The invention discloses a crane sling control method and device and electronic equipment, and relates to the field of hoisting machinery. The method comprises the following steps: acquiring an image sequence of a lifting appliance; performing feature extraction and target detection on each image to obtain pixel coordinates at two ends of the lifting appliance; calculating the inclination angle of the lifting appliance in each image to obtain a swinging angle sequence; judging whether the lifting appliance is in an abnormal swinging state or not, and determining a target swinging angle from the swinging angle sequence; if it is determined that the lifting appliance is in the abnormal swing state, the swing angle difference value of the target swing angle relative to the preset swing angle range is calculated; according to the swing angle difference value, compensation force is generated and applied to the lifting appliance, and the compensation direction of the compensation force is opposite to the swing direction of the lifting appliance. According to the technical scheme, the compensation force is automatically generated according to the swing angle difference value, abnormal swing of the lifting appliance is restrained, and the safety of lifting operation is improved.
一种行车的吊具控制方法、装置及电子设备,涉及起重机械领域。在该方法中,获取吊具的图像序列;对各个图像进行特征提取和目标检测,得到吊具两端的像素坐标;计算吊具在各个图像内的倾斜角度,得到摆动角度序列;判断吊具是否处于异常摆动状态,并从摆动角度序列中确定目标摆动角度;若确定吊具处于异常摆动状态,则计算目标摆动角度相对于预设摆动角度范围的摆动角度差值;根据摆动角度差值,生成补偿力,并对吊具施加补偿力,补偿力的补偿方向与吊具的摆动方向相反。实施本申请提供的技术方案,根据摆动角度差值自动生成补偿力,抑制吊具的异常摆动,提高了起重作业的安全性。
Lifting appliance control method and device of travelling crane and electronic equipment
一种行车的吊具控制方法、装置及电子设备
29.04.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B66C Krane , CRANES |
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