The embodiment of the invention provides a lifting appliance attitude detection method and device and a lifting appliance attitude control system. The method comprises the following steps: when a motion system is in a preset working state, acquiring point cloud data of two 2D laser scanners; wherein the two 2D laser scanners are respectively mounted at two positions of the lifting appliance in a first direction, the first direction is perpendicular to the moving direction of the first moving mechanism, and reflecting plates which are arranged opposite to light source points of the 2D laser scanners are respectively fixed on two sides of the first moving mechanism in the first direction. The lifting appliance is hung below the first moving mechanism in parallel when the moving system is in a static state; according to the point cloud data of the two 2D laser scanners, attitude offset information of the lifting appliance relative to a first moving mechanism is determined, and the moving system comprises the first moving mechanism. According to the embodiment of the invention, the real-time performance and the accuracy of detection data can be greatly improved, and the hoisting operation reliability is improved.
本申请实施例提供了一种吊具姿态检测方法、装置和吊具姿态控制系统。该方法包括:在运动系统处于预设工作状态时,获取两个2D激光扫描仪的点云数据;其中,所述两个2D激光扫描仪分别安装在吊具在第一方向上的两个位置处,所述第一方向垂直于第一移动机构的移动方向,所述第一移动机构在所述第一方向上的两侧分别固定有与所述每个2D激光扫描仪的光源点正对布置的反射板,所述吊具在所述运动系统处于静态时平行地悬挂在所述第一移动机构的下方;根据所述两个2D激光扫描仪的点云数据,确定所述吊具相对于第一移动机构的姿态偏移信息,所述运动系统包括所述第一移动机构。本申请实施例可大幅度提高检测数据的实时性与精确性,提高吊装作业可靠性。
Lifting appliance attitude detection method and device and lifting appliance attitude control system
吊具姿态检测方法、装置和吊具姿态控制系统
2024-10-01
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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