The embodiment of the invention relates to the technical field of mechanical motion control, and discloses a load anti-swing control method and system, and the method comprises the steps: recognizing the point cloud feature data information of a target object from a scanning image; performing point cloud recombination, data cutting, data grouping and feature screening on the point cloud feature data information in sequence to obtain a target model of the target object; taking the specified coordinate system as a reference object, and calculating a two-dimensional included angle value between the target model and the specified coordinate system; detecting whether the two-dimensional included angle value exceeds a specified threshold value or not; if yes, obtaining a deviation value between the two-dimensional included angle value and a specified threshold value; controlling the lifting appliance to perform corresponding deviation action according to the deviation value; and controlling the lifting appliance to execute the placement task. By implementing the embodiment of the invention, the deflection angle of the load can be effectively controlled, and accurate positioning of the load is realized.

    本发明实施例涉及机械运动控制技术领域,公开了一种负载防摇摆控制方法及控制系统,该方法包括:从扫描图像中识别出目标物体的点云特征数据信息;对点云特征数据信息依次进行点云重组、数据切割、数据分组和特征筛选的处理,以获得目标物体的目标模型;以指定坐标系为参照物,计算出目标模型与指定坐标系的二维夹角值;检测二维夹角值是否超过指定阈值;若是,获取二维夹角值与指定阈值的偏离值;控制吊具按照偏离值进行相应的偏离动作;控制吊具执行放置任务。实施本发明实施例,能够有效控制负载偏摆角度,实现负载的精确定位。


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    Titel :

    Load anti-swing control method and control system


    Weitere Titelangaben:

    一种负载防摇摆控制方法及控制系统


    Beteiligte:
    KWAK YOUNG-WOO (Autor:in) / LIU JIE (Autor:in)

    Erscheinungsdatum :

    2023-03-14


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B66C Krane , CRANES / G06V



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