The invention relates to the technical field of wharf lifting, in particular to a six-degree-of-freedom lifting appliance racking control method and device and a storage medium. The six-degree-of-freedom lifting appliance racking control method comprises the following steps: acquiring first point cloud data of a bow area and a ship side area; acquiring second point cloud data of the bow area and the ship side area at a preset time interval; determining a rotation angle variable and a position variable of three coordinate axes of the ship based on the offset of the second point cloud data and the first point cloud data; the steps are repeatedly executed, when the rotation angle variable and the position variable both meet the error requirement, the current ship posture is obtained, and the clamping plane of the lifting appliance is adjusted to be parallel to the upper surface of the goods based on the current ship posture; and coordinates and angle parameters of the target box body are obtained, and the lifting appliance is controlled to clamp the target box body. According to the six-degree-of-freedom lifting appliance racking control method, the box alignment operation efficiency can be improved, box alignment automation is achieved, a cart does not need to be moved for seaside box alignment, and energy consumption is reduced.

    本发明涉及码头吊装技术领域,具体涉及一种六自由度吊具上架控制方法及控制装置及存储介质。所述六自由度吊具上架控制方法包括:获取船头和船舷区域的第一点云数据;间隔预设时间,获取船头和船舷区域的第二点云数据;基于第二点云数据与第一点云数据的偏移量确定船舶三坐标轴的旋转角度变量及位置变量;重复执行上述步骤,当旋转角度变量与位置变量均满足误差要求时,获取当前船舶姿态,基于当前船舶姿态调整吊具的装夹平面与货物的上表面相平行;获取目标箱体坐标与角度参数,控制吊具对目标箱体进行装夹。本发明提供的六自由度吊具上架控制方法,能够提高对箱操作的效率,实现对箱自动化,且海侧对箱不需要移动大车,节约能耗。


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    Title :

    Six-degree-of-freedom lifting appliance racking control method and device and storage medium


    Additional title:

    一种六自由度吊具上架控制方法及控制装置及存储介质


    Contributors:
    WANG DAWEI (author) / GONG JIACHENG (author) / XIAO QIANG (author) / CHEN YU (author) / QIU ZHAOGUO (author) / LIU JIANGHAO (author) / ZHAO YINGJIU (author) / ZHAO JIANJUN (author) / XIE WENZONG (author)

    Publication date :

    2024-02-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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