The invention relates to a crane hook position sensing and safety early warning method and system, and the method comprises the steps: collecting an image of a crane hook, and carrying out the tracking of the crane hook based on the real-time collected image of the crane hook and a pre-established crane hook template library; constructing a crane operation scene map by adopting an SLAM (Simultaneous Localization and Mapping) technology, and positioning the position of a camera in the map; calculating the distance between the lifting hook and the camera according to a camera imaging principle and a lifting hook tracking result; and obtaining the position of the lifting hook in the map according to the camera positioning result and the distance between the lifting hook and the camera, and carrying out lifting hook collision early warning and lifting hook swinging monitoring according to the lifting hook position. Through the monocular camera and the lifting hook tracking technology, the position of the lifting hook is accurately sensed, and the problem that a 2D camera lacks depth information is solved. And tracking the lifting hook based on a pre-established crane lifting hook template library. And the accuracy of sensing the position of the lifting hook is improved by self-adaptively initializing the characteristics of the lifting hook template.
本发明涉及一种起重机吊钩位置感知和安全预警方法及系统,该方法包括:采集起重机吊钩图像,基于实时采集的起重机吊钩图像和预先建立的起重机吊钩模板库,进行起重机吊钩跟踪;采用SLAM技术构建起重机作业场景地图,在地图中定位相机的位置;根据相机成像原理和吊钩跟踪结果,计算吊钩与相机的距离;根据相机定位结果和吊钩与相机的距离,得到吊钩在地图中的位置,根据吊钩位置进行吊钩碰撞预警和吊钩摆动监测。本发明通过单目相机和吊钩跟踪技术,实现了对吊钩位置的准确感知,避免了2D相机缺乏深度信息的问题。基于预先建立的起重机吊钩模板库,进行吊钩的跟踪。通过自适应的初始化吊钩模板特征,提高了吊钩位置感知的准确性。
Crane hook position sensing and safety early warning method and system
一种起重机吊钩位置感知和安全预警方法及系统
2025-01-07
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
Anti-collision early warning method and system for lifting hook of cable crane
European Patent Office | 2020
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