The invention provides a crane lifting hook positioning and anti-swing device, and belongs to the technical field of intelligent cranes. The crane lifting hook positioning and anti-swing device comprises a monocular camera, a control unit and an ArUco two-dimensional code, wherein the monocular camera and the control unit are fixedly mounted on a cross beam of a gantry crane, and the ArUco two-dimensional code is adhered to the upper surface of a lifting hook; the control unit is further connected with a trolley or an electric hoist for controlling the lifting hook to move; the control unit receives images shot by the monocular camera in real time and carries out lifting hook posture calculation; the lifting hook posture comprises the lifting hook Euler angle, the lifting hook rope length, the lifting hook speed and the accelerated speed; and when the lifting hook posture exceeds a safety threshold value, the control unit starts an anti-swing function and outputting a control instruction to the trolley or the electric hoist, so that the motion state of the lifting hook is recovered to a safe operation parameter range. According to the invention, the monitoring of the rolling angle of the lifting hook is realized through the monocular camera and the ArUco two-dimensional code detection technology; and compared with the prior art, the invention is simpler, more flexible, low in cost and higher in positioning precision, and can reduce the swinging of the lifting hook, so that the lifting process is safer.

    本发明提出一种起重机吊钩定位及防摇装置,属于智能起重机技术领域。包括:固定安装在桥门式起重机横梁上的单目相机和控制单元,黏贴在吊钩上表面的ArUco二维码;控制单元还连接控制吊钩运动的小车或电葫芦,控制单元接收单目相机实时拍摄的图像,进行吊钩姿态结算,吊钩姿态包括吊钩欧拉角、吊钩绳长、吊钩速度和加速度,当吊钩姿态超出安全阈值时,控制单元启动防摇摆功能,输出控制指令给小车或电葫芦,使得吊钩运动状态恢复到安全作业参数范围内。本发明通过单目相机和ArUco二维码检测技术实现对吊钩翻滚角的监控,与现有技术相比更简单、灵活、成本低且拥有较高的定位精度,能减少吊钩的摇摆,使吊运过程更安全。


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    Title :

    Crane lifting hook positioning and anti-swing device


    Additional title:

    一种起重机吊钩定位及防摇装置


    Contributors:
    ZONG YI (author) / DUAN ZHICHAO (author)

    Publication date :

    2021-08-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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