The invention provides a special turnover system and method for a scrapped motor vehicle, and the method comprises the steps: obtaining a turnover image of the scrapped motor vehicle through monitoring the turnover process of the scrapped motor vehicle in real time; based on a target detection model in industrial vision and in combination with a turnover image obtained through real-time monitoring, determining dynamic change characteristics of a turnover position of the scrapped motor vehicle in the turnover process, and determining the disturbance influence degree of the turnover process of the scrapped motor vehicle under the industrial vision through the dynamic change characteristics; inertial load information of the mechanical arm at different overturning angles is extracted from the historical operation records, and the posture deviation of the mechanical arm during overturning of the scrapped motor vehicle is determined according to the inertial load information; and according to the disturbance influence degree and the attitude deviation, the active-disturbance-rejection coefficient of the mechanical arm in the overturning process is determined, and the mechanical arm conducts overturning control over the scrapped motor vehicle based on the active-disturbance-rejection coefficient. By the adoption of the scheme, adaptive turnover of the scrapped motor vehicle can be achieved under the complex structure of multiple vehicle types, so that operation errors in the turnover process are reduced.

    本申请提供一种报废机动车专用翻转系统及方法,通过实时监测报废机动车的翻转过程,得到报废机动车的翻转图像;基于工业视觉中的目标检测模型结合实时监测得到的翻转图像确定报废机动车在翻转过程中翻转位置的动态变化特征,通过动态变化特征确定报废机动车的翻转过程在工业视觉下的扰动影响度;从历史运行记录中提取出机械臂在不同翻转角度的惯性负荷信息,根据惯性负荷信息确定机械臂对报废机动车进行翻转时的姿态偏差;根据扰动影响度和姿态偏差确定机械臂在翻转过程中的自抗扰系数,机械臂基于自抗扰系数对报废机动车进行翻转控制。采用本申请的方案,可在多车型的复杂结构下实现报废机动车的适配性翻转,以减少翻转过程中的操作误差。


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    Title :

    Turnover system and method special for scrapped motor vehicle


    Additional title:

    一种报废机动车专用翻转系统及方法


    Contributors:
    DONG DAWEI (author) / LIU YAJIE (author) / HUANG LILI (author) / ZHAO QIXING (author) / LIANG LIYUAN (author)

    Publication date :

    2025-02-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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