The invention relates to a high-precision grab bucket grabbing position control method with radar feedback. The high-precision grab bucket grabbing position control method comprises the following steps of constructing a two-dimensional plane model of a working area according to the working positions of a grab bucket, and positioning each working point of the grab bucket; constructing a three-dimensional model according to lengths, widths and heights of different fermentation pits, and detecting states of compositing in the different fermentation pits; calculating an optimal grabbing route of the grab bucket according to the inner compositing heights of different fermentation pits and a running distance, a running acceleration and a running speed of the grab bucket, and completing one-time grabbing action; and updating the three-dimensional model, repeating the calculation process of the optimal grabbing route, and circularly executing the grabbing action. By using the high-precision grab bucket grabbing position control method with radar feedback, the optimal grabbing route of the grab bucket is calculated by comprehensively considering the height of a material pile, a distance from the material pile to a feeding point, the running acceleration of the grab bucket and the running speed of the grab bucket, the grabbing position is controlled, and the grabbing efficiency is high.

    本发明涉及一种带雷达反馈的高精度抓斗抓取位置控制方法,其包括以下步骤:根据抓斗的工作位置构建工作区域的二维平面模型,对抓斗的每个工作点进行定位;根据不同窖池的长度、宽度及高度构建三维立体模型,对不同窖池内推料的状态进行检测;结合不同窖池的内堆料高度和抓斗的运行距离、运行加速度、运行速度计算抓斗的最佳抓取路线,完成一次抓取动作;更新三维立体模型,重复上述最佳抓取路线的计算过程,循环执行抓取动作。本发明综合考虑料堆的高度、料堆到投料点的距离、以及抓斗的运行加速度和抓斗的运行速度计算抓斗的最佳抓取路线,控制抓取的位置,抓取效率高。


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    Title :

    High-precision grab bucket grabbing position control method with radar feedback


    Additional title:

    一种带雷达反馈的高精度抓斗抓取位置控制方法


    Contributors:
    LI JIE (author) / SHANG HUAZHI (author) / ZHANG CHIZHOU (author) / ZHANG CHENG (author)

    Publication date :

    2022-01-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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