The invention provides a position and posture compensation system and method for cargo hoisting of a shipborne mechanical arm, and the system comprises an inertial measurement unit which is used for obtaining a rolling deflection angle and a pitching deflection angle of a ship; the laser range finder is used for acquiring a heaving measurement value of the ship; the camera is used for acquiring posture information of goods hoisted by a mechanical arm on the ship; the controller is used for adjusting the joint angle of the mechanical arm according to the rolling deflection angle and the pitching deflection angle; and according to the heaving measurement value of the ship and the posture information of the goods, the length of the lifting ropes of the mechanical arm is adjusted, and the number of the lifting ropes at the tail end of the mechanical arm is multiple. According to the invention, the inertial measurement unit, the laser range finder and the camera which are lower in price are adopted to jointly realize compensation of the ship pose, so that the cost is greatly reduced.

    本发明提供一种船载机械臂吊装货物的位姿补偿系统及方法,其系统包括:惯性测量单元,用于获取船舶的横摇偏转角和纵摇偏转角;激光测距仪,用于获取所述船舶的升沉测量值;相机,用于获取所述船舶上的机械臂吊装货物的姿态信息;控制器,用于根据所述横摇偏转角和所述纵摇偏转角,调整所述机械臂的关节角度;根据所述船舶的升沉测量值和所述货物的姿态信息,调整所述机械臂的吊绳长度,所述机械臂的末端吊绳有多根。本发明通过采用价格更为低廉的惯性测量单元、激光测距仪和相机共同实现对船舶位姿的补偿,大大降低了成本。


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    Title :

    Pose compensation system and method for cargo hoisting of shipborne mechanical arm


    Additional title:

    船载机械臂吊装货物的位姿补偿系统及方法


    Contributors:
    LIN YUNHAN (author) / AI SHICHAO (author) / DENG CHENGYU (author) / WANG XIAOHAI (author) / WANG DINGQUAN (author) / PENG XIAOWEN (author) / TIAN YE (author) / ZHANG MENGJIE (author) / CHEN YAOJIE (author)

    Publication date :

    2023-09-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES / B25J Manipulatoren , MANIPULATORS



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