抓斗智能定位控制关键技术研究

Research on Key Technologies of Grab bucket Intelligent Positioning Control

为实现散货码头门座起重机作业的全自动化,从抓斗智能定位与精准控制角度,研究了驱动机构位姿检测、激光扫描建模、抓取策略算法等港口门座起重机抓斗智能定位控制关键技术,给出了具体方法和技术要点。

In order to achieve the full automation operation of bulk cargo port portal cranes,from the perspective of grab bucket intelligent positioning and accurate control,the key technologies of the intelligent bucket positioning and control of port portal cranes,including driving mechanism pose detection,laser scanning modeling and grasping strategy algorithm are studied,and the specific methods and technical points are given.