An embodiment of the invention provides a crane hook positioning method, device and system and engineering machinery, and belongs to the technical field of crane automatic control. The method comprises the steps that current state information and a first image of a crane are obtained; a hoisting path is determined according to the current state information and the relative position, determined according to the first image, between a hook and a target to be positioned; and the crane is controlled to execute hook positioning according to the hoisting path. According to the crane hook positioningmethod, device and system and the engineering machinery, an image under a hoisting arm is collected in real time, the target is extracted based on image processing, three-dimensional coordinates of the hook, a hoisted object and a target site are obtained, and therefore the position relation among the hook, the hoisted object and the target site is determined; and hoisting path planning and hoisting operation are achieved in combination with the current state information of the crane, real-time tracking and automatic positioning of other targets in a hook and camera collecting area are achieved, manual operation is not needed in the positioning process, and the positioning precision is high.

    本发明实施方式提供一种起重机吊钩定位方法、装置、系统及工程机械,属于起重机自动控制技术领域。方法包括:获取起重机的当前状态信息以及第一图像;依据当前状态信息,以及依据第一图像确定的吊钩和待定位目标之间的相对位置确定吊装路径;控制起重机按照吊装路径执行吊钩定位。本发明通过实时采集吊臂正下方的图像,基于图像处理提取目标,得到吊钩、吊装物及目标就位点的三维坐标从而确定吊钩、吊装物及目标就位点之间的位置关系,并结合起重机的当前状态信息实现吊装路径规划及吊装作业,实现了对吊钩及摄像头采集区域内其他目标的实时跟踪及自动定位,定位过程无需人工操作且定位精度高。


    Access

    Download


    Export, share and cite



    Title :

    Crane hook positioning method, device and system and engineering machinery


    Additional title:

    起重机吊钩定位方法、装置、系统及工程机械


    Contributors:
    FAN QING (author) / XU BAIKE (author) / LIU FENG (author) / ZENG YANG (author)

    Publication date :

    2020-04-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



    CRANE HOOK POSITIONING METHOD, APPARATUS AND SYSTEM, AND ENGINEERING MACHINERY

    FU LING / FAN QING / XU BAIKE et al. | European Patent Office | 2022

    Free access

    CRANE HOOK POSITIONING METHOD, APPARATUS AND SYSTEM, AND ENGINEEREING MACHINERY

    FAN QING / XU BAIKE / FU LING et al. | European Patent Office | 2021

    Free access

    CRANE HOOK POSITIONING METHOD, APPARATUS AND SYSTEM, AND ENGINEEREING MACHINERY

    FU LING / FAN QING / XU BAIKE et al. | European Patent Office | 2023

    Free access

    Crane lifting hook positioning and anti-swing device

    ZONG YI / DUAN ZHICHAO | European Patent Office | 2021

    Free access

    FITTING, CRANE HOOK, AND CRANE HOOK ASSEMBLY

    HALLETT RICHARD LESTER / SPENCE PETER WILLIAM | European Patent Office | 2015

    Free access