Crane hook positioning method, device and system and engineering machinery

An embodiment of the invention provides a crane hook positioning method, device and system and engineering machinery, and belongs to the technical field of crane automatic control. The method comprises the steps that current state information and a first image of a crane are obtained; a hoisting path is determined according to the current state information and the relative position, determined according to the first image, between a hook and a target to be positioned; and the crane is controlled to execute hook positioning according to the hoisting path. According to the crane hook positioningmethod, device and system and the engineering machinery, an image under a hoisting arm is collected in real time, the target is extracted based on image processing, three-dimensional coordinates of the hook, a hoisted object and a target site are obtained, and therefore the position relation among the hook, the hoisted object and the target site is determined; and hoisting path planning and hoisting operation are achieve