CN114408751B - Method and equipment for auxiliary positioning of lifting hook - Google Patents
Method and equipment for auxiliary positioning of lifting hook Download PDFInfo
- Publication number
- CN114408751B CN114408751B CN202111616209.7A CN202111616209A CN114408751B CN 114408751 B CN114408751 B CN 114408751B CN 202111616209 A CN202111616209 A CN 202111616209A CN 114408751 B CN114408751 B CN 114408751B
- Authority
- CN
- China
- Prior art keywords
- hook
- parameters
- real
- lifting hook
- time
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The application aims to provide a method and equipment for auxiliary positioning of a lifting hook, wherein parameters of a camera arranged above a large arm of a tower crane are obtained, and sensor parameters obtained by a sensor at a specified position are obtained; determining a hook position under a real-time hook observation interface according to parameters of the camera, real-time hook observation interface parameters and the sensor parameters by using a preset camera model; and displaying the scale marks of the non-equidistant heights of the lifting hooks and the relevant parameters in the real-time lifting hook observation interface in equal proportion according to the position of the lifting hooks under the real-time lifting hook observation interface. Therefore, the height of the current lifting hook position is accurately measured, the current lifting hook height and a graduated scale under a live-action view field corresponding to the lifting hook height can be intuitively displayed for a remote tower crane driver, and effective driving assistance is provided for the remote tower crane driver.
Description
Technical Field
The application relates to the field of computers, in particular to a method and equipment for auxiliary positioning of a lifting hook.
Background
The existing crane has an irreplaceable effect on the cargo handling matters, the tower crane used on the common construction site usually needs manual operation, a driver operates the lifting hook in the cab to hook up the transported articles to transport to a destination, and long-term driving has a great physical burden on the driver, so that the remote control mode can be used for controlling the tower crane to transport the articles.
The position of the lifting hook is difficult to intuitively feel through a remote interface in the process of remotely operating the tower crane, the measurement accuracy of the position of the lifting hook in the prior art is low, and the display cannot be performed for a remotely operated tower crane driver.
Disclosure of Invention
An object of the application is to provide a lifting hook auxiliary positioning method and device, which solve the problem that in the prior art, the lifting hook height cannot be intuitively displayed for a remote tower crane driver, so that driving is difficult.
According to one aspect of the present application, there is provided a method of hook assisted positioning, the method comprising: a method of hook assisted positioning, the method comprising:
acquiring parameters of a camera arranged above a large arm of the tower crane and acquiring sensor parameters obtained by a sensor at a designated position;
determining a hook position under a real-time hook observation interface according to parameters of the camera, real-time hook observation interface parameters and the sensor parameters by using a preset camera model;
and displaying the scale marks of the non-equidistant heights of the lifting hooks and the relevant parameters in the real-time lifting hook observation interface in equal proportion according to the position of the lifting hooks under the real-time lifting hook observation interface.
Optionally, acquiring the sensor parameters obtained by the sensor at the specified location includes:
and acquiring the height parameter obtained by the height sensor arranged at the large arm and the distance parameter obtained by the distance sensor arranged at the vehicle.
Optionally, determining, using a preset camera model, a hook position under the real-time hook observation interface according to the parameters of the camera, the real-time hook observation interface parameters, and the sensor parameters, including:
determining the vertical distance between the lifting hook and the big arm according to the height parameter, and determining the distance between the vehicle and the frame according to the distance parameter;
and determining the position of the lifting hook under the real-time lifting hook observation interface according to the parameters of the camera, the real-time lifting hook observation interface parameters, the vertical distance between the lifting hook and the big arm and the vehicle distance by using a preset camera model.
Optionally, the real-time hook observation interface parameters include an interface image resolution, and determining, using a preset camera model, a hook position under the real-time hook observation interface according to the parameters of the camera, the real-time hook observation interface parameters, a vertical distance between the hook and the boom, and the vehicle distance includes:
determining a first height value according to the vertical distance between the lifting hook and the big arm, the interface image resolution and the parameters of the camera by using a preset camera model;
and updating the first height value according to the distance between the vehicle and the vertical distance between the lifting hook and the big arm to obtain the position of the lifting hook under the real-time lifting hook observation interface.
Optionally, the parameters of the camera include view angle data, and determining, using a preset camera model, a first height value according to a vertical distance between the hook and the boom, the interface image resolution, and the parameters of the camera includes:
determining a first view angle value above the big arm and a second view angle value below the big arm by using a preset camera model and combining the view angle data;
and determining a first height value according to the first view angle value, the second view angle value, the interface image resolution and the vertical distance between the lifting hook and the large arm.
Optionally, updating the first height value according to the vehicle distance and the vertical distance between the hook and the boom to obtain a hook position under a real-time hook observation interface, including:
determining an included angle value between a lifting hook visual angle and a big arm according to the distance between the vehicle and the vertical distance between the lifting hook and the big arm;
and updating the first height value according to the included angle value between the view angle of the lifting hook and the big arm so as to determine the position of the lifting hook under the real-time lifting hook observation interface.
Optionally, the determining the angle value between the view angle of the lifting hook and the big arm according to the distance between the vehicle and the vertical distance between the lifting hook and the big arm meets the following conditions:
wherein h represents the vertical distance between the lifting hook and the big arm, l represents the vehicle distance, and B represents the angle value between the lifting hook visual angle and the big arm.
Optionally, the interface image resolution includes a pixel height value, and the updating is performed on the first height value according to an included angle value between the hook viewing angle and the big arm to determine that the hook position under the real-time hook observation interface meets the following conditions:
wherein h is 1 And a represents the position of the lifting hook under the observation interface, a represents the angle value of the first view angle, B represents the angle value between the view angle of the lifting hook and the big arm, fov represents the view angle data, and H represents the pixel height value.
According to another aspect of the present application there is also provided an apparatus for hook assisted positioning, the apparatus comprising:
the data acquisition module is used for acquiring parameters of a camera arranged above a large arm of the tower crane and acquiring sensor parameters obtained by a sensor at a designated position;
the data processing module is used for determining the hook position under the real-time hook observation interface according to the parameters of the camera, the real-time hook observation interface parameters and the sensor parameters by using a preset camera model;
and the display module is used for displaying the scale marks of the non-equidistant height of the lifting hook and related parameters in the real-time lifting hook observation interface in equal proportion according to the position of the lifting hook under the real-time lifting hook observation interface.
According to yet another aspect of the present application, there is also provided a computer readable medium having stored thereon computer readable instructions executable by a processor to implement a method as claimed in any one of the preceding claims.
According to yet another aspect of the present application there is also provided an apparatus for hook assisted positioning, the apparatus comprising:
one or more processors; and
a memory storing computer readable instructions that, when executed, cause the processor to perform the operations of the method of any of the preceding claims.
Compared with the prior art, the method and the device have the advantages that parameters of the camera arranged above the large arm of the tower crane are obtained, and sensor parameters obtained by the sensor at the designated position are obtained; determining a hook position under a real-time hook observation interface according to parameters of the camera, real-time hook observation interface parameters and the sensor parameters by using a preset camera model; and displaying the scale marks of the non-equidistant heights of the lifting hooks and the relevant parameters in the real-time lifting hook observation interface in equal proportion according to the position of the lifting hooks under the real-time lifting hook observation interface. Therefore, the height of the current lifting hook position is accurately measured, the current lifting hook height and a graduated scale under a live-action view field corresponding to the lifting hook height can be intuitively displayed for a remote tower crane driver, and effective driving assistance is provided for the remote tower crane driver.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the following drawings, in which:
FIG. 1 illustrates a method flow diagram for hook assisted positioning according to one aspect of the present application;
FIG. 2 is a schematic view of an assembly configuration for hook assisted positioning in an alternative embodiment of the present application;
FIG. 3 illustrates a schematic view of an assisted drive tick mark under a web position in an alternative embodiment of the present application;
FIG. 4 illustrates a schematic view of an assisted drive tick mark under another web position in an alternative embodiment of the present application;
FIG. 5 illustrates a schematic view of an assisted drive tick mark under yet another web position in an alternative embodiment of the present application;
FIG. 6 is a schematic diagram showing an interface for assisting in positioning a hook in an application scenario in an alternative embodiment of the present application;
fig. 7 shows a block diagram of a frame of an apparatus for hook-assisted positioning according to another aspect of the present application.
The same or similar reference numbers in the drawings refer to the same or similar parts.
Detailed Description
The present application is described in further detail below with reference to the accompanying drawings.
In one typical configuration of the present application, the terminal, the device of the service network, and the trusted party each include one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer 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 technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer readable media, as defined herein, does not include non-transitory computer readable media (transmission media), such as modulated data signals and carrier waves.
Fig. 1 shows a schematic flow chart of a method for hook-assisted positioning according to an aspect of the present application, the method comprising: the method comprises the following steps: S100-S300, wherein in S100, parameters of a camera arranged above a large arm of a tower crane are obtained, and sensor parameters obtained by a sensor at a specified position are obtained; in S200, determining a hook position under the real-time hook observation interface according to the parameters of the camera, the real-time hook observation interface parameters and the sensor parameters by using a preset camera model; in S300, according to the hook position under the real-time hook observation interface, the hook height unequally-spaced scale lines and related parameters under the real-time visual angle are displayed in the real-time hook observation interface in equal proportion. Therefore, the height of the current lifting hook position is accurately measured, the current lifting hook height and a graduated scale under a live-action view field corresponding to the lifting hook height can be intuitively displayed for a remote tower crane driver, and effective driving assistance is provided for the remote tower crane driver.
Specifically, in S100, parameters of a camera provided above a boom of a tower crane are acquired, and sensor parameters obtained by a sensor at a specified position are acquired. Here, a monocular spherical camera or a multi-eye spherical camera may be disposed above a tower crane boom of a tower crane (hereinafter referred to as a "tower crane") to realize real-time observation of a current lifting hook of the tower crane and a field driving view, and obtain parameters of the camera, such as resolution of the camera, a maximum angle value of the view, and other view angle data. At this time, in order to be not affected by the complex environment, sensors are provided at some designated positions of the tower crane to obtain a plurality of different sensor parameters of the tower crane, for example, a travel sensor is provided at the trolley to obtain a travel value of the trolley, a distance sensor may be provided on the hook to obtain a vertical distance between the hook and the boom, and so on. All relevant state parameters of the current tower crane can be obtained based on sensor parameters obtained by sensors at the designated positions, so that an auxiliary interface which is convenient for a remote driver to drive the tower crane is built by combining camera parameters.
In S200, determining a hook position under the real-time hook observation interface according to the parameters of the camera, the real-time hook observation interface parameters and the sensor parameters by using a preset camera model. The real-time hook observation interface parameter can be the resolution of the imaging of the observation interface, accurate hook height data is determined according to the parameters of the camera and the sensor parameters, and the real-time hook observation interface parameter is combined so as to be convenient for displaying the imaging position of the current hook at the hook height in an equal proportion on the observation interface.
In S300, according to the hook position under the real-time hook observation interface, the hook height unequally-spaced scale lines and related parameters under the real-time visual angle are displayed in the real-time hook observation interface in equal proportion. The hook height in the real-time view angle and the position of the hook in the view angle imaging interface are combined to form hook height unequally-spaced scale marks, so that scales on the hook height scale marks in the observation interface conform to objective observation rules of the near and far of a driver in the tower crane observation position, the driver can be assisted in long-distance driving, and the moving path of the hook can be prejudged according to the provided hook height scale marks for reaching the next hook height, and long-distance driving assistance for the tower crane driver is realized.
In an alternative embodiment of the present application, in S100, a height parameter obtained by a height sensor disposed at the boom is obtained, and a distance parameter obtained by a distance sensor disposed at the vehicle is obtained. Here, the height sensor may be disposed at the boom to acquire a vertical distance between the hook and the boom, and the distance sensor may be disposed at the spoke to acquire a boom length between the spoke and the hook, and record the boom length between the spoke and the hook as the spoke distance.
In an optional embodiment of the present application, in S200, determining a vertical distance between the hook and the boom according to the height parameter, and determining a vehicle distance according to the distance parameter; and determining the position of the lifting hook under the real-time lifting hook observation interface according to the parameters of the camera, the real-time lifting hook observation interface parameters, the vertical distance between the lifting hook and the big arm and the vehicle distance by using a preset camera model. The lifting hook position is a lifting hook position in a picture seen during remote driving, an actual lifting hook height value is determined after calculation is performed according to parameters of a camera, the vertical distance between the lifting hook and the big arm and the vehicle distance based on a preset camera model, the lifting hook position under a real-time lifting hook observation interface is calculated by combining real-time lifting hook observation interface parameters, and the positioning accuracy of the lifting hook is improved.
In an optional embodiment of the present application, in S200, the real-time hook observation interface parameter includes an interface image resolution, and a preset camera model is used to determine a first height value according to a vertical distance between the hook and the boom, the interface image resolution, and the parameters of the camera; and updating the first height value according to the distance between the vehicle and the vertical distance between the lifting hook and the big arm to obtain the position of the lifting hook under the real-time lifting hook observation interface. The real-time interface image resolution is the imaging resolution for observing the current tower crane driving visual field interface when the tower crane driver remotely drives. And determining a first height value according to the vertical distance between the lifting hook and the big arm, the interface image resolution and the parameters of the camera by using a preset camera model, for example, determining the visual angle data of the camera according to the parameters of the camera, determining a visual angle threshold value, and calculating to obtain the first height value based on the combination of the visual angle threshold value and the included angle of the big arm, the vertical distance between the lifting hook and the big arm and the interface image resolution. Because the vehicle can move in real time, a new vehicle distance is obtained after the movement, and the first height value can be updated according to the new vehicle distance and the vertical distance between the lifting hook and the large arm to obtain the lifting hook position under the real-time lifting hook observation interface so as to dynamically present the accurate lifting hook position in real time.
In an optional embodiment of the present application, in S200, the parameters of the camera include view angle data, and a preset camera model is used to determine a first view angle value above the boom and a second view angle value below the boom in combination with the view angle data; and determining a first height value according to the first view angle value, the second view angle value, the interface image resolution and the vertical distance between the lifting hook and the large arm. The viewing angle data is herein the viewing angle threshold, i.e. the maximum field of view that can be observed by the camera. And determining an included angle value generated by the limiting view line and the large arm above the large arm according to the upper limit of the view angle threshold under the current view angle by using a preset camera model, namely a first view angle value, and determining an included angle value generated by the limiting view line and the large arm below the large arm according to the lower limit of the view angle threshold under the current view angle, namely a second view angle value. Inputting the first view angle value, the second view angle value, the interface image resolution and the vertical distance between the lifting hook and the large arm into a preset camera model for calculation to determine a first height value, wherein the first height value can be used as an initial height value of the lifting hook under a real-time lifting hook observation interface, and after the subsequent vehicle distance changes, a dynamic lifting hook position under the real-time lifting hook observation interface is obtained by using new vehicle distance update based on the initial height value.
In an optional embodiment of the present application, in S200, an angle value between a view angle of the hook and the boom is determined according to the distance between the vehicle and the vertical distance between the hook and the boom; and updating the first height value according to the included angle value between the view angle of the lifting hook and the big arm so as to determine the position of the lifting hook under the real-time lifting hook observation interface. When a new changed distance between the vehicle and the large arm is obtained, a new angle value between a view angle of the lifting hook and the large arm is determined according to the new distance between the vehicle and the vertical distance between the lifting hook and the large arm, and the first height value is updated according to the new angle value between the view angle of the lifting hook and the large arm to determine the position of the lifting hook under a real-time lifting hook observation interface.
In an optional embodiment of the present application, in S200, the angle value between the view angle of the hook and the boom is determined to satisfy the following condition according to the distance between the vehicle and the hook and the perpendicular distance between the hook and the boom:
wherein h represents the vertical distance between the lifting hook and the big arm, l represents the vehicle distance, and B represents the angle value between the lifting hook visual angle and the big arm. Here, the ratio of the vertical distance between the hook and the boom to the vehicle distance can be calculated based on the arctangent function to obtain the angle value between the hook view angle and the boom, wherein the hook view angle is the linear line of sight of the camera and the hook.
In an optional embodiment of the present application, in S200, the interface image resolution includes a pixel height value, and the first height value is updated according to an included angle value between the hook viewing angle and the boom to determine that the hook position under the real-time hook observation interface meets the following conditions:
wherein h is 1 Representing the position of the lifting hook under the observation interface, a representing the angle value of the first view angle, B representing the angle value between the view angle of the lifting hook and the big arm, fov representing the angle value of the lifting hookViewing angle data, H, represents the pixel height value. Here, the hook position under the real-time hook observation interface may be obtained based on the product of the ratio of the sum of the first angle value of view and the angle value between the hook angle and the boom and the angle value corresponding to the angle value of view data multiplied by the pixel height value.
Fig. 2 shows a schematic diagram of an assembly structure for auxiliary positioning of a hook in an alternative embodiment of the present application, where S identifies a camera, C identifies a vehicle, X identifies a boom, D identifies a hook, fov identifies a view angle range of a current camera, a identifies a first view angle value, B identifies an angle value between a view angle of the hook and the boom, h identifies a vertical distance between the hook and the boom, and l identifies a vehicle distance. Here, l is acquired by a distance sensor, h is acquired by a height sensor, fov is determined based on different camera models, and then B can be determined by:
in the above embodiment, assuming that the resolution of the image is H×W, the height of the position of the hook in the image is H 1 H can be determined as follows 1 ：
When the position of the web position is not changed, according to h 1 A base tick mark for assisting driving may be determined, and the base tick mark does not change. When the position of the web position changes, the basic graduation line also changes, and the updated B is used for updating h 1 And (3) obtaining a scale mark for real-time auxiliary driving, and improving the accuracy of auxiliary positioning of the lifting hook. Fig. 3 shows a schematic view of an auxiliary driving graduation under one of the vehicle positions in an alternative embodiment of the present application, fig. 4 shows a schematic view of an auxiliary driving graduation under another of the vehicle positions in an alternative embodiment of the present application, and fig. 5 shows an auxiliary driving graduation under still another of the vehicle positions in an alternative embodiment of the present applicationDriving scale line schematic diagram. The distance between the vehicles is l-1 in FIG. 3, l-2 in FIG. 4, and l-3 in FIG. 5, where (l-1)<(l-2)<(l-3), S all marks the camera, C all marks the car, X all marks the suspension arm, D all marks the lifting hook, then when the distance of the car is changed from l-1 to l-2 to l-3, namely when the car translates to the tip of the big arm, the basic scale mark for assisting driving displayed on the screen of the driver translates upwards, and scales of three distances, namely n1, n2 and n3, in the figures 3, 4 and 5, translate upwards as a whole due to the translation of the car to the tip of the big arm. When the distance between the vehicle and the large arm is unchanged and the large arm rotates, the basic scale line of the large arm is unchanged.
Fig. 6 shows an interface display schematic diagram of hook auxiliary positioning in an actual application scenario in an alternative embodiment of the present application, where hook height non-equidistant graduation lines under a real-time view angle are generated and displayed in a moderate proportion in the interface, and related parameters of tower crane operation, such as lifting weight, lifting moment, amplitude of a crane, hook height, boom angle, on-site wind speed, on-site wind direction, maintenance record, etc., may be displayed, and the above information data are integrated in the real-time hook observation interface to efficiently and accurately perform driving assistance for a remote tower crane driver. Based on the generation mode of the scale marks for real-time driving assistance, the scale marks with different heights from the lifting hook displayed in real-time equal proportion can be obtained, visual driving assistance is realized, and the use experience of a remote driver is greatly improved.
Embodiments of the present application also provide a computer readable medium having stored thereon computer readable instructions executable by a processor to implement a method of hook assisted positioning as described above.
Corresponding to the above-described method, the present application further provides a terminal, which includes modules or units capable of performing the above-described method steps described in fig. 1 or fig. 2 or fig. 3 or fig. 4 or fig. 5 or fig. 6 or each embodiment, where the modules or units may be implemented by hardware, software or a combination of hardware and software, and the present application is not limited thereto. For example, in an embodiment of the present application, there is also provided an apparatus for hook-assisted positioning, where the apparatus includes:
one or more processors; and
a memory storing computer readable instructions that, when executed, cause the processor to perform the operations of the one hook assist positioning method described above.
For example, computer-readable instructions, when executed, cause the one or more processors to:
acquiring parameters of a camera arranged above a large arm of the tower crane and acquiring sensor parameters obtained by a sensor at a designated position; determining a hook position under a real-time hook observation interface according to parameters of the camera, real-time hook observation interface parameters and the sensor parameters by using a preset camera model; and displaying the scale marks of the non-equidistant heights of the lifting hooks and the relevant parameters in the real-time lifting hook observation interface in equal proportion according to the position of the lifting hooks under the real-time lifting hook observation interface.
Fig. 7 shows a construction diagram of a frame of an apparatus for hook-assisted positioning according to another aspect of the present application, the apparatus comprising: the data acquisition module 100 is used for acquiring parameters of a camera arranged above a large arm of the tower crane and acquiring sensor parameters obtained by a sensor at a designated position; the data processing module 200 is configured to determine a hook position under the real-time hook observation interface according to the parameters of the camera, the real-time hook observation interface parameters and the sensor parameters by using a preset camera model; and the display module 300 is used for displaying the scale marks of the non-equidistant height of the lifting hook and related parameters in the real-time visual angle in the real-time lifting hook observation interface according to the position of the lifting hook in the real-time lifting hook observation interface. Therefore, the height of the current lifting hook position is accurately measured, the current lifting hook height and a graduated scale under a live-action view field corresponding to the lifting hook height can be intuitively displayed for a remote tower crane driver, and effective driving assistance is provided for the remote tower crane driver.
It should be noted that, the contents executed by the data acquisition module 100, the data processing module 200, and the display module 300 are the same as or corresponding to the contents in the steps S100, S200, and S300, and are not described herein for brevity.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the spirit or scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims and the equivalents thereof, the present application is intended to cover such modifications and variations.
It should be noted that the present application may be implemented in software and/or a combination of software and hardware, for example, using Application Specific Integrated Circuits (ASIC), a general purpose computer or any other similar hardware device. In one embodiment, the software programs of the present application may be executed by a processor to implement the steps or functions as described above. Likewise, the software programs of the present application (including associated data structures) may be stored on a computer readable recording medium, such as RAM memory, magnetic or optical drive or diskette and the like. In addition, some steps or functions of the present application may be implemented in hardware, for example, as circuitry that cooperates with the processor to perform various steps or functions.
Furthermore, portions of the present application may be implemented as a computer program product, such as computer program instructions, which when executed by a computer, may invoke or provide methods and/or techniques in accordance with the present application by way of operation of the computer. Program instructions for invoking the methods of the present application may be stored in fixed or removable recording media and/or transmitted via a data stream in a broadcast or other signal bearing medium and/or stored within a working memory of a computer device operating according to the program instructions. An embodiment according to the present application comprises an apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to operate a method and/or a solution according to the embodiments of the present application as described above.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is evident that the word "comprising" does not exclude other elements or steps, and that the singular does not exclude a plurality. A plurality of units or means recited in the apparatus claims can also be implemented by means of one unit or means in software or hardware. The terms first, second, etc. are used to denote a name, but not any particular order.
Claims (11)
1. A method of hook assisted positioning, the method comprising:
acquiring parameters of a camera arranged above a large arm of the tower crane and acquiring sensor parameters obtained by a sensor at a designated position;
determining a hook position under a real-time hook observation interface according to parameters of the camera, real-time hook observation interface parameters and the sensor parameters by using a preset camera model;
and displaying the scale marks of the non-equidistant heights of the lifting hooks and the relevant parameters in the real-time lifting hook observation interface in equal proportion according to the position of the lifting hooks under the real-time lifting hook observation interface.
2. The method of claim 1, wherein obtaining sensor parameters obtained by sensors at specified locations comprises:
and acquiring the height parameter obtained by the height sensor arranged at the large arm and the distance parameter obtained by the distance sensor arranged at the vehicle.
3. The method of claim 2, wherein determining the hook position under the real-time hook viewing interface from the parameters of the camera, the real-time hook viewing interface parameters, and the sensor parameters using a pre-set camera model comprises:
determining the vertical distance between the lifting hook and the big arm according to the height parameter, and determining the distance between the vehicle and the frame according to the distance parameter;
and determining the position of the lifting hook under the real-time lifting hook observation interface according to the parameters of the camera, the real-time lifting hook observation interface parameters, the vertical distance between the lifting hook and the big arm and the vehicle distance by using a preset camera model.
4. The method of claim 3, wherein the real-time hook viewing interface parameters include interface image resolution, determining a hook position under the real-time hook viewing interface from the parameters of the camera, the real-time hook viewing interface parameters, the vertical distance between the hook and the boom, and the web distance using a preset camera model, comprising:
determining a first height value according to the vertical distance between the lifting hook and the big arm, the interface image resolution and the parameters of the camera by using a preset camera model;
and updating the first height value according to the distance between the vehicle and the vertical distance between the lifting hook and the big arm to obtain the position of the lifting hook under the real-time lifting hook observation interface.
5. The method of claim 4, wherein the parameters of the camera include perspective data, and wherein determining the first height value from the vertical distance between the hook and the boom, the interface image resolution, and the parameters of the camera using a preset camera model comprises:
determining a first view angle value above the big arm and a second view angle value below the big arm by using a preset camera model and combining the view angle data;
and determining a first height value according to the first view angle value, the second view angle value, the interface image resolution and the vertical distance between the lifting hook and the large arm.
6. The method of claim 5, wherein updating the first height value based on the web distance and the vertical distance between the hook and the boom to obtain a hook position under a real-time hook viewing interface comprises:
determining an included angle value between a lifting hook visual angle and a big arm according to the distance between the vehicle and the vertical distance between the lifting hook and the big arm;
and updating the first height value according to the included angle value between the view angle of the lifting hook and the big arm so as to determine the position of the lifting hook under the real-time lifting hook observation interface.
7. The method of claim 6, wherein the determining the angle value between the angle of view of the hook and the boom from the web distance and the perpendicular distance between the hook and the boom satisfies the following condition:
wherein h represents the vertical distance between the lifting hook and the big arm, l represents the vehicle distance, and B represents the angle value between the lifting hook visual angle and the big arm.
8. The method of claim 7, wherein the interface image resolution comprises a pixel height value, and wherein the updating of the first height value based on the angle value between the hook angle and the boom determines that the hook position under the real-time hook observation interface satisfies the following condition:
wherein H1 represents a hook position under the observation interface, a represents the first view angle value, B represents an included angle value between the hook view angle and the forearm, fov represents the view angle data, and H represents the pixel height value.
9. An apparatus for hook assisted positioning, the apparatus comprising:
the data acquisition module is used for acquiring parameters of a camera arranged above a large arm of the tower crane and acquiring sensor parameters obtained by a sensor at a designated position;
the data processing module is used for determining the hook position under the real-time hook observation interface according to the parameters of the camera, the real-time hook observation interface parameters and the sensor parameters by using a preset camera model;
and the display module is used for displaying the scale marks of the non-equidistant height of the lifting hook and related parameters in the real-time lifting hook observation interface in equal proportion according to the position of the lifting hook under the real-time lifting hook observation interface.
10. A computer readable medium having stored thereon computer readable instructions executable by a processor to implement the method of any of claims 1 to 8.
11. An apparatus for hook assisted positioning, the apparatus comprising:
one or more processors; and
a memory storing computer readable instructions that, when executed, cause the processor to perform the operations of the method of any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111616209.7A CN114408751B (en) | 2021-12-27 | 2021-12-27 | Method and equipment for auxiliary positioning of lifting hook |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111616209.7A CN114408751B (en) | 2021-12-27 | 2021-12-27 | Method and equipment for auxiliary positioning of lifting hook |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114408751A CN114408751A (en) | 2022-04-29 |
| CN114408751B true CN114408751B (en) | 2023-05-30 |
Family
ID=81268660
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111616209.7A Active CN114408751B (en) | 2021-12-27 | 2021-12-27 | Method and equipment for auxiliary positioning of lifting hook |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114408751B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114803832B (en) * | 2022-04-22 | 2023-02-03 | 中联重科股份有限公司 | Positioning method of lifting hook, processor, lifting equipment and storage medium |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2899496B1 (en) * | 2012-09-21 | 2020-03-04 | Tadano Ltd. | Periphery-information acquisition device for vehicle |
| JP6631023B2 (en) * | 2015-03-24 | 2020-01-15 | 株式会社タダノ | Image display device |
| CN105035980A (en) * | 2015-08-10 | 2015-11-11 | 湖南科技大学 | Safety monitoring and protecting system of tower crane |
| CN105600693B (en) * | 2016-03-16 | 2017-09-26 | 成都科达光电技术有限责任公司 | A kind of monitoring system of derrick crane |
| CN205740108U (en) * | 2016-05-13 | 2016-11-30 | 徐州曼特电子有限公司 | The visual backup actuating device of crane hook |
| CN106927357B (en) * | 2017-03-03 | 2018-11-06 | 合肥工业大学 | Tower crane lift hook safe condition monitoring device and control method |
| CN110555913B (en) * | 2019-08-27 | 2023-04-14 | 正知（上海）智能技术有限公司 | Virtual imaging method and device based on industrial human-computer interface |
-
2021
- 2021-12-27 CN CN202111616209.7A patent/CN114408751B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN114408751A (en) | 2022-04-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR102399630B1 (en) | Method and apparatus for determining position and orientation of bucket of excavator | |
| US9766336B2 (en) | Vehicle obstruction detection | |
| CN104406581B (en) | Robot system and map updating method | |
| DE102019201522A1 (en) | Compensation of distortion in an electromagnetic tracking system | |
| JP6591131B1 (en) | Structure measuring apparatus and structure measuring method | |
| CN109084782A (en) | Lane line map constructing method and building system based on camera sensing device | |
| CN110658503B (en) | Method and device for correcting measurement angle of radar | |
| CN113933818A (en) | Method, device, storage medium and program product for calibrating laser radar external parameter | |
| CN114408751B (en) | Method and equipment for auxiliary positioning of lifting hook | |
| CN110849363B (en) | Pose calibration method, system and medium for laser radar and combined inertial navigation | |
| CN108982116B (en) | Transport vehicle and chassis parameter calibration method, device and computer readable medium thereof | |
| CN112146682B (en) | Sensor calibration method and device for intelligent automobile, electronic equipment and medium | |
| CN110379044B (en) | Method and device for compensating motion error | |
| CN111796665B (en) | Correction of distortion | |
| CN117824667B (en) | Fusion positioning method and medium based on two-dimensional code and laser | |
| CN117541655B (en) | Method for eliminating radar map building z-axis accumulated error by fusion of visual semantics | |
| CN109506617B (en) | Sensor data processing method, storage medium, and electronic device | |
| CN114638419A (en) | Method and equipment for predicting object track of tower crane | |
| JP2610998B2 (en) | Drawing method of car navigation system | |
| CN117313828A (en) | Migration method, device, equipment and medium of perception model | |
| CN114913500B (en) | Pose determination method and device, computer equipment and storage medium | |
| WO2021024665A1 (en) | Information processing system, information processing device, and information processing method | |
| CN112987010A (en) | System and method for multi-radar mapping of robot | |
| KR102592085B1 (en) | Ab driving guidance line shift system for precision autonomous driving of agricultural vehicles and operation method thereof | |
| CN112578363A (en) | Laser radar motion track obtaining method and device and medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Cheng Kaiqiang Inventor after: Xia Mingyu Inventor after: Yan Huijiang Inventor after: Zhang Xiaodong Inventor after: Liu Shuxin Inventor before: Chen Kaiqiang Inventor before: Xia Mingyu Inventor before: Yan Huijiang Inventor before: Zhang Xiaodong Inventor before: Liu Shuxin |