The invention provides a bivalve grab bucket crane optimal grabbing point identification method, and relates to the technical field of automatic grabbing of bulk cargo storage hoisting equipment, and the method comprises the following steps: constructing a bulk cargo storage material upper surface DEM feature data model; obtaining a section point set of the current cutting material layer; carrying out ROI (Region of Interest) area interception to obtain each grabbed material type of the section point set of the current cutting material layer; abnormal grabbed material types are removed, and all grabbed qualified material types are obtained; obtaining a multi-element evaluation total score of each grabbed qualified material type; the grabbing qualified material type with the highest score in the multivariate evaluation total score is the current grabbing material type, the grabbing point height of the current grabbing material type is adjusted to the optimal grabbing height, the coordinate of the optimal grabbing point is obtained, and the coordinate of the optimal grabbing point is sent to the PLC end of the crane. The technical problems that in the prior art, the grabbing efficiency is low and the failure rate is high due to the fact that the material surface in bulk storage materials is irregular are solved.
本发明提供一种双瓣抓斗起重机最优抓取点识别方法,涉及散料仓储起重设备自动抓取技术领域,包括:构建散料仓储物料上表面DEM特征数据模型;获得当前削切料层截面点集;进行ROI区域截取,获得当前削切料层截面点集的各抓取料型;剔除异常抓取料型,获得各抓取合格料型;获得各抓取合格料型的多元评估总分;多元评估总分中的最高评分的抓取合格料型为当前抓取料型,将当前抓取料型的抓取点高度调整到最优抓取高度,获得最优抓取点的坐标,将最优抓取点的坐标发送给起重机的PLC端。本发明解决现有技术中因散料仓储物料中物料料面不规则,导致抓取效率低下和失败率高的技术问题。
Method for identifying optimal grabbing point of bivalve grab bucket crane
一种双瓣抓斗起重机最优抓取点识别方法
2024-11-15
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
Grab bucket structure of grab bucket ship and rock grabbing method
European Patent Office | 2022
|