Automatic identification and positioning method for unmanned crane steel coil grabbing
A technology of automatic identification and positioning method, which is applied in the field of identification and positioning of steel coils and automatic identification and positioning of unmanned crane steel coil grabbing. , Improve accuracy, improve production efficiency
Active Publication Date: 2019-04-26
CHANGSHU INSTITUTE OF TECHNOLOGY
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Problems solved by technology
[0003] In view of the above-mentioned defects in the prior art, the task of the present invention is to provide an automatic identification and positioning method for steel coil grabbing by unmanned cranes, so as to solve the problem of incomplete grabbing due to the difficulty in accurately locating steel coils when unmanned cranes are transporting steel coils. The problem
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[0014] The present invention will be further described below in conjunction with the examples, but not as a limitation to the present invention.
[0015] Please combine figure 1 with figure 2 As shown, the unmanned crane steel coil grabbing system adopts laser ranging 3D reconstruction recognition and automatic control technology, including the unmanned crane body and spreader hook system 4, the laser ranging 3D reconstruction module, and database communication Module, the main process is that the laser ranging 3D reconstruction module obtains the spatial position of the steel coil 2 carried by the frame car 1, and sends the position information to the unmanned crane body and the spreader hook system 4 to execute the steel coil grab through database communication Taking the task, the core is the laser ranging 3D reconstruction module to determine the coil position information.
[0016] The laser ranging 3D reconstruction module includes laser point cloud acquisition and processin...
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The invention discloses an automatic identification and positioning method for grabbing a steel coil by an unmanned crown block. The automatic identification and positioning method comprises the following steps: fixing a position of a framework vehicle bearing the steel coil; acquiring scene point cloud data of the framework vehicle bearing the steel coil by a laser scanner; separating steel coil data from the scene point cloud data, carrying out parameter fitting by taking the steel coil as a cylinder to acquire a steel coil physical coordinate; and sending the steel coil physical coordinate to the unmanned crown block, and grabbing the steel coil by the unmanned crown block according to the steel coil physical coordinate. The automatic identification and positioning method effectively improves the identification and positioning accuracy of the steel coil, prevents safety hidden dangers caused by inaccurate positioning and improves the production efficiency.
Description
Technical field [0001] The invention relates to a steel coil identification and positioning method, in particular to an automatic identification and positioning method for unmanned crane steel coil grabbing, and belongs to the technical field of material handling and positioning. Background technique [0002] When the steel coil finished product warehouse is moving the steel coil, the operator uses the workshop frame car to complete; while the grabbing of the steel coil is completed by the spreader or mechanical arm installed on the crane. The spreader grabbing items is a complicated process , In the process of grabbing the steel coil, the most critical technology is to control the spreader to accurately position the steel coil to complete the grabbing action. At present, the steel coil grabbing system that has been put into use in the world generally requires an experienced operator to control the manipulator spreader remotely and manually to achieve the purpose of precise posit...
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IPC IPC(8): G01B11/00G01L5/00
CPCG01B11/002G01L5/0061
Inventor 刘恒利周玮孟杰姚建红陈庆樟
Owner CHANGSHU INSTITUTE OF TECHNOLOGY