Intelligent tracking method and apparatus for lifting hook, and storage medium and operation machine

Abstract

An intelligent tracking method and apparatus for a lifting hook, and a storage medium and an operation machine. The intelligent tracking method comprises: acquiring structural parameters of an operation machine and working condition parameters of the operation machine at a current moment, wherein the structural parameters comprise a preset distance, and the working condition parameters comprise the distance from a lifting hook to the tail end of a winch and a luffing angle of a boom; establishing a geometric model between the lifting hook, the boom and a lifting-hook tracking apparatus on the basis of the structural parameters and the working condition parameters; solving the geometric model to determine a relative position relationship between the lifting hook and the lifting-hook tracking apparatus; and controlling, on the basis of the relative position relationship, the lifting-hook tracking apparatus to operate, such that the lifting-hook tracking apparatus tracks the lifting hook. In this way, an operator can observe environmental information of the lifting hook in a vertical direction, the operation risk during hoisting can be reduced, the safety of a hoisting operation can be improved, a lifting-hook tracking apparatus is enabled to stably track the lifting hook, and the safety of the hoisting operation can thus be greatly improved.

Description

Intelligent tracking methods, devices, storage media, and operating machinery for lifting hooks.

[0001] Cross-reference to related applications

[0002] This application claims priority to Chinese patent application 202410855671.X, filed on June 28, 2024, the contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of mechanical control technology, specifically to an intelligent tracking method, device, storage medium, and operating machinery for hooks. Background Technology

[0004] Monitoring equipment is often installed on the boom of lifting machinery so that operators can observe the surrounding working environment centered on the hook from the cab. However, the boom structure of the lifting machinery is adjusted according to different working conditions. Furthermore, boom movement means the monitoring equipment's view cannot always be focused on the hook, requiring operators to manually operate the monitoring equipment controller. Therefore, in actual operation, operators need to operate both the lifting machinery and the monitoring equipment controller. In other words, when performing luffing / hoisting operations, operators must constantly switch between the boom / hoisting control handle and the equipment control handle, which is not only cumbersome but also potentially dangerous.

[0005] In existing technology, the monitoring equipment is installed at one end of the swing arm. Under the weight of the monitoring equipment and the swing arm, the camera lens of the monitoring equipment always faces the hook downwards, and the hook follows the load through visual recognition, freeing up manual control of the monitoring camera. However, this method, with the monitoring equipment installed directly above the hook, prevents operators from observing the environment between the hoisted item and the ground, which can easily lead to danger and results in low safety during hoisting operations.

[0006] Therefore, it is evident that the hook tracking method used in the existing technology cannot allow operators to observe the environment between the hoisted item and the ground, resulting in low safety during hoisting operations. Summary of the Invention

[0007] The purpose of this application is to overcome the problem of low safety in lifting operations in the existing technology.

[0008] To achieve the above objectives, a first aspect of this application provides an intelligent tracking method for a hook, applied to a work machinery. The work machinery includes a boom, a winch end on the boom, a hook to be monitored connected to the winch end, and a hook tracking device. The hook tracking device is mounted on the boom and is located at a preset distance from the winch end, and includes:

[0009] Obtain the structural parameters of the operating machinery and its operating parameters at the current moment. The structural parameters include a preset distance, and the operating parameters include the distance from the hook to the end of the winch and the boom luffing angle.

[0010] Establish a geometric model of the hook, boom and hook tracking device based on structural parameters and operating parameters;

[0011] Solve the geometric model to determine the relative positional relationship between the hook and the hook tracking device;

[0012] The operation of the hook tracking device is controlled according to the relative position relationship so that the hook tracking device tracks the hook.

[0013] In this embodiment, the hook tracking device includes a pan-tilt unit and a monitoring device. The intelligent tracking method further includes: after solving the geometric model to determine the relative positional relationship between the hook and the hook tracking device, determining the current amplitude angle of the pan-tilt unit at the current moment based on the relative positional relationship, and obtaining the historical amplitude angle of each historical moment within a preset time period before the current moment; determining the predicted amplitude angle of the pan-tilt unit for the hook at the next moment based on the current amplitude angle and multiple historical amplitude angles; determining the predicted position based on the predicted amplitude angle, wherein the position of the hook includes the predicted position of the hook at the next moment; and controlling the operation of the hook tracking device based on the relative positional relationship includes controlling the operation of the hook tracking device based on the predicted position.

[0014] In this embodiment of the application, determining the predicted amplitude angle of the gimbal for the hook at the next moment based on the current amplitude angle and multiple historical amplitude angles includes: determining the angle difference between the amplitude angles of each two adjacent moments in the current amplitude angle and multiple historical amplitude angles; weighting each angle difference according to the distance of any moment corresponding to each angle difference from the current moment, wherein the closer to the current moment, the higher the weight of the corresponding angle difference; and determining the predicted amplitude angle of the gimbal for the hook at the next moment based on each weighted angle difference and the current amplitude angle.

[0015] In this embodiment of the application, determining the predicted amplitude angle of the gimbal for the hook at the next moment based on each weighted angle difference and the current amplitude angle includes: obtaining the historical vertical height between the hook and the ground where the working machinery is located at each historical moment; determining the change value of the hoisting direction of the working machinery at the current moment based on multiple historical vertical heights and the current vertical height; and determining the predicted amplitude angle of the gimbal for the hook at the next moment based on each weighted angle difference, the current amplitude angle, and the change value of the hoisting direction.

[0016] In this embodiment, the hook tracking device includes a pan-tilt unit and a monitoring device. The relative positional relationship includes the current amplitude angle of the pan-tilt unit at the current moment. The operation of the hook tracking device is controlled according to the relative positional relationship: a first included angle is determined based on a geometric model between two straight lines when the hook tracking device is facing the hook and the tail of the boom, and the relative positional relationship includes the first included angle; the current amplitude angle of the pan-tilt unit at the current moment is determined based on the first included angle and a second included angle between the hook tracking device and the boom. The current amplitude angle is used to control the operation of the hook tracking device so that the hook tracking device tracks the hook.

[0017] In this embodiment of the application, the intelligent tracking method further includes: determining whether the hook is within the preset amplitude range of the gimbal; when the hook is not within the preset amplitude range, and the installation direction of the gimbal is perpendicular to the boom and facing the hook, and the hook is within the monitoring coverage of the monitoring device, rotating the gimbal by a preset angle and determining the current amplitude angle as the first included angle.

[0018] In this embodiment of the application, the intelligent tracking method further includes: when the hook is not within the preset amplitude range and the gimbal is installed facing the hook but not perpendicular to the boom, determining that the hook tracking device cannot track the hook.

[0019] In this embodiment of the application, the boom includes a main boom and at least one auxiliary boom. When the hook tracking device is installed on the main boom, the preset distance is a first distance between the hook tracking device and the tip of the main boom. When the hook tracking device is installed on the auxiliary boom that is furthest from the main boom, the preset distance is a second distance between the hook tracking device and the tip of the furthest auxiliary boom.

[0020] A second aspect of this application provides an intelligent tracking device for a hook, comprising:

[0021] The memory is configured to store instructions; and

[0022] The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the aforementioned intelligent tracking method for the hook.

[0023] A third aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform the aforementioned intelligent tracking method for a hook.

[0024] A fourth aspect of this application provides a work machine, comprising:

[0025] boom, which includes the winch end;

[0026] The hook is attached to the end of the winch.

[0027] A hook tracking device is mounted on the boom and spaced a predetermined distance from the end of the winch; and

[0028] The aforementioned intelligent tracking device for hooks.

[0029] Through the above technical solution, the hook tracking device is positioned at a preset distance from the target position of the boom, requiring lower installation costs. This allows operators to observe environmental information in the vertical direction of the hook, particularly facilitating the observation of the environmental information between the hooked object and the ground, reducing operational risks during lifting, and improving the safety of lifting operations. A geometric model is established between the hook, boom, and hook tracking device based on the structural parameters of the working machinery and the operating parameters at the current moment. The geometric model is solved to determine the relative positional relationship between the hook and the hook tracking device. The operation of the hook tracking device is controlled based on the relative positional relationship, enabling the hook tracking device to track the hook relatively stably. The hook, as the tracking target, is not easily lost, significantly improving the safety of lifting operations.

[0030] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0031] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0032] Figure 1 schematically illustrates a hook tracking device according to an embodiment of this application;

[0033] Figure 2 schematically illustrates an installation diagram of a hook tracking device according to an embodiment of this application;

[0034] Figure 3 schematically illustrates another installation diagram of the hook tracking device according to an embodiment of this application;

[0035] Figure 4 schematically illustrates a flowchart of an intelligent tracking method for a hook according to an embodiment of this application;

[0036] Figure 5a schematically illustrates the working condition of the main boom according to an embodiment of this application;

[0037] Figure 5b schematically illustrates the working condition of the fixed auxiliary boom according to an embodiment of this application;

[0038] Figure 5c schematically illustrates a tower boom working condition according to an embodiment of this application;

[0039] Figure 6a schematically illustrates a first type of operating machinery according to an embodiment of this application;

[0040] Figure 6b schematically illustrates a second type of operating machinery according to an embodiment of this application;

[0041] Figure 6c schematically illustrates a third type of operating machinery according to an embodiment of this application;

[0042] Figure 7 schematically illustrates a visual blind spot of a hook tracking device according to an embodiment of this application;

[0043] Figure 8 schematically illustrates a flowchart of another intelligent tracking method for a hook according to an embodiment of this application;

[0044] Figure 9 schematically illustrates a framework diagram of an intelligent tracking system for a hook according to an embodiment of this application;

[0045] Figure 10 schematically illustrates the internal structure of a computer device according to an embodiment of this application.

[0046] Explanation of reference numerals in the attached drawings: 101. Pan-tilt unit; 102. Monitoring device; 103. Connector; 104. U-shaped component. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0048] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0049] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0050] As shown in Figure 1, in this embodiment of the application, a hook tracking device 100 is provided, which is applied to a working machine. The working machine includes a boom and a hook. The hook is connected to a first position of the boom via a connector. The hook tracking device includes:

[0051] Gimbal 101, the gimbal 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;

[0052] Monitoring device 102 is mounted on a pan-tilt unit and is used to track the hook.

[0053] Operating machinery refers to machinery used to perform corresponding mechanical operations as needed. Operating machinery can be lifting machinery, specifically mobile cranes, luffing tower cranes, port cranes, emergency rescue equipment, or boom-type operating robots, etc. Mobile cranes can include crawler cranes, truck cranes, or truck-mounted cranes, etc. Taking mobile cranes as an example, operating machinery can be fuel-powered vehicles, new energy vehicles, or hybrid vehicles. For new energy vehicles, power batteries such as lithium batteries or hydrogen fuel cells can be used for vehicle propulsion, or power can be supplied to equipment such as the gimbal 101 and monitoring device 102 through voltage transformation.

[0054] The boom can switch between different operating postures to enable the monitored hook to complete the corresponding task. The hook is a lifting device that can lift corresponding items. The hook is connected to the boom's first position via a connector. The connector may include a wire rope, etc. The first position can be the boom tip.

[0055] The hook tracking device 100 includes a pan-tilt unit 101 and a monitoring device 102. In this embodiment, the pan-tilt unit includes: a first rotating mechanism for driving the monitoring device to rotate around the central axis of the pan-tilt unit; and a second rotating mechanism for driving the monitoring device to rotate in a plane parallel to the central axis of the pan-tilt unit. That is, the pan-tilt unit 101 is a bidirectional pan-tilt unit, driving the monitoring device to rotate horizontally and vertically.

[0056] The hook tracking device 100 also includes a connector 103. The connector 103 above the gimbal 101 can fix the hook tracking device 100 and can internally control the horizontal rotation of the gimbal 101. The horizontal rotation angle range of the gimbal 101 can be 0° to 359°.

[0057] The hook tracking device 100 also includes a U-shaped component 104. The U-shaped component 104, located beside the monitoring device 102, is connected to the monitoring device 102 and the connector 103, and can internally control the vertical rotation of the pan-tilt unit 101. The vertical rotation angle of the pan-tilt unit 101 can range from 0° to 90°.

[0058] When the pan-tilt unit 101 rotates horizontally, the U-shaped component 104 and the monitoring device 102 will rotate together, and the field of view can change horizontally. In conjunction with the vertical rotation of the pan-tilt unit 101, the monitoring range of the monitoring device 102 can cover 360°. However, the monitoring field of view at a certain moment is still determined by the field of view angle of the monitoring camera parameters.

[0059] The pan-tilt unit 101 is connected to a second position on the boom, and the distance between the second position and the first position is greater than a preset distance threshold. This preset distance threshold can be customized based on actual conditions. A monitoring device 102 is installed on the pan-tilt unit 101 to track the hook. The hook can be installed on the main boom of the boom or on the auxiliary boom furthest from the main boom.

[0060] In this embodiment, the gimbal is installed facing the side where the hook is located, or the gimbal is installed vertically. The gimbal and the boom of the working machinery can be installed at any angle. Figure 2 shows a schematic diagram of the installation of a hook tracking device. Since the internal structure of the boom may vary slightly depending on the vehicle model, the hook tracking device will be installed at an angle t with the boom. Angle t can be any angle. β represents the range that the monitoring device 102 should cover, corresponding to the range of motion of the hook. β represents the angle formed by the line connecting the hook tracking device 100 and the hook, and the main boom / tower boom / auxiliary boom. γ represents the amplitude range of the pan-tilt unit 101, which can be 0° to 90°.

[0061] When the lens of monitoring device 102 is aligned with the top cover of the vertical monitoring device 102, i.e., the direction the lens of monitoring device 102 is pointing as shown in Figure 2, the pan-tilt unit's amplitude angle is 0°. When the lens of monitoring device 102 is aligned with the direction the top cover of monitoring device 102 faces, the pan-tilt unit's amplitude angle is 90°. At this time, the lens of monitoring device 102 can monitor a 90° spatial range, i.e., monitor the right-hand area shown in Figure 2. If the pan-tilt unit is rotated horizontally by 180°, i.e., the camera lens is adjusted to face the opposite direction, monitoring a 90° spatial range in the opposite direction can be achieved, i.e., monitoring the left-hand area shown in Figure 2.

[0062] In this embodiment, the pan-tilt unit is mounted vertically on the boom. That is, the angle between the pan-tilt unit and the boom is 90°. Figure 3 shows another installation diagram of the hook tracking device. As shown in Figure 3, the angle t between the hook tracking device and the boom is 90°. At this angle, the monitoring device has no blind spots, and its monitoring range is parallel to the boom, covering the range of motion of the hook. In this embodiment, the monitoring device includes a camera.

[0063] In this application embodiment, a working machine is provided, including:

[0064] boom;

[0065] The hook is connected to the first position of the boom via a connector; and

[0066] The aforementioned hook tracking device.

[0067] In this embodiment, the boom includes a main boom, with the first position being the boom tip. That is, the hook can be connected to the boom tip via a connector. The boom tip is the end furthest from the connection point between the boom and the machine body.

[0068] In this embodiment, the boom includes a main boom and at least one auxiliary boom. The first position is the boom tip of the main boom, or the boom tip of the auxiliary boom furthest from the main boom. That is, the hook can be connected to the boom tip of the main boom via a connector, or it can be connected to the boom tip of the auxiliary boom furthest from the main boom via a connector.

[0069] A hook tracking device can be used to dynamically follow the movement of a hook to monitor its motion and ensure the safety of the operating machinery during operation. If the first position is the tip of the main boom, the hook is installed on the main boom, and the hook tracking device can be installed on the main boom or the tip of the jib furthest from the main boom. If the first position is the tip of the jib furthest from the main boom, the hook is installed on the furthest jib, and the hook tracking device can be installed on the main boom or the tip of the jib furthest from the main boom.

[0070] In this embodiment, the working machinery also includes a position sensor for obtaining the position of the hook.

[0071] The above solution connects the gimbal 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 installation cost is low, and the operator can observe the environmental information in the vertical direction of the hook. It is particularly helpful to observe the environmental information between the hook and the ground, reduce the operational risks during hoisting, and improve the safety of hoisting operations.

[0072] Figure 4 schematically illustrates a flowchart of an intelligent tracking method for a hook according to an embodiment of this application. As shown in Figure 4, in this embodiment, an intelligent tracking method for a hook is provided, applied to a work machinery. The work machinery includes a boom, a winch end on the boom, a hook to be monitored connected to the winch end, and a hook tracking device. The hook tracking device is mounted on the boom and is spaced a preset distance from the winch end. The method includes the following steps:

[0073] Step 401: Obtain the structural parameters of the operating machinery and the operating parameters at the current moment. The structural parameters include a preset distance, and the operating parameters include the distance from the hook to the end of the winch and the boom luffing angle.

[0074] Operating machinery refers to machinery used to perform corresponding mechanical operations as needed. For example, operating machinery can be mobile cranes, luffing tower cranes, port cranes, emergency rescue equipment, or boom-type operating robots. Mobile cranes can include crawler cranes, truck cranes, or truck-mounted cranes. Taking mobile cranes as an example, operating machinery can be fuel-powered vehicles, new energy vehicles, or hybrid vehicles. For new energy vehicles, power batteries such as lithium batteries or hydrogen fuel cells can be used for vehicle propulsion, or power can be supplied to equipment such as the gimbal 101 and monitoring device 102 through a transformer. Operating machinery includes a boom, a hook to be monitored, and a hook tracking device. The boom can switch between different working postures to enable the monitored hook to complete the corresponding operation. The monitored hook is a lifting device that can lift corresponding items.

[0075] The hook tracking device is positioned at a predetermined 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. In this embodiment, the boom may include a main boom. If the hook tracking device is mounted on the main boom, the target position may be the tip of the main boom. The tip is the end furthest from the connection point between the boom and the machine body. In some embodiments, the boom may include a main boom and at least one auxiliary boom. 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 furthest from the main boom, the target position is the tip of the auxiliary boom furthest from the main boom.

[0076] When the hook tracking device is installed on the main boom, the preset distance is the first distance between the hook tracking device and the tip of the main boom. When the hook tracking device is installed on the jib farthest from the main boom, the preset distance is the second distance between the hook tracking device and the tip of the farthest jib.

[0077] The processor can acquire the structural parameters and current operating parameters of the operating machinery. Specifically, after the operating machinery is started, the onboard controller can collect the structural parameters of the operating machinery at this time. These structural parameters may include the distance between the installation position of the hook tracking device and the target position of the boom, i.e., a preset distance. The processor can acquire the structural parameters of the operating machinery through the onboard controller. Operating parameters refer to the real-time operating parameters of the operating machinery. The torque limiter can collect the operating parameters of the operating machinery, and the processor can obtain these parameters through the torque limiter.

[0078] In this embodiment of the application, the operating mode of the operating machinery at the current moment can be obtained, and the structural parameters and operating parameters of the operating machinery can be obtained based on the operating mode. The operating mode of the operating machinery includes the main boom operating mode and the tower boom operating mode.

[0079] Depending on the 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 condition, fixed jib working condition, and tower boom working condition. For example, as shown in Figure 5a, taking 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, the length of which is determined during installation and cannot be changed during operation. Operators can operate the main boom luffing angle and the main hook winch on the main boom during operation to meet operational requirements.

[0080] For example, as shown in Figure 5b, taking a crane as an example, a schematic diagram of a fixed jib operation is provided. In the fixed jib operation, 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 operation. Simultaneously, the installation angle of the fixed jib is determined during installation and does not change during operation. During operation, the operator can control the luffing angle of the main boom, the main hook winch on the main boom, and the auxiliary hook winch on the fixed jib to meet operational requirements.

[0081] For example, as shown in Figure 5c, taking a crane as an example, a schematic diagram of a tower boom configuration is provided. In the tower boom configuration, the boom includes the main boom and the tower boom. The lengths of the main boom and the tower boom are determined during installation and cannot be changed during operation. Operators can control the main boom luffing angle, the tower boom luffing angle, the main hook winch, and the auxiliary hook winch during operation to meet operational requirements.

[0082] As can be seen from the above, the fixed jib working condition is similar to the tower jib working condition, and has the same geometric structure. Therefore, they are classified into the same category and will be referred to as "tower jib working condition" in the following text.

[0083] Operating parameters include the distance from the hook to the end of the winch and the boom's luffing angle. The distance from the hook to the end of the winch can be obtained by subtracting the vertical distances from the boom tail and the hook to the ground, or by measuring the number of rotations of the winch using an encoder. Generally, the end of the winch can be located at the boom tip of the crane; in this case, the distance from the hook to the end of the winch can be considered, to some extent, the distance from the hook to the boom tip. However, in cranes such as crawler cranes, there may be multiple hooks. These hooks are not necessarily located at the boom head or tip, but are generally extended from the end of the winch. In this case, the distance from the hook to the end of the winch refers to the distance from the hook to the end of the winch from which it originates.

[0084] If the operating mode of the working machine at the current moment is the main boom operating mode or the tower boom operating mode, and the hook is installed on the tip of the main boom, then the structural parameters include the preset distance and the first length of the main boom. The operating parameters include the first vertical distance and the second vertical distance from the tail of the main boom and the hook to the ground at the current moment, respectively, and the first luffing angle of the main boom at the current moment.

[0085] If the operating mode of the working machinery at the current moment is the tower boom operating mode, and the hook is installed on the tip of the jib farthest from the main boom, then the structural parameters include the preset distance, the first length of the main boom and the second length of the jib farthest from the main boom, the operating parameters include the first vertical distance and the third vertical distance from the hook to the ground at the current moment, the first luffing angle of the main boom and the second luffing angle of the jib farthest from the main boom at the current moment.

[0086] Step 402: Establish a geometric model of the hook, boom and hook tracking device based on structural parameters and operating parameters.

[0087] Step 403: Solve the geometric model to determine the relative positional relationship between the hook and the hook tracking device. Step 404: Control the operation of the hook tracking device based on the relative positional relationship to ensure that the hook tracking device tracks the hook.

[0088] Because the operating machinery operates under various modes, the installation location of the hook tracking device varies, and the hook to be monitored can be selected based on requirements. Therefore, the structural and operating parameters required to be acquired differ under different conditions. The processor can determine the hook's position based on the acquired structural and operating parameters.

[0089] In this embodiment, the hook tracking device includes a pan-tilt unit and a monitoring device. The intelligent tracking method further includes: after solving the geometric model to determine the relative positional relationship between the hook and the hook tracking device, determining the current amplitude angle of the pan-tilt unit at the current moment based on the relative positional relationship, and obtaining the historical amplitude angle of each historical moment within a preset time period before the current moment; determining the predicted amplitude angle of the pan-tilt unit for the hook at the next moment based on the current amplitude angle and multiple historical amplitude angles; determining the predicted position based on the predicted amplitude angle, wherein the position of the hook includes the predicted position of the hook at the next moment; and controlling the operation of the hook tracking device based on the relative positional relationship includes: controlling the operation of the hook tracking device based on the predicted position.

[0090] The motion of a hook is a continuous process, theoretically it should be in a state of uniform acceleration, uniform deceleration, or uniform speed. To better track the hook's motion, after solving the geometric model to determine the relative positional relationship between the hook and the hook tracking device, the processor can determine the current amplitude angle of the pan-tilt unit at the current moment based on the relative positional relationship, and can also obtain the historical amplitude angles for each historical moment within a preset time period prior to the current moment. The processor can then determine the predicted amplitude angle of the pan-tilt unit relative to the hook at the next moment based on the current amplitude angle and multiple historical amplitude angles. Based on the predicted amplitude angle, the processor can determine the predicted position of the hook at the next moment, and then control the operation of the hook tracking device based on the predicted position, achieving smooth control of the hook tracking device.

[0091] In this embodiment of the application, determining the predicted amplitude angle of the gimbal for the hook at the next moment based on the current amplitude angle and multiple historical amplitude angles includes: determining the angle difference between the amplitude angles of each two adjacent moments in the current amplitude angle and multiple historical amplitude angles; weighting each angle difference according to the distance of any moment corresponding to each angle difference from the current moment, wherein the closer to the current moment, the higher the weight of the corresponding angle difference; and determining the predicted amplitude angle of the gimbal for the hook at the next moment based on each weighted angle difference and the current amplitude angle.

[0092] During the operation of the lifting machinery, since the real-world environment is difficult to match the theoretically ideal environment, factors such as air resistance, power transmission loss, and hook movement error must also be considered. Therefore, a weighted differential prediction method can be used to determine the predicted amplitude angle of the hook. Specifically, the processor can determine the angle difference between the current amplitude angle and the amplitude angles of each two adjacent moments in multiple historical amplitude angles. It can also weight each angle difference based on its proximity to the current moment, with closer moments having higher weights. The processor can then determine the predicted amplitude angle of the gimbal for the hook at the next moment based on each weighted angle difference and the current amplitude angle.

[0093] In this embodiment of the application, determining the predicted amplitude angle of the gimbal for the hook at the next moment based on each weighted angle difference and the current amplitude angle includes: obtaining the historical vertical height between the hook and the ground where the working machinery is located at each historical moment; determining the change value of the hoisting direction of the working machinery at the current moment based on multiple historical vertical heights and the current vertical height; and determining the predicted amplitude angle of the gimbal for the hook at the next moment based on each weighted angle difference, the current amplitude angle, and the change value of the hoisting direction.

[0094] When operating machinery is in motion, considering that the direction of its hoisting operation may change, the change in hook height can be used to indirectly represent the hoisting operation direction. The processor can obtain the historical vertical height between the hook and the ground where the operating machinery is located at each historical moment, and can determine the change value of the hoisting direction of the operating machinery at the current moment based on multiple historical vertical heights and the current vertical height. If 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.

[0095] Specifically, the change in the hoisting direction of the operating machinery at the current moment can be determined by the following formula (1):

[0096] Where τ refers to the change in hoisting direction, h i h refers to the current vertical height between the hook and the ground where the construction machinery is located at time i. i-1 h refers to the historical vertical height between the hook and the ground where the construction machinery is located at time i-1. i-k h refers to the historical vertical height between the hook and the ground where the construction machinery is located at time ik. i-k-1 It refers to the historical vertical height between the hook and the ground where the construction machinery is located at time ik-1, k∈(0,K], where K is the total number of historical times and k is the number of times after the hoisting operation direction changes, which is no greater than K.

[0097] The processor can determine the predicted amplitude angle of the gimbal relative to the hook at the next moment based on each weighted angle difference, the current amplitude angle, and the change in the hoisting direction. Specifically, the predicted amplitude angle of the gimbal relative to the hook at the next moment can be determined by the following formula (2):

[0098] Where, β i+1 This refers to the predicted amplitude angle of the gimbal for the hook at time i+1, β. i This refers to the current amplitude angle of the gimbal at time i relative to the hook, β. i-1 …β i-kThese refer to the historical amplitude angle of the gimbal relative to the hook at the corresponding historical moment, k∈(0,K], where K is the total number of historical moments, k is the number of moments after the hoisting operation direction changes and is not greater than K, and τ is the hoisting direction change value of the construction machinery at the current moment.

[0099] From the above β i+1 As can be seen from the calculation formula, this scheme considers the β of period k. t Furthermore, the closer to time i+1, the higher its difference contribution, and the greater its contribution to β at time i+1. i+1 The greater the impact, the more β increases when the direction of the hoisting operation changes. t The direction of change will also change.

[0100] The above-mentioned scheme for determining the predicted amplitude angle of the gimbal for the hook at the next moment uses time series to predict the hook's motion trend. It performs time series analysis on the continuous amplitude angles of the current moment and multiple previous historical moments to obtain the predicted amplitude angle of the gimbal for the hook at the next moment. This allows the predicted amplitude angle to be converted into gimbal commands, thereby achieving smooth control of the hook tracking device and dynamically tracking the hook.

[0101] 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 can be controlled according to the real-time position.

[0102] In this embodiment, the hook tracking device includes a pan-tilt unit and a monitoring device. Controlling the operation of the hook tracking device according to the relative position relationship includes: determining, based on a geometric model, a first included angle formed by two straight lines when the hook tracking device is facing the hook and the tail of the boom, respectively, the relative position relationship including the first included angle; determining the current amplitude angle of the pan-tilt unit at the current moment according to the first included angle and a second included angle between the hook tracking device and the boom, the current amplitude angle being used to control the operation of the hook tracking device so that the hook tracking device tracks the hook.

[0103] The hook tracking device includes a pan-tilt unit and a monitoring device. After acquiring the structural and operational parameters of the working machinery, the processor can establish a geometric model of the hook, boom, and hook tracking device based on these parameters. Since the working machinery operates under various conditions, and the hook tracking device and the monitored hook are installed in different positions, the processor can solve the geometric model to determine the relative positional relationship between the hook and the hook tracking device. This relative positional relationship includes the first angle formed by two straight lines when the hook tracking device is facing both the hook and the boom tail. Specifically, the processor can determine the first angle formed by two straight lines when the hook tracking device is facing both the hook and the boom tail based on the geometric model.

[0104] Figure 6a shows a schematic diagram of the first type of operating machinery. In this case, the operating mode of the machinery is the boom operating mode, the hook tracking device is installed on the boom, and the hook is installed on the boom tip. For the situation shown in Figure 6a, the hook, boom, and hook tracking device form a triangular geometric model. The first included angle can be determined using the following formula (3):

[0105] Where δ refers to the first included angle, L refers to the first length of the main arm, α refers to the first amplitude angle of the main arm at the current moment, g refers to the first vertical distance, h1 refers to the second vertical distance, i.e., h as shown in Figure 6a, α refers to the first amplitude angle, and c refers to the preset distance.

[0106] When the working mode of the operating machinery is the tower boom working mode, the hook tracking device is installed on the auxiliary boom that is furthest away from the main boom, and the hook is installed on the tip of the main boom, the first included angle can also be determined based on the above formula (3).

[0107] Figure 6b shows a schematic diagram of the second type of operating machinery. In this case, the operating mode of the machinery is the tower boom operating mode, with the hook tracking device installed on the main boom and the hook installed on the tip of the auxiliary boom furthest from the main boom. For the situation shown in Figure 6b, the hook, boom, and hook tracking device form a quadrilateral geometric model. In this case, the first included angle can be determined by the following formula (4):

[0108] Where δ refers to the first included angle, L refers to the first length of the main arm, S refers to the second length of the auxiliary arm that is furthest from the main arm, α refers to the first amplitude angle of the main arm at the current moment, θ refers to the second amplitude angle of the auxiliary arm that is furthest from the main arm at the current moment, g refers to the first vertical distance, h3 refers to the third vertical distance, i.e., h as shown in Figure 6b, and c refers to the preset distance.

[0109] Figure 6c shows a schematic diagram of the third type of operating machinery. In this case, the operating mode of the operating machinery is the tower boom operating mode. The hook tracking device is installed on the jib farthest from the main boom, and the hook is installed on the tip of the jib farthest from the main boom. For the situation shown in Figure 6c, the hook, boom, and hook tracking device form a quadrilateral geometric model. The first included angle is determined by the following formula (5):

[0110] Where δ refers to the first included angle, L refers to the first length of the main arm, S refers to the second length of the auxiliary arm that is furthest from the main arm, α refers to the first amplitude angle of the main arm at the current moment, θ refers to the second amplitude angle of the auxiliary arm that is furthest from the main arm at the current moment, g refers to the first vertical distance, h3 refers to the third vertical distance, i.e., h as shown in Figure 6c, and c refers to the preset distance.

[0111] In the above scheme, if the hook installed on the main boom is selected in the main boom working mode, and the hook tracking device is installed on the main boom, the first included angle can be determined based on the above formula (3). If the hook installed on the farthest auxiliary boom is selected in the tower boom working mode, and the hook tracking device is installed on the main boom, the first included angle can be determined based on the above formula (4). If the hook installed on the farthest auxiliary boom is selected in the tower boom working mode, and the hook tracking device is installed on the farthest auxiliary boom, the first included angle can be determined based on the above formula (5). If the hook installed on the main boom is selected in the tower boom working mode, the first included angle can be determined based on the above formula (3) regardless of whether the hook tracking device is installed on the main boom or the farthest auxiliary boom. By mathematically modeling the geometric structure of the working machinery, the tracking effect of the subsequent hook tracking device is improved. Compared with the visual recognition method, the tracked target is not easily lost, and the visual scanning link is omitted.

[0112] The processor determines the current luffing angle of the pan-tilt unit at any given moment based on the first included angle and the second included angle between the hook tracking device and the boom. This current luffing angle can be used to control the operation of the hook tracking device so that it 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. The second included angle refers to the installation angle of the hook tracking device.

[0113] In this embodiment of the application, the intelligent tracking method further includes: determining whether the hook is within the preset amplitude range of the gimbal; and if the hook is within the preset amplitude range, determining the current amplitude angle of the gimbal at the current moment based on the first included angle and the second included angle between the hook tracking device and the boom.

[0114] A difference in the second included angle between the hook tracking device and the boom will cause inconsistencies in the rotation coordinates of the monitoring camera's pan-tilt unit. The processor can determine whether the hook is within a preset amplitude range. The preset amplitude range of the pan-tilt unit is determined based on the minimum and maximum amplitude angles. When the monitoring device's viewing angle is parallel to the ground where the construction machinery is located, the pan-tilt unit is at its minimum amplitude angle; when the monitoring device's viewing angle is facing the ground where the construction machinery is located and perpendicular to the ground, the pan-tilt unit is at its maximum amplitude angle. The minimum amplitude angle can be set to 0°, and the maximum amplitude angle can be set to 90°.

[0115] In this embodiment of the application, the hook can be determined to be within a preset amplitude range under the following conditions: both the first included angle and the second included angle are greater than a first preset value and less than or equal to a second preset value; the first included angle is greater than or equal to the second included angle; and the first difference between the first included angle and the second included angle is greater than or equal to the first preset value and less than or equal to a third preset value; or, both the first included angle and the second included angle are greater than the first preset value and less than the sum of the first included angle and the third preset value; the first included angle is less than the second included 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. Wherein, the first preset value is 0, the second preset value is 180, and the third preset value is 90.

[0116] Specifically, if the hook tracking device faces the hook and is installed vertically to the boom, i.e., the second angle between the hook tracking device and the boom is 90°, then when the difference between the first and second angles is greater than or equal to a first preset value and less than or equal to a third preset value, it can be determined that the hook is within a preset amplitude range. Furthermore, 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. In this case, the monitoring device included in the hook tracking device can precisely cover the hook's range of motion, with no blind spots.

[0117] When the hook is within a preset amplitude range, the processor can determine the current amplitude angle of the gimbal at the current moment based on the first included angle and the second included angle. In this embodiment, determining the current amplitude angle of the gimbal at the current moment based on the first included angle and the second included angle includes: determining a first difference between the first included angle and the second included angle, and determining a second difference between the second included angle and the first included angle; if the first included angle is greater than or equal to the second included angle, determining the current amplitude angle as the sum of a third preset value and the second difference; if the first included angle is less than the second included angle, determining the current amplitude angle as the sum of a third preset value and the first difference.

[0118] The processor can determine a first difference between the first included angle and the second included angle, and can determine a second difference between the second included angle and the first included angle. If the first included angle is greater than or equal to the second included angle, the processor can determine the current amplitude angle as the sum of a first preset value and the second difference. If the first included angle is less than the second included angle, the processor can determine the current amplitude angle as the sum of the first preset value and the first difference.

[0119] In one embodiment, the hook can be determined to be within a preset amplitude range if any of the following conditions are met:

[0120] Where δ refers to the first included angle and t refers to the second included angle.

[0121] Specifically, if the hook tracking device faces the hook and is installed vertically to the boom, that is, the second included angle between the hook tracking device and the boom is 90°, the hook can be determined to be within the preset amplitude range when 0≤β-90≤90 is satisfied.

[0122] In one embodiment, when the hook is within a preset luffing range, the current luffing angle can be determined using the following formula (6):

[0123] Where δ refers to the first included angle and t refers to the second included angle.

[0124] Specifically, if the hook tracking device faces the hook and is installed vertically to the boom, that is, the second included angle between the hook tracking device and the boom is 90°, and the hook is within the preset luffing range, then the current luffing angle can be determined to be 180°-δ.

[0125] In this embodiment of the application, the intelligent tracking method further includes: determining whether the hook is within the preset amplitude range of the gimbal; when the hook is not within the preset amplitude range, and the installation direction of the gimbal is perpendicular to the boom and facing the hook, and the hook is within the monitoring coverage of the monitoring device, rotating the gimbal by a preset angle and determining the current amplitude angle as the first included angle.

[0126] The processor can determine whether the hook is within the preset luffing range of the pan-tilt unit. If the hook is not within the preset luffing range, and the pan-tilt unit is installed perpendicular to the boom and facing the hook, and the hook is within the monitoring coverage of the monitoring device, the processor can determine the current luffing angle as the first included angle.

[0127] Specifically, in the main boom operation, if the difference between the third preset value and the boom's luffing angle, and the first included 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 boom's luffing angle is less than or equal to the first included angle; or, in the tower boom operation, if the difference between the third preset value and the tower boom or fixed jib's luffing angle, and the first included 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 tower boom or fixed jib's luffing angle is less than or equal to the first included angle, then it can be determined that the hook is not within the preset luffing range, and the pan-tilt unit is installed perpendicular to the boom and facing the hook, and the hook is within the monitoring coverage of the monitoring device. In this case, the processor can rotate the pan-tilt unit by a preset angle and determine the current luffing angle as the first included angle. The preset angle is 180°.

[0128] In this embodiment of the application, the intelligent tracking method further includes: when the hook is not within the preset amplitude range and the gimbal is installed facing the hook but not perpendicular to the boom, determining that the hook tracking device cannot track the hook.

[0129] If the first difference between the first included angle and the second included angle is greater than the third preset value, it can be determined that the hook is not within the preset amplitude range, the pan-tilt unit is installed 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 unit is unreachable, and a visual blind spot occurs. For example, as shown in Figure 7, taking a monitoring camera as an example, a schematic diagram of the visual blind spot of a hook tracking device is provided.

[0130] As shown in Figure 7, the monitoring coverage area of ​​the surveillance camera is within 180° perpendicular to the installation angle of the PTZ camera. For example, when the installation angle t is 0° (i.e., the PTZ camera is installed parallel to the boom, and the top of the PTZ camera faces the boom tip), the monitoring coverage area is shown in Figure 7. The range of motion of the hook is as shown in Figure 7. Within the angular range. At this time, the monitoring coverage area did not include the entire area. The area within the angle range, i.e., the angle range shown by the purple curve, cannot be covered by the surveillance camera; this is the surveillance blind spot. To avoid the occurrence of surveillance blind spots, a suitable PTZ camera installation angle t should be selected. That is, t should simultaneously satisfy the conditions: β-90≤t, t≤β+90, 0<β≤180. Therefore, the value of t can be 90, that is, installed at 90° with the boom.

[0131] The processor can control the operation of the hook tracking device based on the relative position relationship, so that the hook tracking device tracks the hook. Specifically, it can send corresponding motion commands to the hook tracking device to control its operation, so that the hook tracking device tracks the hook and the hook is within the monitoring range of the hook tracking device.

[0132] Figure 8 shows a flowchart of another intelligent tracking method for hooks.

[0133] During intelligent hook tracking, CAN bus data can be acquired. This data includes operating conditions, main boom length L, hook height above the ground, main boom luffing angle, tower boom or jib length, and tower boom or jib luffing angle. Then, the δ angle can be determined based on the CAN bus data; this is the first angle formed by the two straight lines when the hook tracking device faces the hook and the tail of the boom. Next, the gimbal luffing angle β can be calculated, and the hook's movement trend can be predicted based on β to obtain the gimbal's luffing angle at the next moment. Finally, a gimbal movement command can be sent based on the gimbal's luffing angle at the next moment to control the gimbal's operation and monitor the hook. Upon receiving the gimbal's position signal, the process returns to the CAN bus data acquisition step, achieving real-time tracking or following of the hook.

[0134] Through the above technical solution, the hook tracking device is positioned at a preset distance from the target position of the boom, requiring lower installation costs. This allows operators to observe environmental information in the vertical direction of the hook, particularly facilitating the observation of the environmental information between the hooked object and the ground, reducing operational risks during lifting, and improving the safety of lifting operations. A geometric model is established between the hook, boom, and hook tracking device based on the structural parameters of the working machinery and the current operating conditions. The geometric model is solved to determine the relative positional relationship between the hook and the hook tracking device. The operation of the hook tracking device is controlled based on this relative positional relationship, enabling the hook tracking device to track the hook relatively stably. The hook, as the tracking target, is less likely to be lost, significantly improving the safety of lifting operations.

[0135] Figures 4 and 8 are schematic flowcharts of an intelligent tracking method for a hook in one embodiment. It should be understood that although the steps in the flowcharts of Figures 4 and 8 are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Furthermore, at least some of the steps in Figures 4 and 8 may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed 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 performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.

[0136] In one embodiment, a smart tracking device for a hook is provided, comprising:

[0137] The memory is configured to store instructions; and

[0138] The processor is configured to retrieve instructions from memory and, when executing instructions, to implement the aforementioned intelligent tracking method for the hook.

[0139] In one embodiment, a working machine is provided, comprising:

[0140] boom, which includes the winch end;

[0141] The hook is attached to the end of the winch.

[0142] A hook tracking device is mounted on the boom and spaced a predetermined distance from the end of the winch; and

[0143] The aforementioned intelligent tracking device.

[0144] In one embodiment, a storage medium is provided on which a program is stored, which, when executed by a processor, implements the above-described intelligent tracking method for a hook.

[0145] In one embodiment, a processor is provided for running a program, wherein the program executes the above-described intelligent tracking method for a hook during runtime.

[0146] Figure 9 shows a schematic diagram of the framework of an intelligent tracking system for hooks.

[0147] The intelligent tracking system for crane hooks comprises a device layer, an input layer, a computational layer, and an output layer. The device layer includes an onboard controller, a torque controller, and a camera. The onboard controller acquires the structural parameters of the operating machinery. The torque controller acquires the operating parameters of the operating machinery. The camera tracks the crane hook. The input layer includes real-time parameters, pre-stored parameters, and historical parameters of the operating machinery. Real-time parameters include the boom attitude, hook height, and inertia vector of the operating machinery at time Ti. Pre-stored parameters include the camera installation mode, camera installation parameters, and boom structural parameters. Historical parameters include hook positioning data for k consecutive times from Ti-k-1 to Ti-1, and hoisting operations for k consecutive times from Ti-k-1 to Ti-1. The computational layer includes a mathematical model for hook positioning at time Ti and a hook motion prediction model for time Ti+1. The mathematical model for hook positioning at time Ti can determine the gimbal amplitude angle at the current time 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 gimbal amplitude angle at the current time and historical parameters, thereby smoothly controlling the camera gimbal and realizing the dynamic tracking of the hook by the monitoring camera.

[0148] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram is shown in Figure 10. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure), and a database (not shown in the figure) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database of the computer device stores data such as the position of the hook. The network interface A02 of the computer device is used to communicate with external terminals via a network connection. When the computer program B02 is executed by the processor A01, it implements an intelligent tracking method for the hook.

[0149] Those skilled in the art will understand that the structure shown in Figure 10 is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or may combine certain components, or may have different component arrangements.

[0150] This application provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps of an intelligent tracking method for a hook.

[0151] This application also provides a computer program product that, when executed on a data processing device, is adapted to perform a program that initializes steps of an intelligent tracking method for a hook.

[0152] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0153] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more flowchart illustrations and / or one or more block diagrams.

[0154] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0155] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0156] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0157] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0158] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0159] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0160] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A smart tracking method for a crane hook, applied to a work machinery, the work machinery including a boom, a winch end on the boom, a hook to be monitored connected to the winch end, and a hook tracking device, the hook tracking device being disposed on the boom and at a predetermined distance from the winch end, the smart tracking method comprising: Obtain the structural parameters and operating parameters of the operating machinery at the current moment, wherein the structural parameters include the preset distance, and the operating parameters include the distance from the hook to the end of the winch and the boom luffing angle; A geometric model of the hook, the boom, and the hook tracking device is established based on the structural parameters and the operating parameters. The geometric model is solved to determine the relative positional relationship between the hook and the hook tracking device; The operation of the hook tracking device is controlled according to the relative positional relationship so that the hook tracking device tracks the hook.

2. The intelligent tracking method for a hook according to claim 1, wherein, The hook tracking device includes a pan-tilt unit and a monitoring device, and the intelligent tracking method further includes: After solving the geometric model to determine the relative positional relationship between the hook and the hook tracking device, the current amplitude angle of the gimbal at the current moment is determined based on the relative positional relationship, and the historical amplitude angle of each historical moment within a preset time period before the current moment is obtained. The predicted amplitude angle of the gimbal for the hook at the next moment is determined based on the current amplitude angle and multiple historical amplitude angles. The predicted position is determined based on the predicted amplitude angle, and the position of the hook includes the predicted position of the hook at the next moment; The step of controlling the operation of the hook tracking device according to the relative position relationship includes: The operation of the hook tracking device is controlled based on the predicted position.

3. The intelligent tracking method for a hook according to claim 2, wherein, The step of determining the predicted amplitude angle of the gimbal for the hook at the next moment based on the current amplitude angle and multiple historical amplitude angles includes: Determine the angle difference between the current amplitude angle and the amplitude angles at any two adjacent moments among the plurality of historical amplitude angles; Each angle difference is weighted according to its proximity to the current time at any given moment, wherein the closer the angle difference is to the current time, the higher its weight. The predicted amplitude angle of the gimbal for the hook at the next moment is determined based on each weighted angle difference and the current amplitude angle.

4. The intelligent tracking method for a hook according to claim 3, wherein, The step of determining the predicted amplitude angle of the gimbal for the hook at the next moment based on each weighted angle difference and the current amplitude angle includes: Obtain the historical vertical height between the hook and the ground where the working machinery is located at each historical moment; The change in the hoisting direction of the operating machinery at the current moment is determined based on multiple historical vertical heights and the current vertical height. The predicted amplitude angle of the gimbal for the hook at the next moment is determined based on each weighted angle difference, the current amplitude angle, and the change value of the hoisting direction.

5. The intelligent tracking method for a hook according to claim 1, wherein, The hook tracking device includes a pan-tilt unit and a monitoring device, and controlling the operation of the hook tracking device according to the relative position relationship includes: Based on the geometric model, the first included angle is determined by the two straight lines formed when the hook tracking device is facing the hook and the boom tail respectively, and the relative positional relationship includes the first included angle; The current amplitude angle of the gimbal at the current moment is determined based on the first included angle and the second included angle between the hook tracking device and the boom. The current amplitude angle is used to control the operation of the hook tracking device so that the hook tracking device tracks the hook.

6. The intelligent tracking method for a hook according to claim 5, wherein, The intelligent tracking method also includes: Determine whether the hook is within the preset amplitude range of the gimbal; When the hook is not within the preset amplitude range, and the installation direction of the pan-tilt unit is perpendicular to the boom and facing the hook, and the hook is within the monitoring coverage of the monitoring device, the pan-tilt unit is rotated by a preset angle, and the current amplitude angle is determined to be the first included angle.

7. The intelligent tracking method for a hook according to claim 6, wherein, The intelligent tracking method also includes: When the hook is not within the preset amplitude range, and the gimbal is installed facing the hook but not perpendicular to the boom, it is determined that the hook tracking device cannot track the hook.

8. The intelligent tracking method for a hook according to claim 1, wherein, The boom includes a main boom and at least one auxiliary boom. When the hook tracking device is installed on the main boom, the preset distance is a first distance between the hook tracking device and the tip of the main boom. When the hook tracking device is installed on the auxiliary boom that is furthest from the main boom, the preset distance is the second distance between the hook tracking device and the tip of the furthest auxiliary boom.

9. An intelligent tracking device for a hook, the intelligent tracking device comprising: The memory is configured to store instructions; as well as The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the intelligent tracking method for a hook according to any one of claims 1 to 8.

10. A machine-readable storage medium storing instructions for causing a machine to perform the intelligent tracking method for a hook according to any one of claims 1 to 8.

11. A type of operating machinery, comprising: Boom, the boom including a winch end; A hook is attached to the end of the winch; A hook tracking device is mounted on the boom and is spaced a predetermined distance from the end of the winch. as well as The intelligent tracking device for a hook according to claim 9.

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