Positioning method based on automatic lifting hook system

Abstract

The invention relates to a positioning method based on an automatic lifting hook system. The method is the positioning method based on the automatic lifting hook system combining ultrasonic ranging and machine vision. The automatic lifting hook system is designed, and therefore accurate positioning of a lifting hook positioning point and a load positioning point is achieved. Z-direction positioning is achieved through an ultrasonic ranging method. A sensor is connected with a lifting hook main controller, the lifting hook main controller sends out a ranging command, a timer obtains the return time of ultrasonic waves, and the system calculates the distance H of a lifting hook in the Z direction. A visual positioning method is adopted to achieve positioning in the X direction and the Y direction. A visual positioning algorithm is designed by using load information in a known scene, expected positional information for work of the lifting hook system serves as a reference road sign, a road sign database is built to serve as reference conditions, real-time images and video information are subject to object identification and feature matching treatment, relative positional information needed by the lifting hook system is obtained, and accurate positioning of the lifting hook in the X direction and the Y direction is achieved.

Description

technical field [0001] The invention belongs to the technical field of construction machinery, and in particular relates to a positioning method for the application of an automatic hook system for lifting equipment. Background technique [0002] In order to complete the automatic operation task of the automatic hook system, the relative position of the load and the hook is determined by the combination of the hook positioning point and the lifting ring positioning point. The positioning of the hook and the lifting ring needs to meet a certain positioning accuracy, otherwise the automatic hook system cannot work normally. . There are GPS and cellular wireless positioning in the outdoor environment, and the positioning accuracy is 5 meters and 150 meters respectively. The positioning in the indoor environment mainly adopts optical, A-GPS, infrared, ultrasonic, RFID, WIFI and other technologies. The positioning accuracy of RFID technology is related to the distribution number...

AI Technical Summary

Problems solved by technology

Since the hook and its surroundings are made of ferromagnetic materials, it seriously interferes with the positioning and capture operation of the sling position, resulting in inaccurate positioning

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