The invention provides an automatic container grabbing control method, device and equipment and a container reach stacker, and the method comprises the steps that the pose difference between the current pose and the target pose of a lifting appliance is obtained, and the target pose represents the pose of the lifting appliance when a target container is locked; according to the pose difference, the target speed of the lifting appliance is determined with the purpose of controlling the lifting appliance to move to the target pose, and the target speed comprises a first target speed used for representing the horizontal rotation speed of the lifting appliance and a second target speed used for representing the horizontal transverse movement speed of the lifting appliance; the third target speed is used for representing the horizontal longitudinal movement speed of the lifting appliance; the fourth target speed is used for representing the vertical movement speed of the lifting appliance; and controlling the lifting appliance to move according to the target speed. The lifting appliance can be automatically aligned with the container, safety accidents caused by inaccurate alignment of the lifting appliance and the container are effectively avoided, the lifting operation safety is improved, meanwhile, the operation difficulty of operators is reduced, and the lifting operation efficiency is improved.
本申请提供一种自动抓箱控制方法、装置、设备及集装箱正面起重机,该方法包括:获取吊具的当前位姿与目标位姿之间的位姿差,所述目标位姿表示吊具在锁定目标集装箱时的位姿;根据所述位姿差,以使得控制吊具运动至目标位姿为目的,确定吊具的目标速度,所述目标速度包括用于表示吊具水平旋转速度的第一目标速度,用于表示吊具水平横向运动速度的第二目标速度,用于表示吊具水平纵向运动速度的第三目标速度,用于表示吊具垂直运动速度的第四目标速度;控制吊具按照所述目标速度运动。本申请实现了吊具自动对准集装箱,有效避免因吊具与集装箱对准不精确而引起的安全事故,提高了吊装作业安全性,同时减小了操作员操作难度,提高了吊装作业效率。
Automatic container grabbing control method, device and equipment and container reach stacker
一种自动抓箱控制方法、装置、设备及集装箱正面起重机
2024-03-22
Patent
Electronic Resource
Chinese
Vision system, reach stacker and automatic container grabbing control method of reach stacker
European Patent Office | 2020
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