The invention relates to an automatic blind grabbing control system of a ship unloader in rainy and foggy weather. The system comprises a ship unloader positioning system, a 3D laser scanning device, a fog-penetrating camera, a data server and a ship unloader programmable controller. The system is characterized in that a ship unloader programmable controller analyzes grab bucket coordinate information transmitted by a data processing server, and controls lifting, opening and closing and a trolley driver to move a grab bucket to a grab point for closed-loop control and anti-swing operation of the grab bucket in combination with a grab point and a grab bucket moving track model calculated by a system; aiming at the limited sight in foggy days, a strongest echo mode is set through a 3D laser scanning device, and images transmitted by a fog-penetrating camera are combined, so that full-automatic blind capture control in rainy and foggy weather is realized, operation is carried out at the efficiency of 50-60% of normal operation, and low-speed blind capture under limit conditions is realized.
本发明涉及涉及雨雾天气卸船机自动盲抓控制系统,所述系统包括:卸船机定位系统、3D激光扫描装置、透雾摄像机、数据服务器和卸船机可编程控制器;其特征在于,卸船机可编程控制器将所述数据处理服务器传输过来的抓斗坐标信息进行分析结合系统计算给出的抓取点和抓斗运行轨迹模型,控制起升、开闭及小车驱动器将抓斗移至抓取点进行抓斗运行轨迹闭环控制和防摇摆操作,针对雾天视线受限,通过3D激光扫描装置设置最强回波模式,并结合透雾摄像机传输的图像,实现雨雾天气的全自动盲抓控制,以正常作业50‑60%的效率进行作业,实现极限情况下的低速盲抓。
Automatic blind grabbing control system of ship unloader in rainy and foggy weather
雨雾天气卸船机自动盲抓控制系统
2023-06-27
Patent
Elektronische Ressource
Chinesisch
Europäisches Patentamt | 2015
|