The invention discloses a bulk cargo grab bucket control system based on machine vision, relates to the technical field of automatic control, and solves the technical problems that in the prior art, a bulk cargo containing container is likely to make contact with a grab bucket to cause damage to the grab bucket, and the bulk cargo grabbing efficiency of the grab bucket is low due to the fact that the same control mode is adopted for different materials. Obtaining a material label through the material identification model; generating a grabbable area according to the material data and the grab bucket parameters; obtaining a target coordinate through a laser radar technology; obtaining an opening angle and a closing angle in the grab bucket parameters according to the material data; grab bucket adjustment parameters are generated according to the grab bucket coordinates and the target coordinates; the grab bucket adjusting parameters are assigned to the corresponding grab bucket parameters for control, the control parameters of the grab bucket are adjusted in real time along with changes of materials and changes of the grabbing environment, the grabbing area is planned for grabbing, contact between the grab bucket and the containing container is reduced, the material grabbing efficiency is improved, and the damage rate of the containing container is reduced.
本申请公开了基于机器视觉的散料抓斗控制系统,涉及自动化控制技术领域,解决了现有技术存在容易将散料的盛放容器与抓斗进行接触导致其受损,且针对不同的材料采取相同的控制方式会使得抓斗抓取散料的效率较低的技术问题;通过物料识别模型得到物料标签;根据物料数据和抓斗参数生成可抓取区域;通过激光雷达技术获取目标坐标;根据物料数据获得抓斗参数中的张开角度和闭合角度;根据抓斗坐标和目标坐标生成抓斗调整参数;将抓斗调整参数赋值给其相应的抓斗参数进行控制,随着物料变化和抓取环境的变化实时调整抓斗的控制参数,且规划可抓取区域进行抓取减少了抓斗与盛放容器的接触,提升了物料抓取效率以及降低了盛放容器的损坏率。
Bulk material grab bucket control system based on machine vision
基于机器视觉的散料抓斗控制系统
2025-03-28
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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