Control system of gantry crane based on machine vision

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Control system of gantry crane based on machine vision

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SHE HAIBO / ZHOU QUAN / LI WEI / WANG JITAO / ZOU SHAOBO / ZHANG HONGSHUAI / LIU RUI

The invention provides a control system of a gantry crane based on machine vision, and relates to the field of machine vision, the system comprises a processor and a memory in which a computer program is stored, the crane comprises a luffing mechanism, a first laser radar, a servo turntable mechanism for clamping the first laser radar, and a trunk beam, the rotation direction of a rotating shaft of the servo turntable mechanism is parallel to the end face of the trunk beam, in an initial state, a scanning light beam of the first laser radar is perpendicular to the ground and the end face of the trunk beam, and when the computer program is executed by the processor, the initial speed and the acceleration of the decelerated motion of the luffing mechanism are obtained; the angular velocity of rotation of the first laser radar by the servo turntable mechanism is obtained, the servo turntable mechanism is controlled to rotate the first laser radar, the position of the grab bucket is obtained before material unloading, and the working efficiency is improved.

本发明提供了一种基于机器视觉的门座式起重机的控制系统，涉及机器视觉领域，系统包括：处理器和存储有计算机程序的存储器，起重机包括变幅机构、第一激光雷达、用于夹持第一激光雷达的伺服转台机构，起重机还包括象鼻梁，伺服转台机构的转轴的旋转方向平行于象鼻梁的端面，在初始状态时，第一激光雷达的扫描光束垂直于地面以及象鼻梁的端面，当所述计算机程序被所述处理器执行时，获取变幅机构进行减速运动时的初始速度以及减速运动的加速度；获取到伺服转台机构对第一激光雷达进行转动的角速度并控制伺服转台机构对第一激光雷达进行转动，在物料卸货之前获取到抓斗的位置，提升了工作效率。