The invention discloses an intelligent pile breaking method based on a laser radar, and belongs to the field of wine brewing, and the method comprises the steps: carrying out the overall scanning of a material pile through the laser radar, and obtaining the overall point cloud data of the material pile; a material pile is divided into 1-K layers and (K + 1)-N layers in the height direction, the grabbing coordinate and the grabbing height of each layer are planned, the grabbing frequency is reduced, and the situation that in the grabbing process of the (K + 1)-N layers, the grab bucket is abraded and the ground is damaged due to the fact that the contact force between the grab bucket and the ground is too large is avoided; and by arranging the overlapping area, deformation caused by grabbing and extruding of the material pile is avoided.
本发明公开了一种基于激光雷达的智能破堆方法,属于酿酒领域,通过采用激光雷达对料堆进行整体扫描,获取料堆整体的点云数据;将料堆沿高度方向分为1‑K层和K+1至N层,规划每一层的抓取坐标和抓取高度,减少抓取次数并且避免K+1至N层抓取过程中,抓斗与地面接触力过大导致抓斗磨损以及地面损坏;通过设置重叠区域,避免料堆抓取挤压导致的形变。
Intelligent pile breaking method based on laser radar
一种基于激光雷达的智能破堆方法
2024-04-02
Patent
Elektronische Ressource
Chinesisch
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