Position-pose measurement of crane sway based on monocular vision

Abstract

The method of spatial positioning and pose measurement using computer vision have been widely used in satellite docking, motion control systems, navigation and guidance areas. A monocular vision measurement method of the telescope's spatial pose based on infrared target was proposed for the crane sway during industrial driving. An experimental system for monocular vision measurement of the crane spreader was established. Through the corresponding relationship between the geometric position of the infrared light spots and the imaging projection, the non-linear optimisation iterative method was used to solve the spatial pose parameters that were converted into four spreader model parameters. The system was measured under static conditions and dynamic pendulum for accuracy and real-time analysis. The experimental results show that the system can meet the real time and accuracy requirements of the spatial pose measurement of the crane sway.

Keywords

• cranes
• position measurement
• computer vision
• iterative methods
• computerised instrumentation
• infrared imaging
• nonlinear programming
• pendulums
• mechanical engineering computing
• monocular vision measurement method
• infrared target
• crane sway
• industrial driving
• crane spreader
• geometric position
• infrared light spots
• nonlinear optimisation iterative method
• spatial pose parameters
• spreader model parameters
• position-pose measurement
• spatial positioning
• computer vision