Research on visual detection method of load swing angle of bridge crane

In order to improve the accuracy of load positioning control of overhead cranes and solve the problem of insufficient control accuracy due t1 o wire rope flexibility and motion changes, most of the existing systems use open-loop control, which is difficult to realize high-precision control, and it is necessary to use closed-loop control based on detecting the swing angle of the wire rope in order to realize accurate control. This paper adopts the visual detection method, through the industrial monocular camera to collect the load image, combined with the camera imaging model to calculate the load offset, and use the encoder to obtain the rope length data to determine the height information between the camera and the load. Based on the geometric relationship between the crane trolley, camera and load, the load displacement and pendulum angle calculation model is established. On this basis, the mathematical model of load pendulum angle is constructed, and accurate pendulum angle detection is realized. A visual measurement system is built, and the effectiveness of the proposed method is verified by static and dynamic load pendulum angle measurement experiments, which are compared with the simulation model and the measurement method based on background modeling.