The invention discloses a field bridge lifting height verification method and device based on laser, and the method comprises the steps: obtaining the first lifting height of a field bridge in real time through an encoder, obtaining the point cloud data of a reflector through a laser radar, carrying out the point cloud calibration of the point cloud data, and calculating the second lifting height of the field bridge, determining a difference value between the first lifting height and the second lifting height, if the difference value is smaller than or equal to a preset safety threshold value, judging that the first lifting height acquired by the encoder is normal, and controlling the field bridge to continue automatic operation by the controller; and if the difference value is larger than the preset safety threshold value, it is judged that the first lifting height obtained by the encoder is abnormal, and the controller controls the yard crane to stop automatic operation. By the adoption of the technical scheme, the controller can accurately obtain the actual height of the field bridge lifting device in real time in the automatic operation process of the field bridge, the actual height and the lifting height obtained by the encoder are verified, and the accuracy and safety of automatic operation are enhanced.
本发明公开了一种基于激光的场桥起升高度校验方法和装置,该方法包括通过编码器实时获取场桥的第一起升高度,通过激光雷达获取反光板的点云数据,并对点云数据进行点云标定,计算场桥的第二起升高度,并确定第一起升高度和第二起升高度之间的差值,若差值小于或等于预设安全阈值,判断编码器获取的第一起升高度正常,控制器控制场桥继续自动化作业;若差值大于预设安全阈值,判断编码器获取的第一起升高度异常,控制器控制场桥停止自动化作业。采用上述技术方案,控制器可以在场桥自动作业过程中,实时准确的获取场桥起升装置的实际高度,并与编码器获取的起升高度进行校验,增强自动化作业的准确性和安全性。
Method and device for checking lifting height of field bridge based on laser
一种基于激光的场桥起升高度校验方法和装置
2023-08-11
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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