The invention discloses a remote control method for grabbing of a garbage crane. The problems that in the prior art, garbage hoisting operation is manually controlled, the personnel operation uncertainty and the technical level are uneven, the feeding garbage mixing and fermentation degree is affected, and the garbage combustion efficiency is low are solved. The method comprises the following steps: acquiring site point cloud data, and splicing point clouds of all scanners; performing grid division on the surface of the point cloud to obtain geographic coordinates; calculating the slope of a material taking point and a nearby grid point, and selecting a flat material taking point; acquiring a grab bucket position, and separating grab bucket point cloud data from the field point cloud data; obtaining grab bucket edge point cloud, and separating left and right contours; calculating the inclination angle of the grab bucket; judging the balance state of the grab bucket according to the inclination angle of the grab bucket, and performing overturning protection. Full-automatic control over the garbage crane is achieved, the safe grabbing point of the grab bucket of the garbage crane is automatically recognized and obtained, the inclination angle of the grab bucket is automatically monitored in the grabbing process, and the overturning danger caused by the too large inclination angle is prevented.
本发明一种垃圾吊抓料远程控制方法。解决现有技术中垃圾吊操作由人工控制,人员操作不确定性和技术水平参差不齐,影响上料垃圾混合和发酵程度,导致垃圾燃烧效率低的问题。方法包括获取场地点云数据,对各扫描仪点云进行拼接;对点云表面进行网格划分,获取地理坐标;计算取料点与附近网格点的斜率,选取平坦的取料点;获取抓斗位置,从场地点云数据中分离获得抓斗点云数据;获取抓斗边缘点云,分离出左右轮廓;计算抓斗倾斜角度;根据抓斗倾斜角度判断抓斗平衡状态,进行倾覆保护。本发明实现了垃圾吊的全自动控制,自动识别和取得垃圾吊抓斗安全抓料点,在抓料过程中自动监测抓斗的倾斜角度,防止倾角过大发生倾覆危险。
Remote control method for grabbing of garbage crane
一种垃圾吊抓料远程控制方法
2023-06-16
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
European Patent Office | 2023
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