machine includes the main arm working mode and the tower arm working mode.

[0069] According to different working conditions, operators will install and adjust different boom structures. Based on different boom structures, the working conditions of the operating machinery can be subdivided into main boom working conditions, fixed auxiliary boom working conditions and tower boom working conditions. For example, Figure 4a As shown in the figure, taking the operating machine as a crane as an example, a schematic diagram of the main boom working condition is provided. In the main boom working condition, the boom includes the main boom, and the length of the main boom is determined during installation and cannot be changed during the operation. During the operation, the operator can operate the main boom luffing angle and the main hook winch on the main boom to meet the operation requirements.

[0070] For example, Figure 4b As shown, taking the operating machine as a crane as an example, a schematic diagram of a fixed jib working condition is provided. In the fixed jib working condition, the boom includes a main boom and a fixed jib. The lengths of the main boom and the fixed jib are determined during installation and cannot be changed during the operation. At the same time, the installation angle of the fixed jib is determined during installation and does not change during the operation. During the operation, the operator can operate the amplitude change angle of the main boom, the main hook winch on the main boom, and the auxiliary hook winch on the fixed jib to meet the operation requirements.

[0071] For example, Figure 4c As shown in the figure, taking the operating machine as a crane as an example, a schematic diagram of the tower arm working condition is provided. In the tower arm working condition, the boom includes a main boom and a tower arm. The lengths of the main boom and the tower arm are determined during installation and cannot be changed during the operation. During the operation, the operator can operate the main boom luffing angle, tower boom luffing angle, main hook winch, and auxiliary hook winch to meet the operation requirements.

[0072] From the above, it can be seen that the fixed jib working condition is similar to the tower arm working condition and has the same geometric structure, so they are classified into the same category and are collectively referred to as “tower arm working condition” in the following text.

[0073] The working parameters include the distance from the hook to the end of the hoist and the boom angle. The distance from the hook to the end of the hoist can be obtained by taking the difference between the vertical distances from the end of the main boom and the hook to the ground, or by detecting the number of rotations of the hoist by an encoder. Generally speaking, the end of the hoist can be located at the tip of the crane's arm. In this case, the distance from the hook to the end of the hoist can be considered to be the distance from the hook to the tip of the arm to a certain extent. In cranes such as crawler cranes, there may be multiple hooks. The hooks are not necessarily set at the arm head or arm tip, but are generally drawn out from the end of the hoist. In this case, the distance from the hook to the end of the hoist refers to the distance from the hook to the end of the hoist that draws out the hook.

[0074] If the working mode of the operating machine at the current moment is the main boom working mode or the tower boom working mode, and the hook is installed on the tip of the main boom, the structural parameters include the preset distance and the first length of the main boom, and the working parameters include the first vertical distance and the second vertical distance from the tail of the main boom and the hook to the ground respectively at the current moment, and the first amplitude angle of the main boom at the current moment.

[0075] If the working mode of the operating machinery at the current moment is the tower arm working mode, and the hook is installed on the arm tip of the auxiliary arm farthest from the main arm, the structural parameters include a preset distance, a first length of the main arm, and a second length of the auxiliary arm farthest from the main arm, and the working parameters include a first vertical distance and a third vertical distance from the hook to the ground at the current moment, a first luffing angle of the main arm, and a second luffing angle of the auxiliary arm farthest from the main arm at the current moment.

[0076] Step S2: Establishing a geometric model among the hook, the boom and the hook tracking device according to the structural parameters and the working condition parameters.

[0077] Step S3: Solve the geometric model to determine the relative position relationship between the hook and the hook tracking device.

[0078] Step S4: Control the hook tracking device to operate according to the relative position relationship so that the hook tracking device tracks the hook.

[0079] Since the operating machinery includes multiple working modes, the installation position of the hook tracking device is different, and the hook to be monitored can be selected based on demand, thus, the structural parameters and working condition parameters required to be obtained in different situations are different. The processor can determine the position of the hook according to the obtained structural parameters and working condition parameters.

[0080] The hook tracking device includes a pan-tilt head and a monitoring device, and the intelligent tracking method also includes: after solving the geometric model to determine the relative position relationship between the hook and the hook tracking device, determining the current amplitude variation angle of the pan-tilt head at the current moment based on the relative position relationship, and obtaining the historical amplitude variation angle at each historical moment in a preset time period before the current moment; determining the predicted amplitude variation angle of the pan-tilt head for the hook at the next moment based on the current amplitude variation angle and multiple historical amplitude variation angles; determining the predicted position based on the predicted amplitude variation angle, and controlling the operation of the hook tracking device according to the relative position relationship includes: controlling the operation of the hook tracking device based on the predicted position.

[0081] The movement of the hook is a process with a continuous movement trend, and theoretically it should be in a state of uniform acceleration, uniform deceleration or uniform speed. In order to better track the movement of the hook, after solving the geometric model to determine the relative position relationship between the hook and the hook tracking device, the processor can determine the current amplitude variation angle of the pan-tilt at the current moment based on the relative position relationship, and can obtain the historical amplitude variation angle at each historical moment in a preset time period before the current moment. The processor can determine the predicted amplitude variation angle of the pan-tilt for the hook at the next moment based on the current amplitude variation angle and multiple historical amplitude variation angles. The processor can determine the predicted position of the hook at the next moment based on the predicted amplitude variation angle, and then control the operation of the hook tracking device based on the predicted position to achieve smooth control of the hook tracking device.

[0082] Determining the predicted amplitude variation angle of the gimbal for the hook at the next moment based on the current amplitude variation angle and multiple historical amplitude variation angles includes: determining the angle difference between the current amplitude variation angle and the amplitude variation angles at each two adjacent moments in the multiple historical amplitude variation angles; weighting each angle difference according to the distance from any moment corresponding to each angle difference to the current moment, wherein the closer the distance to the current moment, the higher the weight of the corresponding angle difference; determining the predicted amplitude variation angle of the gimbal for the hook at the next moment based on each weighted angle difference and the current amplitude variation angle.

[0083] During the operation of the operating machinery, since the actual environment is difficult to achieve the theoretical ideal environment, factors such as air resistance, power transmission loss, and hook motion error must also be considered. Therefore, a weighted difference prediction method can be used to determine the predicted amplitude change angle of the hook. Specifically, the processor can determine the angle difference between the current amplitude change angle and the amplitude change angle of each two adjacent moments in multiple historical amplitude change angles, and can weight each angle difference according to the distance from any moment corresponding to each angle difference to the current moment, where the closer to the current moment, the higher the weight of the corresponding angle difference. The processor can determine the predicted amplitude change angle of the gimbal for the hook at the next moment based on each weighted angle difference and the current amplitude change angle.

[0084] Determining the predicted luffing angle of the pan-tilt unit for the hook at the next moment based on each weighted angle difference and the current luffing angle includes: obtaining the historical vertical height between the hook and the ground where the operating machinery is located at each historical moment; determining the winch direction change value of the operating machinery at the current moment based on multiple historical vertical heights and the current vertical heights; determining the predicted luffing angle of the pan-tilt unit for the hook at the next moment based on each weighted angle difference, the current luffing angle and the winch direction change value.

[0085] When the operating machine is in operation, considering that the direction of its hoisting operation may change, the height change of the hook can be used to indirectly indicate the hoisting operation direction. The processor can obtain the historical vertical height between the hook and the ground where the operating machine is located at each historical moment, and can determine the change value of the hoisting direction of the operating machine at the current moment based on multiple historical vertical heights and the current vertical height. When the hoisting direction at the current moment is consistent with that at any historical moment, the change value of the hoisting direction is greater than zero. If the hoisting direction at the current moment is inconsistent with that at any historical moment, the change value of the hoisting direction is less than zero.

[0086] Specifically, the change value of the hoisting direction of the operating machine at the current moment can be determined by the following formula (1):

[0087]

[0088] Among them, τ refers to the change in the hoisting direction, h i It refers to the current vertical height between the hook and the ground where the construction machinery is located at the i-th moment, h i-1 It refers to the historical vertical height between the hook and the ground where the construction machinery is located at the i-1th moment, h i-k It refers to the historical vertical height between the hook and the ground where the construction machinery is located at the ikth moment, h i-k-1 It refers to the historical vertical height between the hook and the ground where the construction machinery is located at the ik-1th moment, k∈(0,K], K refers to the total number of historical moments, and k is the number of moments not greater than K after the winch operation direction changes.

[0089] The processor can determine the predicted luffing angle of the gimbal for the hook at the next moment according to each weighted angle difference, the current luffing angle, and the winch direction change value. Specifically, the predicted luffing angle of the gimbal for the hook at the next moment can be determined by the following formula (2):

[0090]

[0091] Among them, β i+1 It refers to the predicted luffing angle of the gimbal for the hook at the i+1th moment, β i It refers to the current luffing angle of the PTZ for the hook at the i-th moment, βi-1 …β i-k They refer to the historical luffing angles of the PTZ for the hook at the corresponding historical moments, k∈(0,K], K refers to the total number of historical moments, k is the number of moments not greater than K after the winch operation direction changes, and τ refers to the change value of the winch direction of the construction machinery at the current moment.

[0092] From the above β i+1 As can be seen from the calculation formula, this scheme takes into account the k-period β t , and the closer to the i+1 moment, the higher its difference contribution is, and the β at the i+1 moment i+1 When the direction of the winch operation changes, β t The direction of change will also change.

[0093] The above-mentioned scheme for determining the predicted amplitude variation angle of the gimbal for the hook at the next moment uses a time series to predict the movement trend of the hook, and performs a time series analysis on the continuous amplitude variation angles at the current moment and multiple previous historical moments to obtain the predicted amplitude variation angle of the gimbal for the hook at the next moment, so that the predicted amplitude variation angle can be subsequently converted into a gimbal instruction, thereby achieving smooth control of the hook tracking device and dynamically tracking the hook.

[0094] Of course, as some alternative feasible implementations, the position of the hook can also be the detected real-time position, and the operation of the hook tracking device is controlled according to the real-time position.

[0095] The hook tracking device includes a pan-tilt head and a monitoring device, and the operation of the hook tracking device is controlled according to the relative position relationship: based on the geometric model, the first angle formed by two straight lines when the hook tracking device is facing the hook and the tail of the boom respectively is determined, and the relative position relationship includes the first angle; according to the first angle and the second angle between the hook tracking device and the boom, the current amplitude variation angle of the pan-tilt head at the current moment is determined, and the current amplitude variation angle is used to determine the position of the hook to control the operation of the hook tracking device.

[0096] The hook tracking device includes a pan / tilt head and a monitoring device. After obtaining the structural parameters and operating condition parameters of the operating machinery, the processor can establish a geometric model between the hook, the boom and the hook tracking device according to the structural parameters and the operating condition parameters. Since the operating machinery includes a variety of operating conditions, the hook tracking device and the hook to be monitored are installed at different positions, and the processor can solve the geometric model to determine the relative position relationship between the hook and the hook tracking device. Among them, the relative position relationship includes the first angle formed by two straight lines when the hook tracking device is facing the hook and the end of the boom, respectively. Specifically, the processor can determine the first angle formed by two straight lines when the hook tracking device is facing the hook and the end of the boom, respectively, based on the geometric model.

[0097] like Figure 5a As shown, a schematic diagram of the first type of operating machine is provided. At this time, the operating mode of the operating machine is the main arm operating mode, the hook tracking device is installed on the main arm, and the hook is installed on the arm tip of the main arm. Figure 5a In the case shown, a triangular geometric model is formed between the hook, the boom and the hook tracking device. At this time, the first angle can be determined by the following formula (3):

[0098]

[0099] Among them, δ refers to the first angle, L refers to the first length of the main arm, α refers to the first amplitude change angle of the main arm at the current moment, g refers to the first vertical distance, and h1 refers to the second vertical distance, that is, Figure 5a The h and α shown in the figure refer to the first amplitude variation angle, and c refers to the preset distance.

[0100] When the working mode of the operating machine is the tower arm working mode, the hook tracking device is installed on the auxiliary arm farthest from the main arm, and the hook is installed on the arm tip of the main arm, the first angle can also be determined based on the above formula (3).

[0101] like Figure 5b As shown, a schematic diagram of the second type of operating machine is provided. At this time, the operating mode of the operating machine is the tower arm operating mode, the hook tracking device is installed on the main arm and the hook is installed on the arm tip of the auxiliary arm farthest from the main arm. Figure 5b In the case shown in the figure, a geometric model with a quadrilateral shape is formed between the hook, the boom and the hook tracking device. At this time, the first angle can be determined by the following formula (4):

[0102]

[0103] Among them, δ refers to the first angle, L refers to the first length of the main arm, S refers to the second length of the auxiliary arm farthest from the main arm, α refers to the first luffing angle of the main arm at the current moment, θ refers to the second luffing angle of the auxiliary arm farthest from the main arm at the current moment, g refers to the first vertical distance, and h3 refers to the third vertical distance, that is, Figure 5b The h, c shown refer to the preset distances.

[0104] like Figure 5c As shown, a schematic diagram of the third type of operating machine is provided. At this time, the operating mode of the operating machine is the tower arm operating mode, the hook tracking device is installed on the auxiliary arm farthest from the main arm, and the hook is installed on the arm tip of the auxiliary arm farthest from the main arm. Figure 5c In the case shown, a quadrilateral geometric model is formed between the hook, the boom and the hook tracking device. At this time, the first angle is determined by the following formula (5):

[0105]

[0106] Among them, δ refers to the first angle, L refers to the first length of the main arm, S refers to the second length of the auxiliary arm farthest from the main arm, α refers to the first luffing angle of the main arm at the current moment, θ refers to the second luffing angle of the auxiliary arm farthest from the main arm at the current moment, g refers to the first vertical distance, and h3 refers to the third vertical distance, that is, Figure 5c The h, c shown refer to the preset distances.

[0107] In the above scheme, if the hook tracking device is installed on the main arm when following the hook installed on the main arm in the main arm working mode, the first angle can be determined based on the above formula (3). If the hook tracking device is installed on the main arm when following the hook installed on the farthest jib in the tower arm working mode, the first angle can be determined based on the above formula (4). If the hook tracking device is installed on the farthest jib in the tower arm working mode, the first angle can be determined based on the above formula (5). If the hook tracking device is installed on the farthest jib when following the hook installed on the main arm in the tower arm working mode, the first angle can be determined based on the above formula (3) regardless of whether the hook tracking device is installed on the main arm or the farthest jib. Mathematical modeling is performed through the geometric structure of the operating machine to improve the tracking effect of the subsequent hook tracking device. Compared with the visual recognition method, the tracking target is not easily lost, and the visual scanning link is omitted.

[0108] The processor can determine the current luffing angle of the gimbal at the current moment according to the first angle and the second angle between the hook tracking device and the boom. The current luffing angle can be used to control the operation of the hook tracking device so that the hook tracking device tracks the hook. At this time, the orientation of the hook tracking device matches the position of the hook, and the hook tracking device intelligently tracks the hook. Among them, the second angle refers to the installation angle of the hook tracking device. Among them, the second angle refers to the installation angle of the hook tracking device.

[0109] The intelligent tracking method may also include: determining whether the hook is in the preset amplitude range of the pan-tilt head; when the hook is in the preset amplitude range, determining the current amplitude angle of the pan-tilt head at the current moment based on the first angle and the second angle between the hook tracking device and the boom.

[0110] The different second angles between the hook tracking device and the boom will cause the rotation coordinates of the monitoring camera pan / tilt to be inconsistent. The processor can determine whether the hook is in a preset amplitude range. The preset amplitude range of the pan / tilt is determined based on the minimum amplitude angle and the maximum amplitude angle. When the monitoring angle of the monitoring device is parallel to the ground where the engineering machinery is located, the pan / tilt is at the minimum amplitude angle, and when the monitoring angle of the monitoring device is facing the ground where the engineering machinery is located and perpendicular to the ground, the pan / tilt is at the maximum amplitude angle. The minimum amplitude angle can be set to 0°, and the maximum amplitude angle can be set to 90°.

[0111] If the following conditions are met, it can be determined that the hook is in the preset amplitude range: the first angle and the second angle are both greater than the first preset value and less than or equal to the second preset value, and the first angle is greater than or equal to the second angle, and the first difference between the first angle and the second angle is greater than or equal to the first preset value and less than or equal to the third preset value, or the first angle and the second angle are both greater than the first preset value and less than the sum of the first angle and the third preset value, and the first angle is less than the second angle, and the sum of the first difference and the third preset value is greater than or equal to the first preset value and less than or equal to the second preset value. Among them, the first preset value is 0, the second preset value is 180, and the third preset value is 90.

[0112] In particular, if the hook tracking device faces the hook and is installed vertically to the boom, that is, the second angle between the hook tracking device and the boom is 90°, when the difference between the first angle and the second angle is greater than or equal to the first preset value and less than or equal to the third preset value, it can be determined that the hook is in the preset amplitude range. Moreover, when the second angle is 90°, the first angle is greater than the first preset value and less than or equal to the second preset value, at this time, the monitoring device included in the hook tracking device can just cover the range of movement of the hook, without visual blind spots.

[0113] When the hook is in the preset amplitude range, the processor can determine the current amplitude angle of the gimbal at the current moment according to the first angle and the second angle. Determining the current amplitude angle of the gimbal at the current moment according to the first angle and the second angle includes: determining the first difference between the first angle and the second angle, and determining the second difference between the second angle and the first angle; when the first angle is greater than or equal to the second angle, determining the current amplitude angle as the sum of the third preset value and the second difference; when the first angle is less than the second angle, determining the current amplitude angle as the sum of the third preset value and the first difference.

[0114] The processor may determine a first difference between the first angle and the second angle, and may determine a second difference between the second angle and the first angle. When the first angle is greater than or equal to the second angle, the processor may determine that the current amplitude variation angle is the sum of the first preset value and the second difference. When the first angle is less than the second angle, the processor may determine that the current amplitude variation angle is the sum of the first preset value and the first difference.

[0115] In one example, when any of the following conditions is met, it can be determined that the hook is in the preset amplitude range:

[0116]

[0117] Wherein, δ refers to the first angle, and t refers to the second angle.

[0118] In particular, if the hook tracking device faces the hook and is installed vertically to the boom, that is, the second angle between the hook tracking device and the boom is 90°, when 0≤β-90≤90 is satisfied, it can be determined that the hook is in the preset amplitude range.

[0119] In one example, when the hook is in a preset luffing range, the current luffing angle can be determined by the following formula (6):

[0120]

[0121] Wherein, δ refers to the first angle, and t refers to the second angle.

[0122] In particular, if the hook tracking device faces the hook and is installed vertically to the boom, that is, the second angle between the hook tracking device and the boom is 90°, and the hook is in a preset amplitude variation range, it can be determined that the current amplitude variation angle is 180°-δ.

[0123] The intelligent tracking method may also include: determining whether the hook is in the preset amplitude range of the pan-tilt head; when the hook is not in the preset amplitude range, and the installation direction of the pan-tilt head is perpendicular to the boom and facing the hook, and the hook is in the monitoring coverage of the monitoring device, rotating the pan-tilt head by a preset angle, and determining the current amplitude angle as the first angle.

[0124] The processor can determine whether the hook is within the preset amplitude range of the pan / tilt head. When the hook is not within the preset amplitude range, and the pan / tilt head is installed in a direction perpendicular to the boom and facing the hook, and the hook is within the monitoring coverage of the monitoring device, the processor can determine that the current amplitude angle is the first angle.

[0125] Specifically, under the main arm working condition, if the difference between the third preset value and the amplitude change angle of the main arm and the first angle are both greater than or equal to the first preset value and less than the third preset value, and the difference between the third preset value and the amplitude change angle of the main arm is less than or equal to the first angle; or, under the tower arm working condition, if the difference between the third preset value and the amplitude change angle of the tower arm or the fixed jib and the first angle are both greater than or equal to the first preset value and less than the third preset value, and the difference between the third preset value and the amplitude change angle of the tower arm or the fixed jib is less than or equal to the first angle, it can be determined that the hook is not in the preset amplitude change range, and the installation direction of the pan-tilt head is perpendicular to the boom and faces the hook, and the hook is in the monitoring coverage of the monitoring device. At this time, the processor can rotate the pan-tilt head by a preset angle and determine that the current amplitude change angle is the first angle. Among them, the preset angle is 180°.

[0126] The intelligent tracking method may further include: when the hook is not within a preset amplitude variation range and the installation direction of the pan / tilt head is facing the hook but not perpendicular to the boom, determining that the hook tracking device cannot track the hook.

[0127] If the first difference between the first angle and the second angle is greater than the third preset value, it can be determined that the hook is not in the preset amplitude range, the installation direction of the pan / tilt head is facing the hook but not perpendicular to the boom, and the processor can determine that the hook tracking device cannot track the hook. That is, at this time, the pan / tilt head is unreachable and a visual blind spot occurs. For example, Figure 6 As shown, the monitoring device takes a monitoring camera as an example, and a schematic diagram of the visual blind spot of a hook tracking device is provided.

[0128] like Figure 6 As shown in the figure, the monitoring coverage of the surveillance camera is within the range of 180° perpendicular to the installation angle of the ball camera. If the installation angle t is 0° (that is, the ball camera is installed parallel to the arm, and the top of the ball camera is facing the arm tip), Figure 6 The monitoring coverage is shown. The hook activity range is Figure 6 shown At this time, the monitoring coverage does not include all The area within the angle range, that is, the angle range shown by the purple curve, cannot be covered by the surveillance camera, which is the surveillance blind area. To avoid the surveillance blind area, a suitable installation angle t of the ball camera should be selected, that is, t should meet the conditions: β-90≤t, t≤β+90, 0<β≤180, so the value of t can be 90, that is, it is installed at 90° with the arm.

[0129] The processor can control the hook tracking device to run according to the relative position relationship so that the hook tracking device tracks the hook. Specifically, a corresponding motion instruction can be sent to the hook tracking device so that the hook tracking device tracks the hook, and the hook is within the monitoring range of the hook tracking device.

[0130] In one example, another intelligent tracking method for a hook applicable to a work machine is provided.

[0131] When intelligently tracking the hook, CAN bus data can be obtained. The CAN bus data includes the working condition, the length of the main boom L, the height of the hook from the ground, the main boom amplitude angle, the length of the tower boom or jib, and the amplitude angle of the tower boom or jib. Afterwards, the δ angle, that is, the first angle formed by the two straight lines when the hook tracking device is facing the hook and the arm tail of the boom respectively, can be determined based on the CAN bus data. Then, the pan-tilt amplitude angle β can be further calculated, and the movement trend of the hook can be predicted based on the pan-tilt amplitude angle β to obtain the amplitude angle of the pan-tilt at the next moment. Finally, the pan-tilt movement instruction can be sent based on the amplitude angle of the pan-tilt at the next moment to control the pan-tilt operation to monitor the hook, and after receiving the pan-tilt in place signal, return to the step of obtaining the CAN bus data to achieve real-time tracking or following of the hook.

[0132] Through the above technical scheme, the hook tracking device is separated from the target position of the boom by a preset distance, and the required installation cost is low, so that the operator can observe the environmental information in the upper and lower directions of the hook, which is particularly helpful for observing the environmental information between the hook object and the ground, reducing the operating risks during lifting, and improving the safety of lifting work. A geometric model between the hook, boom and hook tracking device is established according to the structural parameters of the operating machinery and the operating parameters at the current moment; the geometric model is solved to determine the relative position relationship between the hook and the hook tracking device; the operation of the hook tracking device is controlled according to the relative position relationship, so that the hook tracking device can track the hook more stably, and the hook as a tracking target is not easily lost, thereby greatly improving the safety of lifting work.

[0133] The above-mentioned intelligent tracking method for hooks applicable to working machinery can be executed in sequence according to its various steps, but these steps are not necessarily executed in sequence in the above-mentioned order. Unless otherwise clearly stated in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, at least part of the steps in the above-mentioned intelligent tracking method for hooks applicable to working machinery can include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternating with other steps or at least part of the sub-steps or stages of other steps.

[0134] In some specific application examples, an intelligent tracking system for a hook on a working machine is provided.

[0135] The intelligent tracking system for hooks includes a device, an input layer, a calculation layer and an output layer. Among them, the device includes a vehicle-mounted controller, a torque controller and a camera. The vehicle-mounted controller is used to obtain the structural parameters of the operating machinery. The torque controller is used to obtain the working parameters of the operating machinery. The camera can be used to track the hook of the operating machinery. The input layer includes real-time parameters, pre-stored parameters and historical parameters of the operating machinery. The real-time parameters include the boom posture of the operating machinery at time Ti, the hook height at time Ti and the motion inertia vector at time Ti. The pre-stored parameters include the camera installation mode, the camera installation parameters and the boom structure parameters. The historical parameters include the hook positioning at consecutive k moments Ti-k-1…Ti-1, and the winch operation at consecutive k moments Ti-k-1…Ti-1. The calculation layer includes a mathematical model for hook positioning at time Ti and a hook motion prediction model at time Ti+1. The mathematical model for hook positioning at time Ti can determine the pan-tilt amplitude angle at the current moment based on real-time parameters and pre-stored parameters. The hook motion prediction model at time Ti+1 can predict the hook motion at time Ti+1 based on the pan-tilt amplitude angle at the current moment and historical parameters, thereby smoothly controlling the camera pan-tilt and realizing dynamic following of the hook by the surveillance camera.

[0136] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0137] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A hook tracking device, applied to an operating machine, characterized in that: The working machine comprises a boom and a hook, wherein the hook is connected to a first position of the boom through a connecting member, and the hook tracking device comprises: A gimbal, the gimbal connected to a second position of the arm, wherein a distance between the second position and the first position is greater than a preset distance threshold; A monitoring device is installed on the pan / tilt head and is used for tracking the hook.

2. The hook tracking device according to claim 1, characterized in that: The monitoring range of the monitoring device covers the activity range of the hook.

3. The hook tracking device according to claim 1, characterized in that: The pan head is installed toward the side where the hook is located, or the pan head is installed along a vertical direction.

4. The hook tracking device according to claim 3, characterized in that: The pan / tilt head is installed vertically on the arm.

5. The hook tracking device according to claim 1, characterized in that: The monitoring device includes a camera.

6. The hook tracking device according to claim 1, characterized in that: The pan / tilt platform comprises: A first rotating mechanism, used for driving the monitoring device to rotate around the central axis of the pan / tilt head; The second rotating mechanism is used to drive the monitoring device to rotate in a plane parallel to the central axis of the pan / tilt head.

7. A working machine, characterized in that: include: Boom; A hook connected to the first position of the arm through a connecting member; as well as A hook tracking device according to any one of claims 1 to 6.

8. The working machine according to claim 7, characterized in that: The boom comprises a main arm, and the first position is an arm tip of the main arm.

9. The working machine according to claim 7, characterized in that: The boom comprises a main boom and at least one auxiliary boom, and the first position is the arm tip of the main boom, or the arm tip of the auxiliary boom farthest from the main boom.

10. The working machine according to claim 7, characterized in that: A position sensor is also included for obtaining the position of the hook.

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