Crane loading and unloading robot for electric power material storage and control system thereof

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Crane loading and unloading robot for electric power material storage and control system thereof

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LI ZHENG / SUN HONGZHI / CHEN LINGYING / ZHANG YUYANG / CAO GANG / YANG BING / ZHU KAI / DU GUOZHENG / ZHANG ZHIJIAN / FAN FULING / ... [more]

Abstract

The invention provides a travelling crane loading and unloading robot for electric power material storage and a control system thereof, the travelling crane loading and unloading robot comprises a robot body of a double-beam door type structure and a ground track, the robot body comprises a cart and a trolley, the cart is provided with a GPS mobile station, a laser scanning device is arranged at the position of a top cross beam of the cart, and the laser scanning device is connected with the ground track. The image acquisition module is used for acquiring a three-dimensional image of a to-be-loaded and unloaded vehicle and determining related physical characteristics of a loading and unloading target through a background image identification method; the trolley is provided with a visual anti-swing system, the visual anti-swing system comprises an industrial camera arranged on a trolley assembly, a calibration plate arranged on a trolley lifting appliance and a PLC, and the lifting appliance offset is determined and corrected through the visual anti-swing system; the ground track is provided with an electronic magnetic ruler used for obtaining the accurate advancing position of the cart.

本公开提供了一种用于电力物资仓储的行车装卸机器人及其控制系统，包括双梁门式结构的机器人本体及地面轨道，所述机器人本体包括大车和小车，其中，所述大车设置有GPS移动站，所述大车顶部横梁位置设置有激光扫描设备，用于采集待装卸车辆的三维图像，并通过后台的图像识别方法确定装卸目标的相关物理特性；所述小车配置有视觉防摇系统，所述视觉防摇系统包括设置于小车总成上的工业相机、设置于小车吊具上的标定板以及PLC控制器，通过所述视觉防摇系统确定吊具偏移量并进行修正；所述地面轨道设置有电子磁尺，用于获取所述大车行进的精确位置。

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Document information

Title :

Crane loading and unloading robot for electric power material storage and control system thereof

Additional title:

用于电力物资仓储的行车装卸机器人及其控制系统

Contributors:

LI ZHENG (author) / SUN HONGZHI (author) / CHEN LINGYING (author) / ZHANG YUYANG (author) / CAO GANG (author) / YANG BING (author) / ZHU KAI (author) / DU GUOZHENG (author) / ZHANG ZHIJIAN (author) / FAN FULING (author)

Publication date :

2022-12-30

Type of media :

Patent

Type of material :

Electronic Resource

Language :

Chinese

Classification :

IPC:

B66C Krane , CRANES