The invention provides a grab ship unloader accurate positioning system which comprises a mechanism positioning unit, a grab pose detection unit, a scanning recognition unit and a data acquisition unit. The mechanism positioning unit is used for carrying out trolley position value calibration by arranging a laser ranging device on a trolley mechanism and carrying out cab position value detection by adding a Gray bus coded scale in a cab; the grab bucket pose detection unit is used for detecting the grab bucket operation space position and the grab bucket pose by arranging a laser scanning device and a visual identification device on a cab platform; the scanning identification unit is used for performing real-time detection on a ship, a hatch and materials by arranging laser scanning devices at a cab platform and a main beam twisting point position; the data acquisition unit comprises a PLC module and a communication module. According to the invention, accurate positioning, detection and identification of each mechanism, a grab bucket, a ship, a hatch and materials of the grab bucket ship unloader can be realized.
本发明提供一种抓斗卸船机精确定位系统,包括:机构定位单元、抓斗位姿检测单元、扫描识别单元以及数据采集单元,所述机构定位单元用于:通过在小车机构设置激光测距装置进行小车位置值校准以及通过在司机室增加格雷母线编码尺进行司机室位置值检测;所述抓斗位姿检测单元用于:通过在司机室平台上设置激光扫描装置和视觉识别装置进行抓斗运行空间位置及抓斗姿态检测;所述扫描识别单元用于:通过在司机室平台以及主梁绞点位置设置激光扫描装置进行船舶、舱口、物料的实时检测;所述数据采集单元包括PLC模块及通讯模块。本发明能够实现对抓斗卸船机各机构、抓斗、船舶、舱口、物料的精确定位检测识别。
Accurate positioning system of grab ship unloader
一种抓斗卸船机精确定位系统
2023-06-23
Patent
Electronic Resource
Chinese
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