The invention discloses a lifting appliance posture detection method, and belongs to the technical field of automation equipment. A trolley mechanism is arranged on a cross beam of the gantry crane, and the trolley mechanism is provided with a first radar group and a second radar group; the method comprises the following steps: acquiring first scanning data acquired by a first radar group on a top plane of a lifting appliance and second scanning data acquired by a second radar group on the top plane of the lifting appliance; based on a first vertex group of the first scanning data and a second vertex group of the second scanning data, plane information of a top plane of the lifting appliance and a target intersection point between a first calibration line and a second calibration line are determined, the first vertex group is determined based on the first calibration line, and the second vertex group is determined based on the second calibration line; determining center point coordinates of the top plane of the lifting appliance according to the plane information and the target intersection point; and determining first attitude information of the lifting appliance by taking the center point coordinate and the target intersection point as calibration. According to the method, the pose of the lifting appliance can be detected in real time in the working process of the gantry crane.

    本申请公开了一种吊具姿态检测方法,属于自动化设备技术领域。龙门吊的横梁上设有小车机构,小车机构设有第一雷达组和第二雷达组;方法包括:获取第一雷达组对吊具的顶部平面采集的第一扫描数据,以及第二雷达组对吊具的顶部平面采集的第二扫描数据;基于第一扫描数据的第一顶点组和第二扫描数据的第二顶点组,确定吊具的顶部平面的平面信息,以及第一标定线和第二标定线之间的目标交点,第一顶点组基于第一标定线确定,第二顶点组基于第二标定线确定;根据平面信息和目标交点,确定吊具的顶部平面的中心点坐标;以中心点坐标和目标交点为标定,确定吊具的第一姿态信息。该方法能够在龙门吊工作的过程中实时检测吊具的位姿。


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    Title :

    Lifting appliance posture detection method


    Additional title:

    吊具姿态检测方法


    Contributors:
    HE CHONG (author) / LI HENG (author) / SHI XIANCHENG (author) / ZHANG TAO (author) / CAO ZHIJUN (author)

    Publication date :

    2024-12-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES





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