The invention discloses a method and device for measuring the rotation angle of an external rotary table of a portal crane for a port, and the method comprises the steps: 1, arranging a camera, an IMU and a magnetometer on the rotary table of the portal crane for the port, and arranging a plurality of visual labels at the circumferential direction of the rotary table at intervals; 2, according to magnetometer measurement data, IMU measurement data and image data of the visual label when the rotary table is in a static state, the posture of the visual label in a geographic coordinate system is obtained; step 3, according to the IMU measurement data, the magnetometer measurement data and the camera image data, according to whether the camera image data detects a visual label, obtaining a rotary table rotation angle of the rotary table in a static state; and step 4, according to the IMU measurement data, the magnetometer measurement data and the camera image data, according to the situation that whether the visual label is detected by the camera image data, obtaining the rotary table rotation angle of the rotary table rotation state. According to the invention, the rotation angle of the rotary table of the portal crane for the port can be measured in real time.
本发明公开了一种港用门座起重机外置式转台转角测量方法及装置,其方法包括:步骤1,在港用门座起重机的转台设置相机、IMU和磁力计、以及在转台周向隔开设置若干视觉标签;步骤2,根据转台处于静止状态的磁力计测量数据、IMU测量数据和视觉标签的图像数据,获取视觉标签在地理坐标系的姿态;步骤3,根据IMU测量数据、磁力计测量数据和相机图像数据,按照相机图像数据是否检测到视觉标签的情形,获取转台静止状态的转台转角;步骤4,根据IMU测量数据、磁力计测量数据和相机图像数据,按照相机图像数据是否检测到视觉标签的情形,获取转台转动状态的转台转角。本发明能够对港用门座起重机的转台转角进行实时测量。
Method and device for measuring rotation angle of external rotary table of portal crane for port
港用门座起重机外置式转台转角测量方法及装置
2023-04-28
Patent
Electronic Resource
Chinese