CN117342426A - Data processing system for controlling grab bucket to take materials - Google Patents
Data processing system for controlling grab bucket to take materials Download PDFInfo
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- CN117342426A CN117342426A CN202311523028.9A CN202311523028A CN117342426A CN 117342426 A CN117342426 A CN 117342426A CN 202311523028 A CN202311523028 A CN 202311523028A CN 117342426 A CN117342426 A CN 117342426A
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- 239000000463 material Substances 0.000 title claims abstract description 97
- 238000012545 processing Methods 0.000 title claims abstract description 18
- 230000001133 acceleration Effects 0.000 claims abstract description 20
- 238000004590 computer program Methods 0.000 claims description 6
- 239000011159 matrix material Substances 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 5
- 238000004422 calculation algorithm Methods 0.000 abstract description 5
- 239000002699 waste material Substances 0.000 abstract description 2
- 238000009825 accumulation Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000009304 pastoral farming Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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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
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
-
- 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
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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
- B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
- B66C3/02—Bucket grabs
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention relates to the technical field of automation, and provides a data processing system for controlling a grab bucket to take materials, which can acquire a first height value B, control a target grab bucket to descend according to a first preset acceleration through a controller, control the target grab bucket to descend according to a second preset acceleration through the controller and receive the moment output by a target moment sensor in real time, and if the moment received by the controller at the current time point is smaller than the preset moment and all moments received by the controller in the preset time period are smaller than the preset moment, control the target grab bucket to stop descending through the controller to acquire a depth value S corresponding to the target grab bucket, and take materials after the target grab bucket descends to the height S through the controller, so that different algorithms do not need to be developed according to different materials, the data precision output by a moment sensor is higher, the grab bucket can be ensured to acquire the materials with the preset taking weight during the taking materials, the resource waste can be avoided, and the running efficiency of the system is improved.
Description
Technical Field
The invention relates to the technical field of automation, in particular to a data processing system for controlling grab bucket material taking.
Background
Along with the rapid development of automation, the automation technology is applied to various industries, wherein in ship unloading operation, the automatic control grab bucket is used for taking materials, so that the grab bucket can acquire materials as much as possible every time the grab bucket is used for taking materials, unloading efficiency is improved, operation safety is guaranteed, and most of existing automatic control grab bucket material taking methods are implemented through traditional sensors, such as: weight sensor, pressure sensor, displacement sensor etc., real-time supervision grab bucket inside material state, thereby carry out the analysis to the material state and adjust the grab bucket through the controller, perhaps according to the characteristics of material, for example: fluidity, granularity, etc., develop algorithm for predicting the accumulation condition and the flow condition of the materials in the grab bucket, analyze according to the predicted accumulation condition and the flow condition, and adjust the grab bucket through the controller.
However, the above method also has the following technical problems:
different parameters and strategies need to be adjusted for each material according to different material development algorithms, the algorithm is very complex and needs a large amount of data support, the developed algorithm is high in complexity and low in robustness, a traditional sensor is affected by the environment, the output data are low in precision and large in error, therefore, the grab bucket is controlled to take materials through the method, the condition that the grab bucket can acquire the most materials when taking materials cannot be guaranteed, resource waste is easily caused, and the operation efficiency of a system is reduced.
Disclosure of Invention
Aiming at the technical problems, the invention adopts the following technical scheme:
a data processing system for controlling grapple reclaiming, the system comprising: a controller and a memory storing a computer program which, when executed by the controller, performs the steps of:
s1, acquiring B, wherein B is a first height value corresponding to a target grab bucket in a target portal crane, and B meets the following conditions:
B＝C z -D z -H 0 ，C z d is a coordinate value on a Z axis in a first three-dimensional coordinate corresponding to a center point of the bottom of the target grab bucket in the target 3D model z A second height value H corresponding to a preset material taking position in the target 3D model 0 For a preset height value, the target 3D model is a 3D model obtained by scanning materials in a target portal crane and a target ship cabin by using a multi-line laser radar, each position in the target 3D model corresponds to a first three-dimensional coordinate, and each first three-dimensional coordinate is generated based on a preset three-dimensional coordinate system.
S2, enabling the controller to send out a first instruction, wherein the first instruction is used for controlling the target grab bucket, so that the target grab bucket is accelerated to descend by the height B according to the first preset acceleration.
S3, enabling the controller to send out a second instruction, wherein the second instruction is used for controlling the target grab bucket, enabling the target grab bucket to accelerate and descend according to a second preset acceleration and receiving the torque output by the target torque sensor in real time, and the target torque sensor is arranged on the target portal crane and used for detecting the torque applied to the target grab bucket, and the torque is the vector product between the force action point and the force direction vector.
S4, if the moment received by the controller at the current time point is smaller than G 0 And all the moments received by the controller in the preset time period are smaller than G 0 The controller sends out a third instruction which is used for controlling the target grab bucket to stop descending, G 0 For presetting moment, presetting timeThe ending time point of the interval is DQ, DQ is the current time point, the starting time point of the preset time period is QS, QS=DQ-t, and t is the preset time length.
S5, acquiring S, wherein S is a depth value corresponding to the target grab bucket, and the depth value is a vertical height distance between a bottom center point of the target grab bucket and a preset material taking position when the target grab bucket takes materials, and the S meets the following conditions:
S＝K 1 +K 2 ×M+K 3 ×M 2 m is the preset material taking weight; k (K) 1 、K 2 、K 3 Meets the following conditions:
[K 1 ，K 2 ，K 3 ] T ＝(M1 T ×M1) -1 ×M1 T x SD, M1 is the first matrix, SD is the second matrix;
m1 meets the following conditions:
M0 e the method comprises the steps that the weight of a material obtained when the material in a target ship cabin is fetched for the e-th time of a target grab before the current time point, wherein the value of e is 1 to f, and f is the number of times that the material in the target ship cabin is fetched by the target grab before the current time point;
SD meets the following conditions:
SD＝[S0 1 ，S0 2 ，…，S0 e ，…，S0 f ] T ，S0 e and when the material in the cabin of the target ship is fetched for the e-th time of the target grab before the current time point, the vertical height distance between the bottom center point of the target grab and the material fetching position is kept.
And S6, enabling the controller to send out a fourth instruction, wherein the fourth instruction is used for controlling the target grab bucket, so that the target grab bucket descends by the height S and then takes materials.
The invention has at least the following beneficial effects:
according to the invention, the data processing system can acquire the first height value B corresponding to the target grab bucket in the target portal crane, the target grab bucket is controlled by the controller to descend according to the first preset acceleration, the target grab bucket is controlled by the controller to descend according to the second preset acceleration and receive the moment output by the target moment sensor in real time, if the moment received by the controller at the current time point is smaller than the preset moment and all moments received by the controller in the preset time period are smaller than the preset moment, the controller is controlled by the controller to stop descending of the target grab bucket, the depth value S corresponding to the target grab bucket is acquired according to the vertical height distance between the center point of the bottom of the target grab bucket and the material taking position when the target grab bucket takes material in the cabin each time before the current time point, the depth value S corresponding to the target grab bucket is acquired, the vertical height distance between the center point of the bottom of the target grab bucket and the preset position when the target grab bucket takes material taking is acquired, the vertical height value S corresponding to the material taking position can be calculated, the material taking efficiency can be prevented from being wasted when the weight of the material taking cabin is acquired by the conventional material taking position when the weight sensor is lower than the bottom of the material taking position.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a data processing system executing a computer program to control grazing of a grazing hopper according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
An embodiment of the present invention provides a data processing system for controlling grapple material taking, the system including: a controller and a memory storing a computer program which, when executed by the controller, performs the steps of, as shown in fig. 1:
s1, acquiring B, wherein B is a first height value corresponding to a target grab bucket in a target portal crane, and B meets the following conditions:
B＝C z -D z -H 0 ，C z d is a coordinate value on a Z axis in a first three-dimensional coordinate corresponding to a center point of the bottom of the target grab bucket in the target 3D model z A second height value H corresponding to a preset material taking position in the target 3D model 0 For preset height values, the target 3D model is a 3D model obtained by scanning materials in a target portal crane and a target ship cabin by using a multi-line laser radar, each position in the target 3D model corresponds to a first three-dimensional coordinate, each first three-dimensional coordinate is generated based on a preset three-dimensional coordinate system, the preset material taking position is known to a person skilled in the art, the preset material taking position is preset by the person skilled in the art according to actual requirements, and the preset height value is preset by the person skilled in the art according to actual requirements and is not repeated here.
Specifically, the first height value is measured in centimeters.
Specifically, the coordinate value on the X-axis in the first three-dimensional coordinate corresponding to the center point of the bottom of the target grab bucket in the target 3D model is equal to the coordinate value on the X-axis in the first three-dimensional coordinate corresponding to the preset material taking position in the target 3D model.
Specifically, the coordinate value on the Y axis in the first three-dimensional coordinate corresponding to the center point of the bottom of the target grab bucket in the target 3D model is equal to the coordinate value on the Y axis in the first three-dimensional coordinate corresponding to the preset material taking position in the target 3D model.
Optionally, the multi-line laser radar is a laser rotation range radar that simultaneously transmits and receives multiple beams of laser light.
Optionally, the multi-line lidar is disposed at a front end of a trunk bridge in the target gantry crane.
Optionally, the preset three-dimensional coordinate system uses the center of the target 3D model as an origin O, uses a plane that passes through the origin O and is parallel to a plane where the bottom of the target gantry crane is located in the target 3D model as an XOY plane, and uses an upward direction perpendicular to the XOY plane as a positive Z-axis direction, where those skilled in the art know that the positive X-axis and Y-axis directions are set by those skilled in the art according to actual needs, and will not be described herein.
Optionally, the origin O of the preset three-dimensional coordinate system may also be set by a person skilled in the art according to actual needs, which is not described herein again; for example: and taking the bottom center of the target grab bucket in the target 3D model as an origin O.
Specifically, the Z axis of the preset three-dimensional coordinate system is used to characterize the height of the XOY plane upward or downward, wherein the measurement unit of the numerical value representing the height is centimeter.
Through the steps, the multi-line laser radar is used for scanning materials in the target portal crane and the target ship cabin to obtain the target 3D model, a first three-dimensional coordinate corresponding to the position in the target 3D model is generated based on the preset three-dimensional coordinate system, the first three-dimensional coordinate is processed, the data processing system executes the computer program to control the grab bucket to take the required data, the calculation is simple and convenient, the accuracy of the obtained data is high, and the operation efficiency of the system is improved.
Specifically, S1 includes the substeps of obtaining D z ：
S11, obtaining E= { E 1 ，E 2 ，……，E j ，……，E n E is a second three-dimensional coordinate list corresponding to the target model area, E j For the j-th second three-dimensional coordinate corresponding to the target model area, j has a value of 1 to n, n is the number of the second three-dimensional coordinates, E j ＝(E x j ，E y j ，E z j )，E x j For E j Coordinate value on X-axis, E y j For E j Coordinate value on Y axis, E z j For E j The coordinate value on the Z axis of the target model region is a region corresponding to the working region of the target grab bucket in the target 3D model, and the second three-dimensional coordinate list corresponding to the target model region is all the first three-dimensional coordinates included in the target model region, so that a person skilled in the art knows that the person skilled in the art can determine the working region of the target grab bucket according to the reference of the target portal crane, and the details are not repeated here; for example: and determining the working area of the target grab bucket according to the specification of the target portal crane.
S12 according to E j Acquisition of D z Wherein D is z Meets the following conditions:
D z ＝Σ n j＝1 (E z j /((F x -E x j ) 2 +(F y -E y j ) 2 ))/Σ n j＝1 (1/((F x -E x j ) 2 +(F y -E y j ) 2 ))，F x f, for the coordinate value on the X axis in the first three-dimensional coordinate corresponding to the preset material taking position in the target 3D model y And the coordinate value on the Y axis in the first three-dimensional coordinate corresponding to the preset material taking position in the target 3D model is obtained.
Through the steps, all the first three-dimensional coordinates of the working area of the target grab bucket in the corresponding area in the target 3D model are obtained and used as a second three-dimensional coordinate list, and the second height value corresponding to the preset material taking position is obtained according to the coordinate values, the ordinate and the vertical coordinates on the X axis in all the second three-dimensional coordinates in the second three-dimensional coordinate list and the coordinate values and the ordinate on the X axis in the first three-dimensional coordinates corresponding to the preset material taking position, so that the height difference between the material taking position and the bottom center position of the target grab bucket is corrected, and the interference of the local high points of the working area of the target grab bucket to the height difference between the material taking position and the bottom center position of the target grab bucket can be prevented.
S2, enabling the controller to send out a first instruction, wherein the first instruction is used for controlling the target grab bucket to accelerate and descend by the height B according to a first preset acceleration.
Specifically, the controller is in communication connection with the target gantry crane.
S3, enabling the controller to send out a second instruction, wherein the second instruction is used for controlling the target grab bucket, enabling the target grab bucket to accelerate and descend according to a second preset acceleration and receiving the torque output by the target torque sensor in real time, the target torque sensor is arranged on the target portal crane and used for detecting the torque applied to the target grab bucket, the torque is the vector product between the force action point and the force direction vector, the specific position of the target torque sensor in the target portal crane can be determined according to actual requirements by a person skilled in the art, and the detailed description is omitted.
Specifically, the first preset acceleration is greater than the second preset acceleration, where those skilled in the art know that the first preset acceleration and the second preset acceleration are all accelerations preset by those skilled in the art according to actual requirements, and are not described herein again.
Specifically, the target torque sensor is communicatively coupled to the controller.
Through the steps, the target grab bucket is controlled to accelerate and descend according to the first preset acceleration to the height B, damage to the grab bucket caused by the grab bucket contacting the surface of the material at a higher speed is prevented, after the target grab bucket descends according to the first preset acceleration to the height B, the target grab bucket is controlled to descend according to the second preset acceleration to receive the moment output by the target moment sensor in real time, the target grab bucket contacts the surface of the material at a lower speed, whether the grab bucket contacts the surface of the material is determined through the moment output by the target moment sensor, when the moment received by the controller at the current time point is smaller than the preset moment and the moment output by the target moment sensor in the preset time period is smaller than the preset moment, the grab bucket contacts the surface of the material, at the moment, the target grab bucket is required to stop descending, the depth value S corresponding to the target grab bucket is calculated, the target grab bucket descends to the height S is controlled, the material with the preset material taking weight can be obtained when the target grab bucket is controlled, the material taking efficiency can be understood to be obtained, and the material taking efficiency of a material taking system can be prevented from being wasted.
S4, if the moment received by the controller at the current time point is smaller than G 0 And all the moments received by the controller in the preset time period are smaller than G 0 Enabling the controller to send out a third instruction, wherein the third instruction is used for controlling the target grab bucket to stop descending, and G 0 The preset moment is known to a person skilled in the art, the preset moment is a moment preset by the person skilled in the art according to actual demands, and the preset time is a time preset by the person skilled in the art according to actual demands, and is not described herein.
S5, acquiring S, wherein S is a depth value corresponding to the target grab bucket, and the depth value is a vertical height distance between a bottom center point of the target grab bucket and a preset material taking position when the target grab bucket takes materials, and S meets the following conditions:
S＝K 1 +K 2 ×M+K 3 ×M 2 m is a preset material taking weight, which is known to those skilled in the art and is set by those skilled in the art according to actual requirements, and is not described herein;
K 1 、K 2 、K 3 meets the following conditions:
[K 1 ，K 2 ，K 3 ] T ＝(M1 T ×M1) -1 ×M1 T x SD, M1 is the first matrix, SD is the second matrix;
m1 meets the following conditions:
M0 e the weight of the material obtained when the material in the target ship cabin is fetched for the e-th time of the target grab before the current time point, wherein the value of e is 1 to f, and f is the number of times that the material in the target ship cabin is fetched by the target grab before the current time point;
SD meets the following conditions:
SD＝[S0 1 ，S0 2 ，…，S0 e ，…，S0 f ] T ，S0 e and taking the material in the target ship cabin for the e-th time before the current time point by the target grab, wherein the vertical height distance between the center point of the bottom of the target grab and the material taking position is the same.
Specifically, the depth value is measured in centimeters.
S6, enabling the controller to send out a fourth instruction, wherein the fourth instruction is used for controlling the target grab bucket to take materials after the target grab bucket descends by the height S.
According to the invention, the data processing system can acquire the first height value B corresponding to the target grab bucket in the target portal crane, the target grab bucket is controlled by the controller to descend according to the first preset acceleration, the target grab bucket is controlled by the controller to descend according to the second preset acceleration and receive the moment output by the target moment sensor in real time, if the moment received by the controller at the current time point is smaller than the preset moment and all moments received by the controller in the preset time period are smaller than the preset moment, the controller is controlled by the controller to stop descending of the target grab bucket, the depth value S corresponding to the target grab bucket is acquired according to the vertical height distance between the center point of the bottom of the target grab bucket and the material taking position when the target grab bucket takes material in the cabin each time before the current time point, the depth value S corresponding to the target grab bucket is acquired, the vertical height distance between the center point of the bottom of the target grab bucket and the preset position when the target grab bucket takes material taking is acquired, the vertical height value S corresponding to the material taking position can be calculated, the material taking efficiency can be prevented from being wasted when the weight of the material taking cabin is acquired by the conventional material taking position when the weight sensor is lower than the bottom of the material taking position.
While certain specific embodiments of the invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the invention. Those skilled in the art will also appreciate that many modifications may be made to the embodiments without departing from the scope and spirit of the invention.
Claims (8)
1. A data processing system for controlling grapple reclaiming, the system comprising: a controller and a memory storing a computer program, characterized in that the computer program, when executed by the controller, realizes the steps of:
s1, acquiring B, wherein B is a first height value corresponding to a target grab bucket in a target portal crane, and B meets the following conditions:
B＝C z -D z -H 0 ，C z d is a coordinate value on a Z axis in a first three-dimensional coordinate corresponding to a center point of the bottom of the target grab bucket in the target 3D model z A second height value H corresponding to a preset material taking position in the target 3D model 0 For a preset height value, the target 3D model is a 3D model obtained by scanning materials in a target portal crane and a target ship cabin by using a multi-line laser radar, each position in the target 3D model corresponds to a first three-dimensional coordinate, and each first three-dimensional coordinate is based on a presetGenerating a three-dimensional coordinate system;
s2, enabling the controller to send out a first instruction, wherein the first instruction is used for controlling the target grab bucket to accelerate and descend by a height B according to a first preset acceleration;
s3, enabling the controller to send out a second instruction, wherein the second instruction is used for controlling the target grab bucket, enabling the target grab bucket to accelerate and descend according to a second preset acceleration and receiving the moment output by a target moment sensor in real time, and the target moment sensor is arranged on the target portal crane and used for detecting the moment applied to the target grab bucket, and the moment is a vector product between a force action point and a force direction vector;
s4, if the moment received by the controller at the current time point is smaller than G 0 And all the moments received by the controller in the preset time period are smaller than G 0 Enabling the controller to send out a third instruction, wherein the third instruction is used for controlling the target grab bucket to stop descending, and G 0 The method comprises the steps that a moment is preset, the ending time point of a preset time period is DQ, DQ is the current time point, the starting time point of the preset time period is QS, QS=DQ-t, and t is a preset duration;
s5, acquiring S, wherein S is a depth value corresponding to the target grab bucket, and the depth value is a vertical height distance between a bottom center point of the target grab bucket and a preset material taking position when the target grab bucket takes materials, and S meets the following conditions:
S＝K 1 +K 2 ×M+K 3 ×M 2 m is the preset material taking weight; k (K) 1 、K 2 、K 3 Meets the following conditions:
[K 1 ，K 2 ，K 3 ] T ＝(M1 T ×M1) -1 ×M1 T x SD, M1 is the first matrix, SD is the second matrix;
m1 meets the following conditions:
M0 e the weight of the material obtained when the material in the target ship cabin is fetched for the e-th time of the target grab before the current time point, wherein the value of e is 1 to f, and f is the number of times that the material in the target ship cabin is fetched by the target grab before the current time point;
SD meets the following conditions:
SD＝[S0 1 ，S0 2 ，…，S0 e ，…，S0 f ] T ，S0 e when the material in the target ship cabin is fetched for the e-th time of the target grab before the current time point, the vertical height distance between the bottom center point of the target grab and the fetching position;
s6, enabling the controller to send out a fourth instruction, wherein the fourth instruction is used for controlling the target grab bucket to take materials after the target grab bucket descends by the height S.
2. The data processing system for controlling the material taking of the grab bucket according to claim 1, wherein the coordinate value on the X-axis in the first three-dimensional coordinate corresponding to the center point of the bottom of the grab bucket in the target 3D model is equal to the coordinate value on the X-axis in the first three-dimensional coordinate corresponding to the preset material taking position in the target 3D model.
3. The data processing system for controlling the material taking of the grab bucket according to claim 1, wherein the coordinate value on the Y-axis in the first three-dimensional coordinate corresponding to the center point of the bottom of the grab bucket in the target 3D model is equal to the coordinate value on the Y-axis in the first three-dimensional coordinate corresponding to the preset material taking position in the target 3D model.
4. The data processing system for controlling grab bucket material taking according to claim 1, wherein the preset three-dimensional coordinate system takes the center of the target 3D model as an origin O, takes a plane which passes through the origin O and is parallel to a plane on which the bottom of the target gantry crane in the target 3D model is located as an XOY plane, and takes an upward direction perpendicular to the XOY plane as a positive direction of a Z axis.
5. The data processing system for controlling grapple picking of claim 4 wherein the Z-axis of the preset three-dimensional coordinate system is used to characterize the height of the XOY plane up or down.
6. The data processing system for controlling grapple picking of claim 1 wherein the controller is communicatively coupled to the target gantry crane.
7. The data processing system for controlling grapple picking of claim 1 wherein the target torque sensor is communicatively coupled to the controller.
8. The data processing system for controlling grapple picking of claim 1 wherein S1 includes the substep of obtaining D z ：
S11, obtaining E= { E 1 ，E 2 ，……，E j ，……，E n E is a second three-dimensional coordinate list corresponding to the target model area, E j For the j-th second three-dimensional coordinate corresponding to the target model area, j has a value of 1 to n, n is the number of the second three-dimensional coordinates, E j ＝(E x j ，E y j ，E z j )，E x j For E j Coordinate value on X-axis, E y j For E j Coordinate value on Y axis, E z j For E j The coordinate value on the Z axis of the target model region is a region corresponding to the operation region of the target grab bucket in the target 3D model, and the second three-dimensional coordinate list corresponding to the target model region is all the first three-dimensional coordinates included in the target model region;
s12 according to E j Acquisition of D z Wherein D is z Meets the following conditions:
D z ＝Σ n j＝1 (E z j /((F x -E x j ) 2 +(F y -E y j ) 2 ))/Σ n j＝1 (1/((F x -E x j ) 2 +(F y -E y j ) 2 ))，F x f, for the coordinate value on the X axis in the first three-dimensional coordinate corresponding to the preset material taking position in the target 3D model y And the coordinate value on the Y axis in the first three-dimensional coordinate corresponding to the preset material taking position in the target 3D model is obtained.
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Citations (11)
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