Method and device for determining inclination angle of lifting hook, hoisting machinery and readable storage medium

The invention relates to the technical field of engineering machinery, and discloses a lifting hook inclination angle determination method and device, hoisting machinery and a readable storage medium, and the lifting hook inclination angle determination method comprises the following steps: obtaining an image including a lifting hook collected by an image collection device; determining image position information of the lifting hook in the image; determining offset position information of the lifting hook relative to the image acquisition device according to the physical parameter information of the image acquisition device, the lowering height of the hoisting mechanism and the image position information; and determining the inclination angle of the lifting hook according to the offset position information and the current lowering height of the hoisting mechanism. According to the lifting hook inclination angle determination method, the lifting hook inclination angle of the hoisting machine is determined throu