The invention discloses a method for measuring the swing angle of a hoisted object of a crane based on multi-sensor information fusion, which realizes high-precision measurement of the swing angle of the hoisted object of the crane in a dynamic environment by fusing data of an inertial measurement unit (IMU) and an industrial camera and combining the advantages of the IMU and the industrial camera. Through an IMU swing angle real-time correction mechanism based on a visual swing angle, the accumulative error of the IMU is eliminated, and the precision of the swing angle measurement of the hanging object is ensured. The mechanism can trigger correction in real time in the dynamic swinging process of the object hoisted by the crane, and the reliability, accuracy and real-time performance of the system are greatly improved. A multi-sensor fusion mechanism is adopted, the problems caused by drifting or failure of a single sensor are effectively reduced, and it is ensured that even if visual data are lost or an IMU drifts, the system can still run reliably and output an accurate swing angle result.

    本发明公开了一种基于多传感器信息融合的起重机吊物摆角的测量方法,通过融合惯性测量单元IMU和工业相机的数据,结合两者的优势,在动态环境下实现高精度的起重机吊物摆角测量。通过一种基于视觉摆角的IMU摆角实时修正机制,消除了IMU的累积误差,保证了吊物摆角测量的精度。该机制能够在起重机吊物动态摆动过程中实时触发修正,大幅提高了系统的可靠性、准确性和实时性。采用多传感器融合机制,有效减少了单一传感器因漂移或失效引起的问题,确保即使在视觉数据丢失或IMU出现漂移时,系统依然能够可靠运行并输出准确的摆角结果。


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    Title :

    Method for measuring swing angle of hoisted object of crane based on multi-sensor information fusion


    Additional title:

    基于多传感器信息融合的起重机吊物摆角的测量方法


    Contributors:
    WANG YUEXIN (author) / WANG LI (author) / LI XIAOWEI (author) / PAN AIHUA (author) / WANG PEIJUN (author) / YUAN WEI (author)

    Publication date :

    2025-05-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06V / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B66C Krane , CRANES / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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