CRANE HOOK POSITIONING METHOD, APPARATUS AND SYSTEM, AND ENGINEEREING MACHINERY

A crane hook positioning method, apparatus and system, and a piece of engineering machinery. The method comprises: acquiring current state information and a first image of a crane; determining a hoisting path according to the current state information and the relative positions of a hook and a target to be positioned, which relative positions are determined according to the first image; and controlling the crane to execute hook positioning according to the hoisting path. In the method, an image of directly beneath a lifting arm is collected in real time, and a target is extracted by means of image processing to obtain three-dimensional coordinates of a hook, a hoisted object and a target in-position point, so as to determine the positional relationship between the hook, the hoisted object and the target in-position point; and hoisting path planning and hoisting work are realized according to current state information of a crane, such that the real-time tracking and automatic positioning of the hook and other