CN109019336A - A kind of grab bucket crane control system and method based on material detection - Google Patents
A kind of grab bucket crane control system and method based on material detection Download PDFInfo
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- CN109019336A CN109019336A CN201811038198.7A CN201811038198A CN109019336A CN 109019336 A CN109019336 A CN 109019336A CN 201811038198 A CN201811038198 A CN 201811038198A CN 109019336 A CN109019336 A CN 109019336A
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- Prior art keywords
- grab bucket
- live
- distributed data
- bucket crane
- personal computer
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
- B66C2700/085—Control actuators
Abstract
The embodiment of the invention provides a kind of grab bucket crane control systems and method based on material detection, the system includes material detecting element, material information processing module and industrial personal computer, wherein: material detecting element, for collection site material distributed data, and industrial personal computer is sent by live material distributed data, live material distributed data includes that live material stacks elevation information and/or live material image processing data；Material information processing module uploads to the live material distributed data of industrial personal computer for handling material detecting element, and generates corresponding operation instruction according to live material distributed data, and material information processing module is arranged on industrial personal computer；Industrial personal computer, for sending operational order to grab bucket crane, so that grab bucket crane executes corresponding crawl or launches the operation of material.The distribution that the embodiment of the present invention is put by detectable substance material heap provides accurate material crawl or placement position for grab bucket crane, improves the intelligent level of grab bucket crane.
Description
Technical field
The present embodiments relate to technical field of crane equipment more particularly to a kind of grab bucket cranes based on material detection
Control system and method.
Background technique
Grab bucket crane be it is a kind of takes object mechanical automatically, be broadly divided into transporter grab crane, gate-type grab bucket crane and
Folding-jib grab bucket crane etc..When grab bucket crane at work, its crawl and draw off material movement be by driver control, no
Support staff is needed, thus avoids the heavy labor of worker, the working time is saved, greatly improves work efficiency.
The material of usual grab bucket crane crawl is scattered material, such as grain, scattered stalk, rubbish, lime-ash, material height point
Cloth once or several times, all cannot determine that height of materials is reduced or increased from material itself without rule, grab bucket crawl or dispensing
How much；Many detecting elements and equipment cannot fast and accurately detect the state of material, and practical function is poor, affects grab bucket
The process of crane Automatic Control.
Therefore it needs a kind of to solve the above problems based on the grab bucket crane control system of material detection and method now.
Summary of the invention
In view of the problems of the existing technology, the embodiment of the invention provides a kind of grab bucket cranes based on material detection
Control system and method.
In a first aspect, the embodiment of the invention provides a kind of grab bucket crane control systems based on material detection, including
Material detecting element, material information processing module and industrial personal computer, in which:
The material detecting element is used for collection site material distributed data, and the live material distributed data is sent out
It is sent to the industrial personal computer, the scene material distributed data includes that live material stacks elevation information and/or live material image
Handle data；
The material information processing module uploads to the described existing of the industrial personal computer for handling the material detecting element
Field material distributed data, and corresponding operation instruction, the material information processing are generated according to the live material distributed data
Module is arranged on the industrial personal computer；
The industrial personal computer, for sending the operational order to grab bucket crane, so that the grab bucket crane executes phase
The operation of the crawl or dispensing material answered.
Second aspect, the embodiment of the invention provides a kind of grab bucket crane control methods based on material detection, comprising:
The live material distributed data of grab bucket crane is obtained, the scene material distributed data includes that live material is stacked
Elevation information and/or live material image processing data；
Corresponding operation instruction is generated according to the live material distributed data；
The operational order is sent to the grab bucket crane, so that the grab bucket crane executes corresponding crawl or throws
Put the operation of material.
The third aspect the embodiment of the invention provides a kind of electronic equipment, including memory, processor and is stored in storage
On device and the computer program that can run on a processor, realize that such as second aspect mentions when the processor executes described program
The step of method of confession.
Fourth aspect, the embodiment of the invention provides a kind of non-transient computer readable storage mediums, are stored thereon with meter
Calculation machine program is realized as provided by second aspect when the computer program is executed by processor the step of method.
A kind of grab bucket crane control system and method based on material detection provided in an embodiment of the present invention, passes through detection
The distribution of live material, to identify the stacking height position information of live material, and by analyzing live material distribution
Data provide accurate material crawl or placement position for grab bucket crane, improve grab bucket crane intelligence operation level.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the structural schematic diagram of the grab bucket crane control system provided in an embodiment of the present invention based on material detection；
Fig. 2 is the stream of the control method of the grab bucket crane control system provided in an embodiment of the present invention based on material detection
Journey schematic diagram；
Fig. 3 is the entity structure schematic diagram of electronic equipment provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Grab bucket crane is a kind of haulage equipment moved horizontally in short distance for carrying heavy goods or bulk cargo, is usually used in
The bulk cargos such as grain, rubbish, lime-ash or coal mine are loaded and unloaded, are widely used under the environment such as various cargo berths, station goods yard or mine.
Grab bucket crane is generally made of components such as gantry, cart, trolley and grab buckets, when grab bucket crane is started to work, by big
The lateral operation of vehicle is longitudinally running with trolley, so that grab bucket crane is in right above material to be captured.At this point, grab bucket
It opens and is gradually reduced and be inserted into material heap, then, grab bucket starts to be closed, the crawl of material is carried out, after grabbing bucket and being closed completely,
Grab bucket is begun to ramp up until reaching predetermined altitude, then, by adjusting the position of cart and trolley, so that grab bucket is moved to unloading
The surface in place discharges material at this point, control grab bucket is opened.
However, since the material of grab bucket crane crawl is mostly bulk cargo, for example, grain, scattered stalk, rubbish, lime-ash etc., lead
The height distribution for causing these bulk cargos to stack without rule, the grab bucket of grab bucket crane by grab or launch material it is multiple after, it is difficult
To determine the height reduction of material stacking at this time from material itself or increase how many, and the prior art cannot be examined fast and accurately
The distribution for measuring material stacking, affects the working efficiency of grab bucket crane, reduces automatic operating level.
Fig. 1 is the structural schematic diagram of the grab bucket crane control system provided in an embodiment of the present invention based on material detection,
As shown in Figure 1, the embodiment of the invention provides a kind of grab bucket crane control system based on material detection, including material detection
Element 101, material information processing module 102 and industrial personal computer 103, in which:
The material detecting element 101, is used for collection site material distributed data, and by the live material distributed data
It is sent to the industrial personal computer 103, the scene material distributed data includes that live material stacks elevation information and/or live material
Image processing data；
The material information processing module 102 uploads to the industrial personal computer for handling the material detecting element 101
The 103 live material distributed data, and corresponding operation instruction, the object are generated according to the live material distributed data
Expect that message processing module 102 is arranged 103 on the industrial personal computer；
The industrial personal computer 103, for sending the operational order to grab bucket crane, for grab bucket crane execution
Corresponding crawl or the operation for launching material.
In embodiments of the present invention, the programmable logic controller (PLC) by industrial personal computer on grab bucket crane
(Programmable Logic Controller, hereinafter referred to as PLC) sends corresponding operation instruction, realizes to grab bucket lifting
Jack up unit, grab bucket opening and closing device, cart and the trolley of machine carry out intelligentized control method.Firstly, working as the grab bucket pair of grab bucket crane
When material is grabbed or launched, by the sensor and/or image recognition apparatus on material detecting element 101, to material heap
The height and distribution situation put are detected, and the distributed data of material heap is uploaded to industrial personal computer 103.At this point, passing through installation
Material information processing module 102 on industrial personal computer 103 is analyzed and processed collected live material distributed data, and
Based on the analysis results, the position for obtaining grabbing bucket when grabbing or launching next time, for example, for grabbing material next time, when grabbing
The crane that struggles against carries out after repeatedly grabbing material same position, causes to be in recess among material heap, both sides shape outstanding, herein
If being grabbed again to recess, it will lead to the problem of grabbing low efficiency of grabbing bucket, it at this time will by material detecting element 101
The stacking height distributed data of live material is uploaded in the material information processing module 102 in industrial personal computer 103, at material information
The recess that reason module 102 analyzes material is not suitable for crawl next time, and judges to show that the protrusion of material is more suitable for
Crawl next time.At this point, material information processing module 102 is based on the analysis results, corresponding intelligent operation instruction is generated, and
Operational order is sent to the PLC of grab bucket crane by industrial personal computer 103, PLC controls cart and trolley is mobile according to operational order
It grabs bucket to specified crawl position, and by automatic shutter, controls raising line, realization grabs material, meanwhile, material detection
This live material after grabbing is stacked elevation information with element 101 and/or live material image processing data is acquired, and
The material information processing module 102 being sent in industrial personal computer 103 is analyzed, for crawl work next time.
A kind of grab bucket crane control system based on material detection provided in an embodiment of the present invention, detects member by material
Part 101 detects the distribution of live material, to identify the stacking height position information of live material, and passes through industrial personal computer
The material information processing module 102 being arranged on 103 analyzes live material distributed data, provides accurate material for grab bucket crane
Crawl or placement position so that grab bucket crane utilization rate is higher improve grab bucket crane intelligence operation level.
On the basis of the above embodiments, the system also includes communication device, in the industrial personal computer 103 and described
Carry out data transmission between material detecting element 101, the industrial personal computer 103 connects the material detection by the communication device
Element 101.
In embodiments of the present invention, communication device further includes proximal end communication device and remote communication device, wherein proximal end is logical
Device setting is interrogated in 103 one end of industrial personal computer, remote communication device is arranged in grab bucket crane one end, and the communication device of every one end is also
It is provided with interchanger, the connection for conversion and equipment room between data.Material detecting element 101 is accessed by network interface
Data biography is carried out by the interchanger at both ends to the interchanger at grab bucket crane end, and by collected live material distributed data
It is defeated, so that 102 pairs of material information processing module live material distributed datas are analyzed and processed, then, the behaviour that analysis is obtained
Make instruction and grab bucket crane is sent to by communication device, to realize the intelligentized control method of grab bucket crane.
On the basis of the above embodiments, further, the communication device includes wireless telecommunications or wire communication.
In embodiments of the present invention, using wireless telecommunications or the side of wire communication between material detecting element and industrial personal computer
Formula carries out the transmission between data, is monitored and is controlled including the relevant device to grab bucket crane, to realize that data are adopted
The transmission of all datas such as collection, equipment control, measurement, parameter regulation and various types of signal alarm.It is mounted at grab bucket crane
Material detecting element live material distributed data is transferred to industrial personal computer by way of wirelessly or non-wirelessly communicating, industrial personal computer exists
After being analyzed and processed to live material distributed data, by corresponding operational order again by wireless or wire communication side
Formula is sent to grab bucket crane, to realize the monitoring and control to grab bucket crane.
The embodiment of the present invention examine the grab bucket crane control system detected based on material can in real time by communication device
The operating status for surveying grab bucket crane, further realizes the intelligentized control method of grab bucket crane.
On the basis of the above embodiments, the material detecting element 101 includes 2D equipment and/or image recognition apparatus,
For acquiring the live material distributed data.
In embodiments of the present invention, material detecting element 101 is by 2D equipment and/or image recognition apparatus to live material
Distributed data is acquired, so that material information processing module 102 analyzes the material level for obtaining grab bucket crane crawl or launching
It sets.It should be noted that it is more accurate in order to acquire material distributed data, it can be set in the corresponding position of grab bucket crane
Multiple material detecting elements 101 are set, so that preferably obtaining relevant live material distributed data, material detecting element 101
Specific setting quantity and position, are not especially limited in embodiments of the present invention.
The embodiment of the present invention collects live material distributed data by material detecting element 101, at material information
It manages module 102 to analyze, to obtain more accurate grab bucket crane crawl and placement position, improves the benefit of grab bucket crane
With rate.
On the basis of the various embodiments described above, the system comprises multiple material detecting elements 101, multiple objects
Material detecting element 101 is separately positioned on multiple grab bucket cranes.
In embodiments of the present invention, in the workplaces such as Large freight harbour or goods yard, often there are multiple grab bucket cranes
It works at the same time, therefore, in the one or more material detecting elements 101 of the last setting of multiple grab bucket cranes, passes through industrial personal computer 103
Centralized management is carried out to multiple grab bucket cranes, the material detecting element 101 on each grab bucket crane is by setting at this
The communication device at 103 end of communication device and industrial personal computer at end carries out data transmission, and display is additionally provided on industrial personal computer 103
Each grab bucket crane under operative scenario is numbered in module, display module respectively, while by each grab bucket crane
Live material stack elevation information and/or live material image processing data is presented to operator, can allow staff
Understand the working condition of current material unloading or shipment situation and grab bucket crane.Material information processing module 102 is simultaneously
The live material distributed data uploaded to the material detecting elements 101 of multiple grab bucket cranes is handled, and by the behaviour of generation
Make instruction and corresponding grab bucket crane execution is controlled by PLC.It is risen it should be noted that grab bucket crane can be bridge-type grab
Heavy-duty machine, gate-type grab bucket crane etc., the embodiment of the present invention is not especially limited grab bucket crane type.
The embodiment of the present invention makes grab bucket crane by the way that material detecting element 101 is arranged on multiple grab bucket cranes
Intelligent operation scale is bigger, make multiple grab bucket cranes and meanwhile operate it is more convenient, can it is relatively reliable, be accurately finished
Various control tasks.
Fig. 2 is the stream of the control method of the grab bucket crane control system provided in an embodiment of the present invention based on material detection
Journey schematic diagram, as shown in Fig. 2, the embodiment of the invention provides a kind of grab bucket crane control systems based on the detection of above-mentioned material
Control method characterized by comprising
Step 201, the live material distributed data of grab bucket crane is obtained, the scene material distributed data includes scene
Material stacks elevation information and/or live material image processing data；
Step 202, corresponding operation instruction is generated according to the live material distributed data；
Step 203, the operational order is sent to the grab bucket crane, so that the grab bucket crane executes accordingly
Crawl or the operation for launching material.
In embodiments of the present invention, step 201, the live material distributed data of grab bucket crane, the scene object are obtained
Expect that distributed data includes that live material stacks elevation information and/or live material image processing data, when grabbing for grab bucket crane
When bucket is grabbed or launched to material, by the sensor and/or image recognition apparatus on material detecting element, to material heap
The height and distribution situation put are detected, and the distributed data of material heap is uploaded to industrial personal computer by communication device.Step
Rapid 202, corresponding operation instruction is generated according to the live material distributed data, the grab bucket crane control based on material detection
System stacks the distributed data of height to collected live material by the material information processing module being mounted on industrial personal computer
It is analyzed and processed, and based on the analysis results, the position for obtaining grabbing bucket when grabbing or launching next time, while generating corresponding behaviour
It instructs.In step 203, the operational order is sent to the grab bucket crane, so that the grab bucket crane executes phase
The crawl answered or dispensing material, and corresponding operation instruction is executed to grab bucket crane by realizing with PLC.
The embodiment of the present invention passes through the distribution for detecting live material, to identify the stacking height and position of live material
Information, and the material information processing module by being arranged on industrial personal computer analyzes live material distributed data, mentions for grab bucket crane
For the crawl of accurate material or placement position, so that grab bucket crane utilization rate is higher, grab bucket crane intelligence fortune is improved
Row is horizontal.
On the basis of the above embodiments, in step 201, the live material distributed data for obtaining grab bucket crane it
Before, comprising:
The distribution situation that target material is detected by material detecting element obtains the live material distributed data, for
The live material distributed data is sent to industrial personal computer by communication device.
In embodiments of the present invention, after grab bucket crane repeatedly grab to material heap same position, it will lead to object
In recess, both sides shape outstanding, if grabbed again to recess herein among material heap, it will lead to grab bucket crawl efficiency
Low problem is high to the stacking of live material heap at this time by the sensor and/or image recognition apparatus on material detecting element
Degree and material distributed intelligence carry out detection acquisition, and are uploaded to industrial personal computer for collected data as live material distributed data
In, live material distributed data that the transmission of material detecting element comes is read by the network interface of industrial personal computer and is handled, general
The high and low position information of obtained material distribution is supplied to grab bucket crane and is grabbed and launched.
The embodiment of the present invention passes through the distribution for detecting live material, to identify the stacking height and position of live material
Information provides accurate material crawl for grab bucket crane or placement position improves so that grab bucket crane utilization rate is higher
Grab bucket crane intelligence operation level.
It is further, step 202, described that corresponding operation instruction is generated according to the live material distributed data, comprising:
The live material distributed data is handled by material information processing module, the operational order is obtained, for institute
Grab bucket crane is stated to execute corresponding crawl to target material or launch the operation of material.
In embodiments of the present invention, material information processing module analyzes live material distributed data, according to analysis
As a result, generating corresponding operation instruction, and operational order is sent to the PLC of grab bucket crane by industrial personal computer, PLC is according to operation
Instruction, controls cart and trolley is moved to specified crawl position, and is grabbed bucket by automatic shutter, controls raising line, realizes to object
Material is grabbed, meanwhile, this live material after grabbing is stacked elevation information and/or live material figure by material detecting element
It is acquired as handling data, and the material information processing module for being sent to industrial personal computer is analyzed, for crawl next time
Work.
The embodiment of the present invention analyzes live material distributed data by the material information processing module being arranged on industrial personal computer, is
Grab bucket crane provides accurate material crawl or placement position is improved and grabbed bucket so that grab bucket crane utilization rate is higher
Heavy-duty machine intelligence operation level.
Fig. 3 is the entity structure schematic diagram of electronic equipment provided in an embodiment of the present invention, as shown in figure 3, the electronic equipment
It may include: processor (processor) 310,320, memory communication interface (Communications Interface)
(memory) 330 and communication bus 340, wherein processor 310, communication interface 320, memory 330 pass through communication bus 340
Complete mutual communication.Processor 310 can call the logical order in memory 330, and to execute following method: acquisition is grabbed
Struggle against the live material distributed data of crane, the scene material distributed data include live material stack elevation information and/it is existing
Field material image processing data；Corresponding operation instruction is generated according to the live material distributed data；The operation is sent to refer to
The grab bucket crane is enabled, so that the grab bucket crane executes corresponding crawl or launches the operation of material.
In addition, the logical order in above-mentioned memory 330 can be realized by way of SFU software functional unit and conduct
Independent product when selling or using, can store in a computer readable storage medium.Based on this understanding, originally
The technical solution of the inventive embodiments substantially part of the part that contributes to existing technology or the technical solution in other words
It can be embodied in the form of software products, which is stored in a storage medium, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes the present invention respectively
The all or part of the steps of a embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory
(ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk
Etc. the various media that can store program code.
The embodiment of the present invention discloses a kind of computer program product, and the computer program product is non-transient including being stored in
Computer program on computer readable storage medium, the computer program include program instruction, when described program instructs quilt
When computer executes, computer is able to carry out method provided by above-mentioned each method embodiment, for example, obtains grab bucket lifting
The live material distributed data of machine, the scene material distributed data include that live material stacks elevation information and/or live object
Expect image processing data；Corresponding operation instruction is generated according to the live material distributed data；Send the operational order to
The grab bucket crane, so that the grab bucket crane executes corresponding crawl or launches the operation of material.
The embodiment of the present invention provides a kind of non-transient computer readable storage medium, the non-transient computer readable storage medium
The instruction of matter storage server, the computer instruction make computer execute the grab bucket based on material detection provided by above-described embodiment
The control method of crane control system, for example, obtain the live material distributed data of grab bucket crane, the scene object
Expect that distributed data includes that live material stacks elevation information and/or live material image processing data；According to the live material
Distributed data generates corresponding operation instruction；The operational order is sent to the grab bucket crane, for the grab bucket lifting
Machine executes corresponding crawl or launches the operation of material.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of grab bucket crane control system based on material detection, which is characterized in that believe including material detecting element, material
Cease processing module and industrial personal computer, in which:
The material detecting element is used for collection site material distributed data, and sends the live material distributed data to
The industrial personal computer, the scene material distributed data include that live material stacks elevation information and/or live material image procossing
Data；
The material information processing module uploads to the live object of the industrial personal computer for handling the material detecting element
Expect distributed data, and corresponding operation instruction, the material information processing module are generated according to the live material distributed data
It is arranged on the industrial personal computer；
The industrial personal computer, for sending the operational order to grab bucket crane, so that the grab bucket crane executes accordingly
Crawl or the operation for launching material.
2. system according to claim 1, which is characterized in that the system also includes communication devices, in the work
Carry out data transmission between control machine and the material detecting element, the industrial personal computer connects the material by the communication device
Detecting element.
3. system according to claim 2, which is characterized in that the communication device includes wireless telecommunications or wire communication.
4. system according to claim 1, which is characterized in that the material detecting element includes 2D equipment and/or image
Equipment is identified, for acquiring the live material distributed data.
5. system according to any one of claims 1 to 4, which is characterized in that the system comprises multiple materials to detect
Element, multiple material detecting elements are separately positioned on multiple grab bucket cranes.
6. a kind of controlling party based on any grab bucket crane control system based on material detection of claim 1 to 5
Method characterized by comprising
The live material distributed data of grab bucket crane is obtained, the scene material distributed data includes that live material stacks height
Information and/or live material image processing data；
Corresponding operation instruction is generated according to the live material distributed data；
The operational order is sent to the grab bucket crane, so that the grab bucket crane executes corresponding crawl or missile
The operation of material.
7. according to the method described in claim 6, it is characterized in that, in the live material distribution number for obtaining grab bucket crane
According to before, comprising:
The distribution situation that target material is detected by material detecting element obtains the live material distributed data, for communication
The live material distributed data is sent to industrial personal computer by device.
8. according to the method described in claim 6, it is characterized in that, described generate accordingly according to the live material distributed data
Operational order, comprising:
The live material distributed data is handled by material information processing module, the operational order is obtained, is grabbed for described
The crane that struggles against executes corresponding crawl to target material or launches the operation of material.
9. a kind of electronic equipment including memory, processor and stores the calculating that can be run on a memory and on a processor
Machine program, which is characterized in that the processor is realized when executing described program such as any one of claim 6 to 8 the method
Step.
10. a kind of non-transient computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer
It is realized when program is executed by processor such as the step of any one of claim 6 to 8 the method.
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| CN201811038198.7A CN109019336A (en) | 2018-09-06 | 2018-09-06 | A kind of grab bucket crane control system and method based on material detection |
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| CN109941886A (en) * | 2019-04-17 | 2019-06-28 | 北京起重运输机械设计研究院有限公司 | A kind of hopper feeding control method and system |
| CN111581816A (en) * | 2020-05-07 | 2020-08-25 | 金陵科技学院 | Dry bulk material three-dimensional characteristic distribution and grabbing safety detection method |
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| CN208994991U (en) * | 2018-09-06 | 2019-06-18 | 北京起重运输机械设计研究院有限公司 | A kind of grab bucket crane control system based on material detection |
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