Spatial Positioning of Overhead Crane Load based on Monocular Vision under Changing Illumination

10.6919/ICJE.202205_8(5).0001

Xianxian Xu；Weimin Xu；Zhiteng You；Qiang Hu；Xinlei Zhu

Overhead Crane ； Illumination Change ； Real-time Tracking ； Image Processing ； Load Detection

International Core Journal of Engineering

8卷5期（2022 / 05 / 01）

1 - 18

英文

A visual hierarchical detection algorithm is proposed in order to solve the problem of tracking drift or failure easily and lower accuracy in the load detection of overhead cranes based on visual detection with illumination change. Firstly, the load position information of the overhead cranes can be obtained by detecting the spherical marker attached on the load, which is insensitive to rotation and tilt. Then, the insensitivity of texture features to light changes is used and an improved mean shift algorithm and circle detection based on sampling of different regions are applied to track continuously and detect spherical markers in real time. Meanwhile, an image processing module is added to eliminate the influence of illumination changes, which can improve the robustness of the algorithm with the changing of illumination. Finally, the real-time swing angle are calculated based on the spatial geometry method. The proposed algorithm is compared and analyzed with the traditional contact method and other visual inspection algorithms. The experimental results show that this method can overcome the shortcomings of traditional encoders of low detection accuracy and dead zone effectively, and meanwhile, the load swing angle and the detection accuracy of the rope length under the change of illumination has been greatly improved and meets the real-time requirements, providing more accurate data for the anti-sway control system of the bridge crane.

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