CN116040337A - Grab bucket pose detection method and device of grab bucket ship unloader - Google Patents
Grab bucket pose detection method and device of grab bucket ship unloader Download PDFInfo
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- CN116040337A CN116040337A CN202211567778.1A CN202211567778A CN116040337A CN 116040337 A CN116040337 A CN 116040337A CN 202211567778 A CN202211567778 A CN 202211567778A CN 116040337 A CN116040337 A CN 116040337A
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- grab bucket
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/005—Control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/60—Loading or unloading ships
Abstract
The invention provides a grab bucket pose detection method and device of a grab bucket ship unloader, wherein the method comprises the following steps: acquiring first grab bucket pose data acquired by a three-dimensional laser scanning device, wherein the three-dimensional laser scanning device is arranged on a cab platform; acquiring second grab bucket pose data acquired by a visual recognition device, wherein the visual recognition device is arranged on a cab platform; and calibrating the first grab bucket pose data by taking the first grab bucket pose data as a reference and using the second grab bucket pose data, so as to generate final grab bucket pose data. The invention greatly improves the detection precision of the position and the gesture of the grab bucket, enhances the operation safety of the grab bucket ship unloader, and simultaneously provides reliable hardware performance guarantee for the development of the intelligent unmanned grab bucket ship unloader technology.
Description
Technical Field
The invention relates to a grab ship unloader, in particular to a grab ship unloader grab pose detection method and device.
Background
The grab bucket is an important ship unloading and taking device of the grab bucket ship unloader, and is connected with the main body structure of the ship unloader through four steel wires under normal conditions, the grab bucket is not provided with a detection device, power supply and communication cables cannot be arranged, the position and the gesture of the grab bucket are detected only by the winding amount of the four steel wires to roughly judge, and the accuracy of the grab bucket cannot be guaranteed. Therefore, in the ship unloading operation process, accidents such as grab collision, dumping and the like are easy to occur, and the normal operation of the grab ship unloader is greatly influenced.
Disclosure of Invention
According to the technical problem of low accuracy of the grab bucket pose detection, the grab bucket pose detection method and device of the grab bucket ship unloader are provided. The invention greatly improves the detection precision of the position and the gesture of the grab bucket, enhances the operation safety of the grab bucket ship unloader, and simultaneously provides reliable hardware performance guarantee for the development of the intelligent unmanned grab bucket ship unloader technology.
The invention adopts the following technical means:
a grab bucket pose detection method of a grab bucket ship unloader comprises the following steps:
acquiring first grab bucket pose data acquired by a three-dimensional laser scanning device, wherein the three-dimensional laser scanning device is arranged on a cab platform;
acquiring second grab bucket pose data acquired by a visual recognition device, wherein the visual recognition device is arranged on a cab platform;
and calibrating the first grab bucket pose data by taking the first grab bucket pose data as a reference and using the second grab bucket pose data, so as to generate final grab bucket pose data.
Further, calibrating the first grapple pose data with the second grapple pose data based on the first grapple pose data includes:
comparing the first grab bucket pose data with the second grab bucket pose data, acquiring grab bucket pose difference data according to a comparison result, judging whether shutdown maintenance is needed according to the grab bucket pose difference data, generating an alarm signal when the shutdown maintenance is needed, and sending the alarm signal to a control system of the grab bucket ship unloader, and controlling electrodes of the trolley driving mechanism and the lifting driving mechanism to stop.
Further, based on the first grab bucket pose data, calibrating the first grab bucket pose data through the second grab bucket pose data, further comprising:
and when judging that shutdown maintenance is not needed, calibrating the first grab bucket pose data according to the grab bucket pose difference data.
Further, the first grab bucket pose data is grab bucket space position data acquired by the three-dimensional laser scanning device, the second grab bucket pose data is grab bucket space position data acquired by the visual recognition device, and the first grab bucket pose data is corrected according to the following formula:
P fixing device ＝P Inspection and detection +K 1 *(P School and school -P Inspection and detection )
Wherein P is Fixing device For calibrated grab bucket spatial position data, P Inspection and detection Grab bucket space position data, P, acquired for three-dimensional laser scanning device School and school Grab bucket space position data, K, acquired for visual recognition device 1 And correcting the coefficient for the spatial position.
Further, the first grab bucket pose data is grab bucket dumping angle data acquired by the three-dimensional laser scanning device, the second grab bucket pose data is grab bucket dumping angle data acquired by the visual recognition device, and the first grab bucket pose data is corrected according to the following formula:
ω tilting and fixing ＝ω Tilting inspection +K 2 *(ω Tilting correction -ω Tilting inspection )
Wherein omega Tilting and fixing To calibratePost grab bucket dump angle data, ω Tilting inspection Grab bucket dumping angle data omega acquired by three-dimensional laser scanning device Tilting correction Grab bucket dumping angle data K acquired by the visual recognition device 2 And correcting the coefficient for the pouring angle.
Further, the first grab bucket pose data is grab bucket rotation angle data acquired by the three-dimensional laser scanning device, the second grab bucket pose data is grab bucket rotation angle data acquired by the visual recognition device, and the first grab bucket pose data is corrected according to the following formula:
ω return to fix ＝ω Rechecking +K 3 *(ω Correction method -ω Rechecking )
Wherein omega Return to fix To calibrate corrected grab bucket rotation angle data omega Rechecking For grab bucket rotation angle data omega acquired by a three-dimensional laser scanning device in a detection unit Correction method Grab bucket rotation angle data K acquired by the visual recognition device 3 The rotation angle correction coefficient.
Further, the method further comprises the step of carrying out risk judgment on final grab bucket pose data generated after correction, generating an alarm signal when judging that the grab bucket pose data has operation risk, and sending the alarm signal to a control system of the grab bucket ship unloader, and controlling electrodes of the trolley driving mechanism and the lifting driving mechanism to stop.
The invention also discloses a grab bucket pose detection device of the grab bucket ship unloader, which comprises the following components:
the first data acquisition unit is used for acquiring first grab bucket pose data acquired by a three-dimensional laser scanning device, and the three-dimensional laser scanning device is arranged on a cab platform;
the second data acquisition unit is used for acquiring second grab bucket pose data acquired by the visual recognition device, and the visual recognition device is arranged on the cab platform;
and the calibration unit is used for calibrating the first grab bucket pose data by taking the first grab bucket pose data as a reference and generating final grab bucket pose data through the second grab bucket pose data.
Compared with the prior art, the invention has the following advantages:
the invention can realize the function of detecting the grab position and the gesture of the grab ship unloader, and can realize the real-time detection of the grab position and the gesture in the operation process of the grab ship unloader, and the scheme adopts the scheme form of redundant calibration, thereby having higher accuracy and reliability. When the detected grab position and posture data have risk hidden trouble, the grab position and posture detection system automatically gives out fault early warning, and the corresponding action of the grab ship unloader is timely interrupted, so that the safe operation of equipment is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort to a person skilled in the art.
FIG. 1 is a flow chart of a grab bucket pose detection method of the grab ship unloader.
Fig. 2 is a layout diagram of a three-dimensional laser scanning device in an embodiment.
Fig. 3 is a diagram showing a visual recognition apparatus according to an embodiment.
Fig. 4 is a diagram of a grab bucket pose detection system architecture of a grab ship unloader in an embodiment.
Fig. 5 is a flow chart of grab bucket pose detection of the grab ship unloader in the embodiment.
Fig. 6 is a diagram showing the structure of the grab pose detection device of the grab ship unloader.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The invention discloses a grab bucket pose detection method of a grab bucket ship unloader, which mainly comprises the following steps of:
s1, acquiring first grab bucket pose data acquired by a three-dimensional laser scanning device, wherein the three-dimensional laser scanning device is arranged on a cab platform and used for detecting the position, the pose and other data of the grab bucket, and the specific arrangement position is shown in fig. 2.
S2, acquiring second grab bucket pose data acquired by a visual recognition device, wherein the visual recognition device is arranged on a cab platform and used for detecting the position, the pose and other data of the grab bucket, and the specific arrangement position is shown in fig. 3.
And S3, calibrating the first grab bucket pose data by taking the first grab bucket pose data as a reference and using the second grab bucket pose data, so that final grab bucket pose data is generated.
The grab bucket pose detection scheme adopts two different detection technologies of three-dimensional laser scanning and visual recognition, forms a redundant detection scheme and improves the accuracy of system detection. The three-dimensional laser scanning technology has strong environmental adaptability and high detection precision, can meet the complex operation environment of a bulk cargo wharf, has slightly lower detection precision compared with the three-dimensional laser scanning technology, but has quicker data processing response, visual display effect and complementary advantages, and improves the overall reliability of system detection.
Further, calibrating the first grapple pose data includes:
s301, comparing the first grab bucket pose data with the second grab bucket pose data, acquiring grab bucket pose difference data according to a comparison result, judging whether shutdown maintenance is needed according to the grab bucket pose difference data, generating an alarm signal when the shutdown maintenance is judged to be needed, and sending the alarm signal to a control system of the grab bucket ship unloader, and controlling electrodes of the trolley driving mechanism and the lifting driving mechanism to be stopped.
S302, when judging that shutdown maintenance is not needed, calibrating the first grab bucket pose data according to the grab bucket pose difference data.
In the invention, the pose of the grab bucket is preferably represented by the space position of the grab bucket, the dumping angle of the grab bucket, the rotation angle of the grab bucket and the like, and specifically:
when the position and the posture of the grab bucket are represented by the grab bucket space position, firstly, the grab bucket space position data collected by the three-dimensional laser scanning device and the grab bucket space position data collected by the visual identification device are judged as follows:
when P School and school -P Inspection and detection >P Allow for And when the detection result deviation of the grab bucket space position value in the two detection modes of three-dimensional laser scanning and visual recognition is too large, the detection system reports a fault, and the ship unloader is stopped to operate. Wherein P is Allow for Calibrating the allowable deviation value, P, for the space position of the grab bucket Inspection and detection Grab bucket space position data, P, acquired for three-dimensional laser scanning device School and school And the grab bucket space position data is acquired for the visual recognition device.
When 0 is<P School and school -P Inspection and detection <＝P Allow for When the method is used, the detection results of the three-dimensional laser scanning and the visual identification are relatively close, but a certain deviation exists, the detection data of the three-dimensional laser scanning is required to be calibrated and corrected by adopting the detection data of the visual identification, and the method is as follows:
P fixing device ＝P Inspection and detection +K 1 *(P School and school -P Inspection and detection )
Wherein P is Fixing device For calibrated grab bucket spatial position data, P Inspection and detection Grab bucket space position data, P, acquired for three-dimensional laser scanning device School and school Grab bucket space position data, K, acquired for visual recognition device 1 For the spatial position correction coefficient, K is preferably set in the present embodiment 1 ＝0.3。
When the pose of the grab bucket is represented by the grab bucket dumping angle, firstly, the grab bucket dumping angle data collected by the three-dimensional laser scanning device and the grab bucket dumping angle data collected by the visual identification device are judged as follows:
when omega Tilting correction -ω Tilting inspection >ω Tilting and allowing And when the three-dimensional laser scanning and visual recognition detection modes are adopted, the deviation of the detection result of the grab bucket dumping angle is too large, and the detection system reports a fault and stops the ship unloader. Wherein omega Let the inclination be Calibration deviation allowance, omega, of grab bucket dumping angle Tilting inspection Grab bucket dumping angle data omega acquired by three-dimensional laser scanning device Tilting correction Grab bucket dumping angle data collected for visual recognition device
When 0 is<ω Tilting correction -ω Tilting inspection <＝ω Tilting and allowing When the method is used, the detection results of the three-dimensional laser scanning and the visual identification are relatively close, but a certain deviation exists, the detection data of the three-dimensional laser scanning is required to be calibrated and corrected by adopting the detection data of the visual identification, and the method is as follows:
ω tilting and fixing ＝ω Tilting inspection +K 2 *(ω Tilting correction -ω Tilting inspection )
Wherein omega Tilting and fixing Omega as calibrated grapple dumping angle data Tilting inspection Grab bucket dumping angle data omega acquired by three-dimensional laser scanning device Tilting correction Grab bucket dumping angle data K acquired by the visual recognition device 2 For the correction coefficient of the tilting angle, K is preferably set in the present embodiment 2 ＝0.2。
When the pose of the grab bucket is represented by the rotation angle of the grab bucket, firstly, the rotation angle data of the grab bucket collected by the three-dimensional laser scanning device and the rotation angle data of the grab bucket collected by the visual identification device are judged as follows:
when omega Correction method -ω Rechecking >ω Return to allow And when the detection system is used, the three-dimensional laser scanning and visual recognition are performed, the deviation of the detection result of the rotation angle of the grab bucket is overlarge, and the detection system reports a fault and stops the ship unloader from running.
When 0 is<ω Correction method -ω Rechecking <＝ω Return to allow When the method is used, the detection results of the three-dimensional laser scanning and the visual identification are relatively close, but a certain deviation exists, the detection data of the three-dimensional laser scanning is required to be calibrated and corrected by adopting the detection data of the visual identification, and the method is as follows:
ω return to fix ＝ω Rechecking +K 3 *(ω Correction method -ω Rechecking )
Wherein omega Return to fix To calibrate corrected grab bucket rotation angle data omega Rechecking For grab bucket rotation angle data omega acquired by a three-dimensional laser scanning device in a detection unit Correction method Grab bucket rotation angle data K acquired by the visual recognition device 3 In this embodiment, K is preferably set as the rotation angle correction coefficient 3 ＝0.2。
Further, the method further comprises the step of carrying out risk judgment on final grab bucket pose data generated after correction, generating an alarm signal when judging that the grab bucket pose data has operation risk, and sending the alarm signal to a control system of the grab bucket ship unloader, and controlling electrodes of the trolley driving mechanism and the lifting driving mechanism to stop. Preferably, there is:
when P Fixing device -P Terminal (A) <D, judging the position of the grab bucket from the end position P by the system Terminal (A) The distance is too close and smaller than the collision allowable value D, the system sends out grab bucket collision alarm, and the trolley and the lifting mechanism are immediately driven to pull the grab bucket back to the safety area.
When omega Tilting and fixing >ω Tilting and leaning When the system judges that the grab bucket dumping angle value is larger than the allowable dumping angle omega of the grab bucket Tilting and leaning The system sends out the grab bucket to topple over and report to the police, and break dolly and hoisting mechanism operation immediately, until the grab bucket resumes steadily.
When omega Return to fix >ω Returning to When the system judges that the dumping angle value of the grab bucket is larger than the allowable rotation angle omega of the grab bucket Returning to The system sends out the excessive warning of grab bucket rotation, and immediately interrupts the operation of the trolley and the lifting mechanism until the grab bucket is restored to be stable.
The following further describes the solution and effects of the present invention by means of specific application examples.
The embodiment provides a specific implementation scheme capable of realizing the detection method, wherein U1 represents a detection unit, and the detection unit consists of a three-dimensional laser scanning device and a cloud deck thereof, wherein the three-dimensional laser scanning device is arranged on a cab platform and is used for scanning the position and the gesture of a grab bucket; the cradle head is used for adjusting the detection angle of the three-dimensional laser scanning device and automatically tracking the grab bucket. The arrangement of the detection unit U1 is shown in fig. 2. U2 denotes a calibration unit. The visual recognition device is used for scanning the outline of the grab bucket to obtain the position and posture data information of the grab bucket; the cradle head is used for adjusting the detection angle of the visual recognition device and automatically tracking the grab bucket. The arrangement of the detection unit U2 is shown in fig. 3. The data processing and controlling unit is arranged in the machine room and consists of an industrial computer, an exchanger, a PLC, a trolley and a lifting driving mechanism, wherein the industrial computer is used for carrying out redundant calibration and positioning on the data of the detection unit U1 and the calibration unit U2; the exchanger is used for receiving sampling data of the detection unit U1 and the calibration unit U2; the PLC is used for judging the running risk according to the pose information of the grab bucket, and giving out a corresponding risk avoiding instruction once the risk is found; the trolley and the lifting driving mechanism are used for receiving the PLC instruction and completing corresponding actions. The scheme of the data processing and control unit is shown in fig. 4.
In the running process of the grab ship unloader, the grab pose detection function is automatically activated. The data processing and control unit receives the grab bucket attitude data in the detection unit and performs redundant calibration operation by combining the data of the calibration unit, and when the rotation angle of the grab bucket exceeds or is about to exceed a risk threshold value, the operation of the trolley and the lifting mechanism is immediately interrupted until the grab bucket is restored to be stable. The data processing and control unit receives the grab bucket attitude data in the detection unit and performs redundant calibration operation by combining the data of the calibration unit, and when the dumping angle of the grab bucket exceeds or is about to exceed a risk threshold value, the operation of the trolley and the lifting mechanism is immediately interrupted until the grab bucket is restored to be stable. The data processing and control unit receives the grab bucket attitude data in the detection unit and performs redundant calibration operation by combining the data of the calibration unit, and when the space positions of the grab bucket in the horizontal direction and the vertical direction are about to be in collision risk, the trolley and the lifting mechanism are immediately driven to pull the grab bucket back to the safety area. And repeating the detection operation in the ship unloading operation process of the grab ship unloader until the grab ship unloader finishes the operation.
Fig. 5 shows a working flow of the ship unloader system according to the present embodiment for grab pose detection control. The method specifically comprises the following steps:
step one: the grab ship unloader starts to operate, and the grab pose detection function is automatically activated;
step two: the data processing and control unit receives the grab bucket attitude data in the detection unit and performs redundant calibration operation by combining the data of the calibration unit, and when the rotation angle of the grab bucket exceeds or is about to exceed a risk threshold value, the operation of the trolley and the lifting mechanism is immediately interrupted until the grab bucket is restored to be stable;
step three: the data processing and control unit receives the grab bucket attitude data in the detection unit and performs redundant calibration operation by combining the data of the calibration unit, and when the dumping angle of the grab bucket exceeds or is about to exceed a risk threshold value, the operation of the trolley and the lifting mechanism is immediately interrupted until the grab bucket is restored to be stable;
step four: the data processing and control unit receives the grab bucket attitude data in the detection unit and performs redundant calibration operation by combining the data of the calibration unit, and when the space positions of the grab bucket in the horizontal and vertical directions are about to be in collision risk, the trolley and the lifting mechanism are immediately driven to pull the grab bucket back to the safety area;
step five: and (3) repeating the operations in the second, third and fourth steps in the ship unloading operation process of the grab ship unloader until the grab ship unloader finishes the operation.
The invention can realize the function of detecting the grab position and the gesture of the grab ship unloader, and can realize the real-time detection of the grab position and the gesture in the operation process of the grab ship unloader, and the scheme adopts the scheme form of redundant calibration, thereby having higher accuracy and reliability. When the detected grab position and posture data have risk hidden trouble, the grab position and posture detection system automatically gives out fault early warning, and the corresponding action of the grab ship unloader is timely interrupted, so that the safe operation of equipment is ensured.
As shown in fig. 6, the invention also discloses a grab bucket pose detection device of the grab ship unloader, comprising:
the first data acquisition unit is used for acquiring first grab bucket pose data acquired by a three-dimensional laser scanning device, and the three-dimensional laser scanning device is arranged on a cab platform;
the second data acquisition unit is used for acquiring second grab bucket pose data acquired by the visual recognition device, and the visual recognition device is arranged on the cab platform;
and the calibration unit is used for calibrating the first grab bucket pose data by taking the first grab bucket pose data as a reference and generating final grab bucket pose data through the second grab bucket pose data.
For the embodiments of the device according to the invention, the description is relatively simple, since it corresponds to the above method embodiments, and the relevant similarities will be found in the description of the above method embodiments, which is not described in detail here.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (8)
1. The method for detecting the grab bucket pose of the grab bucket ship unloader is characterized by comprising the following steps of:
acquiring first grab bucket pose data acquired by a three-dimensional laser scanning device, wherein the three-dimensional laser scanning device is arranged on a cab platform;
acquiring second grab bucket pose data acquired by a visual recognition device, wherein the visual recognition device is arranged on a cab platform;
and calibrating the first grab bucket pose data by taking the first grab bucket pose data as a reference and using the second grab bucket pose data, so as to generate final grab bucket pose data.
2. The method for detecting the position and the posture of a grab bucket of a grab ship unloader according to claim 1, wherein the calibration of the first grab bucket position and posture data by the second grab bucket position and posture data based on the first grab bucket position and posture data comprises the following steps:
comparing the first grab bucket pose data with the second grab bucket pose data, acquiring grab bucket pose difference data according to a comparison result, judging whether shutdown maintenance is needed according to the grab bucket pose difference data, generating an alarm signal when the shutdown maintenance is needed, and sending the alarm signal to a control system of the grab bucket ship unloader, and controlling electrodes of the trolley driving mechanism and the lifting driving mechanism to stop.
3. The method for detecting the position and the posture of a grab bucket of a grab ship unloader according to claim 2, wherein the first grab bucket position and posture data are calibrated by the second grab bucket position and posture data based on the first grab bucket position and posture data, and further comprising:
and when judging that shutdown maintenance is not needed, calibrating the first grab bucket pose data according to the grab bucket pose difference data.
4. The method for detecting the position and the posture of the grab bucket ship unloader according to claim 3, wherein the first grab bucket position and posture data are grab bucket space position data acquired by a three-dimensional laser scanning device, the second grab bucket position and posture data are grab bucket space position data acquired by a visual recognition device, and the first grab bucket position and posture data are corrected according to the following formula:
P fixing device ＝P Inspection and detection +K 1 *(P School and school -P Inspection and detection )
Wherein P is Fixing device For calibrated grab bucket spatial position data, P Inspection and detection Grab bucket space position data, P, acquired for three-dimensional laser scanning device School and school Grab bucket space position data, K, acquired for visual recognition device 1 And correcting the coefficient for the spatial position.
5. The method for detecting the grab bucket pose of the grab bucket ship unloader according to claim 3, wherein the first grab bucket pose data is grab bucket dumping angle data collected by a three-dimensional laser scanning device, the second grab bucket pose data is grab bucket dumping angle data collected by a visual recognition device, and the first grab bucket pose data is corrected according to the following formula:
ω tilting and fixing ＝ω Tilting inspection +K 2 *(ω Tilting correction -ω Tilting inspection )
Wherein omega Tilting and fixing Omega as calibrated grapple dumping angle data Tilting inspection Grab bucket dumping angle data omega acquired by three-dimensional laser scanning device Tilting correction Grab bucket dumping angle data K acquired by the visual recognition device 2 And correcting the coefficient for the pouring angle.
6. The method for detecting the grab bucket pose of the grab bucket ship unloader according to claim 3, wherein the first grab bucket pose data are grab bucket rotation angle data collected by a three-dimensional laser scanning device, the second grab bucket pose data are grab bucket rotation angle data collected by a visual recognition device, and the first grab bucket pose data are corrected according to the following formula:
ω return to fix ＝ω Rechecking +K 3 *(ω Correction method -ω Rechecking )
Wherein omega Return to fix To calibrate corrected grab bucket rotation angle data omega Rechecking For grab bucket rotation angle data omega acquired by a three-dimensional laser scanning device in a detection unit Correction method Acquisition for visual recognition deviceIs K 3 The rotation angle correction coefficient.
7. The method for detecting the grab bucket pose of the grab bucket ship unloader according to claim 1, further comprising the step of performing risk judgment on final grab bucket pose data generated after correction, and generating an alarm signal to be sent to a control system of the grab bucket ship unloader when judging that the grab bucket pose data has running risk, and controlling electrodes of a trolley driving mechanism and a lifting driving mechanism to stop.
8. Grab bucket pose detection device of grab bucket ship unloader, characterized by comprising:
the first data acquisition unit is used for acquiring first grab bucket pose data acquired by a three-dimensional laser scanning device, and the three-dimensional laser scanning device is arranged on a cab platform;
the second data acquisition unit is used for acquiring second grab bucket pose data acquired by the visual recognition device, and the visual recognition device is arranged on the cab platform;
and the calibration unit is used for calibrating the first grab bucket pose data by taking the first grab bucket pose data as a reference and generating final grab bucket pose data through the second grab bucket pose data.
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