The invention discloses a coal increasing and decreasing method and system based on a crane, and the method comprises the steps: 1, measuring the load condition of a coal mine vehicle, and collecting the pose data of the coal mine vehicle and a material hump on the coal mine vehicle through a laser radar; 2, processing the collected pose data according to an extended Kalman filtering algorithm to obtain the pose states of the coal mine vehicle and the material humps on the coal mine vehicle; 3, constructing an occupation grid map according to the position and posture states of the coal mine vehicle and the material hump on the coal mine vehicle; 4, materials on the coal mine vehicle are processed through the hoist grab bucket portal crane according to the load condition of the coal mine vehicle and the occupied grid map. According to the method, the pose states of the coal mine vehicle and the materials on the coal mine vehicle are obtained through the extended Kalman filtering algorithm, and the occupied grid map is constructed according to the pose states of the coal mine vehicle and the materials, so that the hoist grab bucket portal crane can automatically increase and decrease the materials according to the occupied grid map.

    本发明公开一种基于起重机的煤炭增减方法和系统,该方法包括:步骤一:测量煤矿车辆负载情况,通过激光雷达对煤矿车辆和煤矿车辆上的物料驼峰的位姿数据进行收集;步骤二:根据扩展卡尔曼滤波算法对收集的位姿数据进行处理,得到煤矿车辆和煤矿车辆上的物料驼峰的位姿状态;步骤三:根据煤矿车辆和煤矿车辆上的物料驼峰的位姿状态构建占据栅格地图;步骤四:根据煤矿车辆负载情况和占据栅格地图通过葫芦抓斗门式起重机对煤矿车辆上的物料进行处理。本发明通过扩展卡尔曼滤波算法得到煤矿车辆和煤矿车辆上物料的位姿状态,根据煤矿车辆和物料的位姿状态构建占据栅格地图,便于葫芦抓斗门式起重机根据占据栅格地图自动的对物料进行增减。


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    Title :

    Coal increasing and decreasing method and system based on crane


    Additional title:

    一种基于起重机的煤炭增减方法和系统


    Contributors:
    JIA MENG (author) / MIN CHAO (author) / CHEN XIAOJING (author) / LI JUNBO (author) / CHEN BO (author) / CUI WENWEN (author) / HU YONG (author)

    Publication date :

    2024-12-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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