CN104129715A - Bridge type crane positioning system based on laser ranging and bar code positioning technology - Google Patents
Bridge type crane positioning system based on laser ranging and bar code positioning technology Download PDFInfo
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Abstract
A bridge type crane positioning system based on laser ranging and bar code positioning technology is characterized by comprising a bridge type crane motor unit, a frequency converter unit, a measuring unit, a lower computer unit, a bus transition card unit, an industrial control unit and a man-machine interface unit. The working methods include motion, positioning, acquisition, control and feedback. The system has the following advantages: (1) high location speed, high precision and easy realization; (2) improvement on the management efficiency and control; and (3) favorable conditions provided for application of the bridge type crane in dangerous occasions which cannot be intervened by people.
Description
(1) technical field:
The invention belongs to metal manufacturing detection technique field, especially a kind of crane in bridge type position fixing system based on laser ranging and Bar code positioning technology.
(2) background technology:
Conventional bridge crane operation mode is to be worked in coordination by operating personal and ground control personnel, operating personal is by observing the service direction wall top rail of crane in bridge type, longitudinally colour bar the commander that accepts ground staff operate crane in bridge type, the final target that realizes location, this localization method efficiency is low, safety performance is low, energy consumption is large and positioning precision is low, while automatically locating, mostly use coder as distance measuring sensor, when crane in bridge type brakes, crane in bridge type wheel shaft there will be the phenomenon of skidding, and the numerical value of coder can not change, but there is variation in the position of actual crane in bridge type, therefore, cannot accurately locate.So, in the urgent need to the research and development of novel crane in bridge type positioning action system.Especially it is very important that the systematic research that survey precision is accurate, intelligent functions is powerful becomes especially.
(3) summary of the invention:
The object of the invention is to design a kind of crane in bridge type position fixing system based on laser ranging and Bar code positioning technology, it can overcome the positioning precision that conventional bridge hoisting crane position fixing system exists poor, move not plateau problem, it is a kind of system that adopts airborne laser range finder, Bar code positioning instrument and FUZZY ALGORITHMS FOR CONTROL, make the operation positioning precision of crane in bridge type high, move quick, efficient and safety, and simple in structure, intelligent.
Technical scheme of the present invention: a kind of crane in bridge type position fixing system based on laser ranging and Bar code positioning technology, is characterized in that it comprises crane in bridge type electric motor units, frequency converter unit, measuring unit, lower computer unit, bus transition card unit, industrial computer unit and human and machine interface unit; Wherein said measuring unit is to consist of airborne laser range finder, coder and Bar code positioning instrument; The input end of described measuring unit gathers the signal of crane in bridge type; Described airborne laser range finder is arranged on OTC's trolley traveling gear, gathers crane in bridge type longitudinal movement position and speed signal; Described coder is for height under hook and velocity measurement; Described Bar code positioning instrument is arranged on bridge crane traveling gear, measures position and the speed signal of crane in bridge type cross motion; Described airborne laser range finder is connected with lower computer unit; Between the input end of the mouth of described coder and Bar code positioning instrument and lower computer unit, according to bus, be connected; The input end of described frequency converter unit is connected with the mouth of crane in bridge type electric motor units, and its mouth is connected with the input end of lower computer unit; The input end of described human and machine interface unit is connected with the mouth of industrial computer unit; Described lower computer unit carries out data communication according to bus transition card unit and industrial computer unit; The mouth of described industrial computer unit connects the mouth of human and machine interface unit.
Described crane in bridge type electric motor units consists of suspension hook motor, cargo motor and vehicle motor; The mouth of described suspension hook motor, cargo motor and vehicle motor is connected respectively the input end of frequency converter unit.
Described frequency converter unit is to consist of suspension hook frequency converter, cart frequency converter, dolly frequency converter; The input end of described suspension hook frequency converter, cart frequency converter, dolly frequency converter is connected with suspension hook motor, cargo motor and vehicle motor respectively, and its mouth is connected with the input end of lower computer unit.
Between described lower computer unit and industrial computer, by PROFIBUS-DP bus, carry out data communication; Between described frequency converter unit and lower computer, by PROFIBUS-DP bus, carry out data communication.
Described lower computer unit is S7-300PLC programmable logic controller (PLC); Described airborne laser range finder is connected with the analog module of S7-300PLC programmable logic controller (PLC).
Described industrial computer unit is industrial control computer.
Described airborne laser range finder collection be 4-20mA analog signal, signal is directly inputted the analog module of the PLC programmable logic controller (PLC) of lower computer unit; The collection of described Bar code positioning instrument be digital quantity signal.
A method of work for crane in bridge type position fixing system based on laser ranging and Bar code positioning technology, is characterized in that it comprises the following steps:
1. cart frequency converter drive motor drives cart laterally to walk, i.e. directions X motion, and dolly frequency converter drive motor drives dolly longitudinally to walk, i.e. Y-direction motion; Cart frequency converter and dolly frequency converter are by PROFIBUS-DP bus and lower computer communication;
2. airborne laser range finder is arranged on OTC's trolley traveling gear, gather crane in bridge type longitudinal movement position signal and speed signal, position signal is denoted as to Y-axis signal, and position and speed signal are sent to lower computer unit, be i.e. Programmable Logic Controller PLC;
3. absolute value encoder is arranged on the suspension hook of crane in bridge type, gather height and the speed signal of suspension hook, altitude signal is denoted as to Z axis signal, and by PROFIBUS-DP bus transfer, height and speed signal is sent to lower computer unit, be i.e. Programmable Logic Controller PLC;
4. Bar code positioning instrument is arranged on bridge crane traveling gear, measure position and the speed signal of crane in bridge type cross motion, horizontal position signal is denoted as to X-axis signal, and by bus transfer, horizontal position and speed signal is sent to lower computer unit, be i.e. Programmable Logic Controller PLC;
5. lower computer unit, be Programmable Logic Controller PLC, by bus transition card, signal is converted to the speed signal of the cart of X-axis, Y-axis, Z axis signal and the crane in bridge type about the hoisting crane motion that receive, dolly, suspension hook motion to signal that industrial computer unit can receive;
6. described industrial computer unit, it is industrial control computer, by the position of the cart of crane in bridge type, dolly and suspension hook and speed real time information, process, judge and carry out optimization computation, result of calculation is controlled to lower computer by providing the mode of instruction, thereby lower computer control the output of each frequency converter reach control each motor according to the rules good speed and start and stop curve automatically move, and cart, dolly and lift hook position, velocity information are shown by human and machine interface unit; And then realize crane in bridge type and automatically move.
Principle of work of the present invention:
As shown in Figure 2, first by the high-precision bar code orientator and the laser range sensor that are arranged on crane in bridge type traveling gear (cart, dolly), by optical reflection principle, measure crane in bridge type traveling gear at the coordinate of working space and produce corresponding analog signal, by the data collecting card on industrial computer, becoming digital signal to pass to industrial computer unit the analog-signal transitions of measurement.
1) crane in bridge type space positioning system design, be illustrated in figure 2 crane in bridge type space structure schematic diagram: the locate mode based on x, y, z three dimensional space coordinate, bridge crane sense of motion regulation is x, the sense of motion regulation of OTC's trolley is y, and the sense of motion regulation that bridging crane main, pair hoist is z.By Bar code positioning instrument (cart), airborne laser range finder (dolly) and the accurate location of absolute encoder (suspension hook) system to x, y, z, make crane in bridge type can be accurately, location fast;
2) the real-time coordinate of corresponding measurement signal being passed to upper computer processing and being shown suspension hook at positioning control system monitoring interface is so that operating personal is observed, and operating personal can replace original joystick to complete the control to crane travel mechanism with mouse at positioning control system monitoring interface simultaneously;
3) as shown in Figure 5, in positioning control system monitoring interface, operator clicks traveling gear target location by mouse, can demonstrate traveling gear current location apart from horizontal (X) of target location and longitudinal (Y) distance, be this subjob stroke of hoisting crane, thereby also just learn this stroke maximum speed of hoisting crane V
max, and by V
maxpass to PLC as given speed, traveling gear starts to move to target location; Described airborne laser range finder collection be 4-20mA analog signal, record the coordinate of Y-direction; The collection of described Bar code positioning instrument be digital quantity signal, through the demoder of bar-code reader inside the real-time location information of cart via PROFIBUS-DP bus transfer to PLC processing data, record the coordinate of directions X;
4) acceleration of motion process is all to realize speed control by fuzzy control strategy with slowing down, and object is in order to make the traveling gear operational process flex point place that especially speed is switched more fast, steadily.Owing to accelerating, be the same (traveling gear velocity curve is symmetrical) with deceleration distance, so distance measuring sensor reaches V at traveling gear
maxafter send the acceleration distance of measurement to upper computer, upper computer is through calculating and can draw deceleration distance with whole range distance, the reference position of slowing down, and to lower level controller restriction signal, traveling gear is reduced speed now in rational position, in this process, again by fuzzy control strategy, completed to slow down and control, finally with very slow speed, approach target and enter " creeper speed ", speed is extremely slow, normally 2%～3% of full gear, automatic train stop after one section of very little distance of traveling, the accurate location that finally completes traveling gear.
In industrial computer, use VisualBasic higher level lanquage development platform to write man-machine interface monitored control system, data collecting card is arranged on industrial computer CPU and processes image data, and by OPC interfacing, in the mode of PROFIBUS-DP bus, inquire about and read the data message of PLC internal data path, carry out data analysis and process, for meeting system requirements, write corresponding PLC control program, in man-machine interface, with graphic animations, show in real time the current run location of hoisting crane, the real time datas such as height and status information, and managed and recorded as shown in Figure 4 with data bank, in operational process, industrial computer is adjusted the frequency values of frequency converter after processing in conjunction with fuzzy control the signal that feeds back according to distance measuring sensor in real time, make locomotive quick and stable arrive accurately destination address, realize the closed loop control of hoisting crane run location and speed, met preferably the operation of overhead traveling crane machine operation high speed, throw-over is steady, low speed stops accurate speed and controls and accurate positioning requirements.
OPC technology mainly completes the communications protocol programming of upper industrial computer and lower computer PLC.
Described lower computer PLC is the core of data acquisition and action control mainly as I/O control station, be responsible for the position signal of distance measuring sensor to gather, and utilize various digital quantities, analog module to complete real time data sampling, alerting signal detection and output, and the actuating units such as frequency converter are controlled.S7-300PLC carries out data communication as lower computer by PROFIBUS-DP and industrial computer, and is responsible for controlling the walking of on-the-spot large and small car traveling gear, accurately runs to assigned address.In speed regulation process, in conjunction with advanced intelligent control method---FUZZY ALGORITHMS FOR CONTROL, complete the frequency control in crane in bridge type operation process, make it the operation of quick and stable.
Because the analog signal of above-mentioned two kinds of distance measuring sensors becomes linear dependence with crane in bridge type position, so, industrial computer, by after the analog signal conditioning from distance measuring sensor, is realized detection and the location of crane in bridge type run location in conjunction with advanced FUZZY ALGORITHMS FOR CONTROL.Distance measuring method survey precision that this distance measuring sensor combines with fuzzy control is higher, location is more accurate.
Lower computer PLC is the core of data acquisition and action control mainly as I/O control station, be responsible for the position signal of distance measuring sensor to gather, and utilize various digital quantities, analog module to complete real time data sampling, alerting signal detection and output, and the actuating units such as frequency converter are controlled.
The principle of work of described airborne laser range finder is that airborne laser range finder is arranged on dolly, by electric pulse, drive and produce laser beam, laser beam is through being arranged on the baffle reflection of cart one end, by receiving camera lens, return to receiving element generation electric pulse, calculate again the time gap of transmitter pulse and received pulse, after microprocessor processes, output analog signals (4-20mA).Show that corresponding laser is apart from the distance of reflecting plate, namely the coordinate of Y-direction.
Described Bar code positioning instrument principle of work is that bar-code reader is arranged on mobile bridge crane, bar code band whole process is laid in the track of cart operation, in cart operational process, the real-time bar code reading of bar-code reader, then through the demoder of bar-code reader inside, the real-time location information of cart is exported to PLC via adaptor union.
Preceence of the present invention is: 1. fast, the high hardware unit simplicity of design of positioning precision of the locating speed of sensor, be easy to realize; 2. by higher level lanquage VB by the data upload in lower computer PLC to industrial computer, in order to SDA system data analysis, process and demonstration, improved the efficiency of management and control; 3. for improving the automatic control level of crane in bridge type, make crane in bridge type be applied in occasion dangerous, that people cannot get involved favourable condition is provided
(4) accompanying drawing explanation:
Fig. 1 is the integral structure block diagram of the related a kind of crane in bridge type position fixing system based on laser ranging and Bar code positioning technology of the present invention.
Fig. 2 is the space structure principle schematic of the related a kind of crane in bridge type position fixing system based on laser ranging and Bar code positioning technology of the present invention.
Fig. 3 is the principle of work structural representation of airborne laser range finder in the related a kind of crane in bridge type position fixing system based on laser ranging and Bar code positioning technology of the present invention.
Fig. 4 is the monitoring interface schematic diagram of VisualBasic exploitation in the related a kind of crane in bridge type position fixing system based on laser ranging and Bar code positioning technology of the present invention.
Fig. 5 be in the related a kind of crane in bridge type position fixing system based on laser ranging and Bar code positioning technology of the present invention crane in bridge type at the monitoring interface schematic diagram of Central Control Room.
(5) specific embodiment:
Embodiment: a kind of crane in bridge type position fixing system (seeing Fig. 1) based on laser ranging and Bar code positioning technology, is characterized in that it comprises crane in bridge type electric motor units, frequency converter unit, measuring unit, lower computer unit, bus transition card unit, industrial computer unit and human and machine interface unit; Wherein said measuring unit is to consist of airborne laser range finder, coder and Bar code positioning instrument; The input end of described measuring unit gathers the signal of crane in bridge type; Described airborne laser range finder is arranged on OTC's trolley traveling gear, gathers crane in bridge type longitudinal movement position and speed signal; Described coder is for height under hook and velocity measurement; Described Bar code positioning instrument is arranged on bridge crane traveling gear, measures position and the speed signal of crane in bridge type cross motion; Described airborne laser range finder is connected with lower computer unit; Between the input end of the mouth of described coder and Bar code positioning instrument and lower computer unit, according to bus, be connected; The input end of described frequency converter unit is connected with the mouth of crane in bridge type electric motor units, and its mouth is connected with the input end of lower computer unit; The input end of described human and machine interface unit is connected with the mouth of industrial computer unit; Described lower computer unit carries out data communication according to bus transition card unit and industrial computer unit; The mouth of described industrial computer unit connects the mouth of human and machine interface unit.
Described crane in bridge type electric motor units (seeing Fig. 1) consists of suspension hook motor, cargo motor and vehicle motor; The mouth of described suspension hook motor, cargo motor and vehicle motor is connected respectively the input end of frequency converter unit.
Described frequency converter unit (seeing Fig. 1) is to consist of suspension hook frequency converter, cart frequency converter, dolly frequency converter; The input end of described suspension hook frequency converter, cart frequency converter, dolly frequency converter is connected with suspension hook motor, cargo motor and vehicle motor respectively, and its mouth is connected with the input end of lower computer unit.
Between described lower computer unit and industrial computer, by PROFIBUS-DP bus, carry out data communication; Between described frequency converter unit and lower computer, by PROFIBUS-DP bus, carry out data communication.
Described lower computer unit (seeing Fig. 1) is S7-300PLC programmable logic controller (PLC); Described airborne laser range finder is connected with the analog module of S7-300PLC programmable logic controller (PLC).
Described industrial computer unit is industrial control computer.
Described airborne laser range finder collection be 4-20mA analog signal, signal is directly inputted the analog module of the PLC programmable logic controller (PLC) of lower computer unit; The collection of described Bar code positioning instrument be digital quantity signal.
A method of work for crane in bridge type position fixing system based on laser ranging and Bar code positioning technology, is characterized in that it comprises the following steps:
1. cart frequency converter drive motor drives cart laterally to walk, i.e. directions X motion, and dolly frequency converter drive motor drives dolly longitudinally to walk, i.e. Y-direction motion; Cart frequency converter and dolly frequency converter are by PROFIBUS-DP bus and lower computer communication;
2. airborne laser range finder is arranged on OTC's trolley traveling gear, gather crane in bridge type longitudinal movement position signal and speed signal, position signal is denoted as to Y-axis signal, and position and speed signal are sent to lower computer unit, be i.e. Programmable Logic Controller PLC;
3. absolute value encoder is arranged on the suspension hook of crane in bridge type, gather height and the speed signal of suspension hook, altitude signal is denoted as to Z axis signal, and by PROFIBUS-DP bus transfer, height and speed signal is sent to lower computer unit, be i.e. Programmable Logic Controller PLC;
4. Bar code positioning instrument is arranged on bridge crane traveling gear, measure position and the speed signal of crane in bridge type cross motion, horizontal position signal is denoted as to X-axis signal, and by bus transfer, horizontal position and speed signal is sent to lower computer unit, be i.e. Programmable Logic Controller PLC;
5. lower computer unit, be Programmable Logic Controller PLC, by bus transition card, signal is converted to the speed signal of the cart of X-axis, Y-axis, Z axis signal and the crane in bridge type about the hoisting crane motion that receive, dolly, suspension hook motion to signal that industrial computer unit can receive;
6. described industrial computer unit, it is industrial control computer, by the position of the cart of crane in bridge type, dolly and suspension hook and speed real time information, process, judge and carry out optimization computation, result of calculation is controlled to lower computer by providing the mode of instruction, thereby lower computer control the output of each frequency converter reach control each motor according to the rules good speed and start and stop curve automatically move, and cart, dolly and lift hook position, velocity information are shown by human and machine interface unit; And then realize crane in bridge type and automatically move.
Claims (8)
1. the crane in bridge type position fixing system based on laser ranging and Bar code positioning technology, is characterized in that it comprises crane in bridge type electric motor units, frequency converter unit, measuring unit, lower computer unit, bus transition card unit, industrial computer unit and human and machine interface unit; Wherein said measuring unit is to consist of airborne laser range finder, coder and Bar code positioning instrument; The input end of described measuring unit gathers the signal of crane in bridge type; Described airborne laser range finder is arranged on OTC's trolley traveling gear, gathers crane in bridge type longitudinal movement position and speed signal; Described coder is for height under hook and velocity measurement; Described Bar code positioning instrument is arranged on bridge crane traveling gear, measures position and the speed signal of crane in bridge type cross motion; Described airborne laser range finder is connected with lower computer unit; Between the input end of the mouth of described coder and Bar code positioning instrument and lower computer unit, according to bus, be connected; The input end of described frequency converter unit is connected with the mouth of crane in bridge type electric motor units, and its mouth is connected with the input end of lower computer unit; The input end of described human and machine interface unit is connected with the mouth of industrial computer unit; Described lower computer unit carries out data communication according to bus transition card unit and industrial computer unit; The mouth of described industrial computer unit connects the mouth of human and machine interface unit.
2. a kind of crane in bridge type position fixing system based on laser ranging and Bar code positioning technology according to claim 1, is characterized in that described crane in bridge type electric motor units consists of suspension hook motor, cargo motor and vehicle motor; The mouth of described suspension hook motor, cargo motor and vehicle motor is connected respectively the input end of frequency converter unit.
3. a kind of crane in bridge type position fixing system based on laser ranging and Bar code positioning technology according to claim 1, is characterized in that described frequency converter unit is to consist of suspension hook frequency converter, cart frequency converter, dolly frequency converter; The input end of described suspension hook frequency converter, cart frequency converter, dolly frequency converter is connected with suspension hook motor, cargo motor and vehicle motor respectively, and its mouth is connected with the input end of lower computer unit.
4. a kind of crane in bridge type position fixing system based on laser ranging and Bar code positioning technology according to claim 1, is characterized in that by PROFIBUS-DP bus, carrying out data communication between described lower computer unit and industrial computer; Between described frequency converter unit and lower computer, by PROFIBUS-DP bus, carry out data communication.
5. a kind of crane in bridge type position fixing system based on laser ranging and Bar code positioning technology according to claim 1, is characterized in that described lower computer unit is S7-300PLC programmable logic controller (PLC); Described airborne laser range finder is connected with the analog module of S7-300PLC programmable logic controller (PLC).
6. a kind of crane in bridge type position fixing system based on laser ranging and Bar code positioning technology according to claim 1, is characterized in that described industrial computer unit is industrial control computer.
7. a kind of crane in bridge type position fixing system based on laser ranging and Bar code positioning technology according to claim 1, what it is characterized in that described airborne laser range finder collection is 4-20mA analog signal, and signal is directly inputted the analog module of the PLC programmable logic controller (PLC) of lower computer unit; The collection of described Bar code positioning instrument be digital quantity signal.
8. a method of work for the crane in bridge type position fixing system based on laser ranging and Bar code positioning technology, is characterized in that it comprises the following steps:
1. cart frequency converter drive motor drives cart laterally to walk, i.e. directions X motion, and dolly frequency converter drive motor drives dolly longitudinally to walk, i.e. Y-direction motion; Cart frequency converter and dolly frequency converter are by PROFIBUS-DP bus and lower computer communication;
2. airborne laser range finder is arranged on OTC's trolley traveling gear, gather crane in bridge type longitudinal movement position signal and speed signal, position signal is denoted as to Y-axis signal, and position and speed signal are sent to lower computer unit, be i.e. Programmable Logic Controller PLC;
3. absolute value encoder is arranged on the suspension hook of crane in bridge type, gather height and the speed signal of suspension hook, altitude signal is denoted as to Z axis signal, and by PROFIBUS-DP bus transfer, height and speed signal is sent to lower computer unit, be i.e. Programmable Logic Controller PLC;
4. Bar code positioning instrument is arranged on bridge crane traveling gear, measure position and the speed signal of crane in bridge type cross motion, horizontal position signal is denoted as to X-axis signal, and by bus transfer, horizontal position and speed signal is sent to lower computer unit, be i.e. Programmable Logic Controller PLC;
5. lower computer unit, be Programmable Logic Controller PLC, by bus transition card, signal is converted to the speed signal of the cart of X-axis, Y-axis, Z axis signal and the crane in bridge type about the hoisting crane motion that receive, dolly, suspension hook motion to signal that industrial computer unit can receive;
6. described industrial computer unit, it is industrial control computer, by the position of the cart of crane in bridge type, dolly and suspension hook and speed real time information, process, judge and carry out optimization computation, result of calculation is controlled to lower computer by providing the mode of instruction, thereby lower computer control the output of each frequency converter reach control each motor according to the rules good speed and start and stop curve automatically move, and cart, dolly and lift hook position, velocity information are shown by human and machine interface unit; And then realize crane in bridge type and automatically move.
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| CN105911555A (en) * | 2016-04-18 | 2016-08-31 | 天津理工大学 | Marine diesel engine arm span difference detection method and device based on photoelectric encoder and laser distance-measuring sensor |
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| CN107010424A (en) * | 2017-04-10 | 2017-08-04 | 武汉理工大学 | The automatic de-stacking device and method of laser scanning |
| CN109291231A (en) * | 2018-10-19 | 2019-02-01 | 沈阳建筑大学 | A kind of concrete spreader based on laser ranging pre- scaling method automatically |
| CN109397506A (en) * | 2018-10-19 | 2019-03-01 | 沈阳建筑大学 | A kind of concrete spreader based on laser range sensor pre- scaling method automatically |
| CN111708356A (en) * | 2019-03-02 | 2020-09-25 | 周口师范学院 | Automatic path planning system and method for crane |
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| CN105446335A (en) * | 2015-11-13 | 2016-03-30 | 长沙有色冶金设计研究院有限公司 | Travelling crane positioning control system and control method |
| CN105366552A (en) * | 2015-11-30 | 2016-03-02 | 西安宝德自动化股份有限公司 | Free wheel positioning system |
| CN105366552B (en) * | 2015-11-30 | 2017-07-11 | 西安宝德自动化股份有限公司 | A kind of freewheel alignment system |
| CN105911555A (en) * | 2016-04-18 | 2016-08-31 | 天津理工大学 | Marine diesel engine arm span difference detection method and device based on photoelectric encoder and laser distance-measuring sensor |
| CN105911555B (en) * | 2016-04-18 | 2018-05-29 | 天津理工大学 | A kind of boat diesel engine difference crank spread detection method and device based on photoelectric encoder and laser range sensor |
| CN105967065A (en) * | 2016-07-10 | 2016-09-28 | 大连宝信起重技术有限公司 | Automatic measurement equipment for translation position location of crane |
| CN107010424A (en) * | 2017-04-10 | 2017-08-04 | 武汉理工大学 | The automatic de-stacking device and method of laser scanning |
| CN107010424B (en) * | 2017-04-10 | 2019-05-17 | 武汉理工大学 | The automatic de-stacking device and method of laser scanning |
| CN109291231A (en) * | 2018-10-19 | 2019-02-01 | 沈阳建筑大学 | A kind of concrete spreader based on laser ranging pre- scaling method automatically |
| CN109397506A (en) * | 2018-10-19 | 2019-03-01 | 沈阳建筑大学 | A kind of concrete spreader based on laser range sensor pre- scaling method automatically |
| CN109397506B (en) * | 2018-10-19 | 2020-07-07 | 沈阳建筑大学 | Automatic pre-calibration method of concrete spreader based on laser ranging sensor |
| CN111708356A (en) * | 2019-03-02 | 2020-09-25 | 周口师范学院 | Automatic path planning system and method for crane |
| CN111708356B (en) * | 2019-03-02 | 2022-08-09 | 周口师范学院 | Automatic path planning system and method for crane |
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Application publication date: 20141105 |