LU502619B1 - Method for control of grab bucket in pit cleaning - Google Patents
Method for control of grab bucket in pit cleaning Download PDFInfo
- Publication number
- LU502619B1 LU502619B1 LU502619A LU502619A LU502619B1 LU 502619 B1 LU502619 B1 LU 502619B1 LU 502619 A LU502619 A LU 502619A LU 502619 A LU502619 A LU 502619A LU 502619 B1 LU502619 B1 LU 502619B1
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- Prior art keywords
- grab bucket
- pit
- coordinates
- edge
- control
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Classifications
-
- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40613—Camera, laser scanner on end effector, hand eye manipulator, local
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention relates to a method for control of a grab bucket in pit cleaning, including the steps of: performing spatial vectorization on the pit structure to construct a spatial coordinate system and calibrating the position coordinates of the pit edge; determining the position of the grab bucket in the pit and calibrating the position coordinates in dynamic state of the grab bucket based on the size of the grab bucket; driving, by a sliding assembly and a lifting assembly, the grab bucket to move in the pit, and in cooperation with the action of the grab bucket, driving the grab bucket for dynamic adjustment, so that the position coordinates in dynamic state of the grab bucket are controlled never to exceed coordinates of the edge; and setting a laser scan device to move along with the grab bucket to detect the material distribution state in the pit. With the method for control of a grab bucket in pit cleaning in the present invention, the position of the grab bucket relative to the pit is defined by coordinatograph processing and the position of the grab bucket is dynamically adjusted, thereby accomplishing grabbing of the material at the pit edge.
Description
PT08341LU
METHOD FOR CONTROL OF GRAB BUCKET IN PIT CLEANING LU502619
The present invention relates to the technical field of handling robot control in liquor making processes, and more particularly to a method for control of a grab bucket in pit cleaning.
Liquor culture plays an important role in Chinese history and culture, and liquor making processes are constantly improving. With different liquor making processes, different flavors of liquor can be made. Chinese liquor culture has a long history, and liquor making processes in China are often manually involved. With different degrees of manual participation in liquor making, the flavor of liquor made will be very different. Besides, at present, the labor cost is constantly increasing.
Therefore, in order to improve the efficiency and yield of liquor making and keep the flavor of liquor made consistent, automatic production is needed for liquor making processes.
With the continuous development and progress of automation technology at present, more and more industries are promoting the upgrading of automated production lines, and automatic handling robot control technology is also added in the process of turning and transferring stillage in the liquor making process. The liquor making system based on handling robot can realize the full- automatic operation function, so as to achieve the goals of reducing manual operation intensity, informatization of materials, improving equipment safety, realizing preventive maintenance, improving comprehensive operation efficiency, etc, and realize highly automated, informational, intelligent and unmanned management of production.
However, in the prior art, when the handling robot grabs stillage from the pit, it is difficult to grab the stillage at the edge of the pit, and the technical difficulties lie in: on one hand, the moving position of the grab bucket cannot be accurately controlled, so that when the grab bucket is grabbing at the edge, it tends to collide with the edge; on the other hand, the grab bucket cannot grab materials at the edge due to the limitation of the movement track of the grab bucket, which often causes remaining materials at the edge of the pit, resulting in the waste of materials.
In view of this, the present invention aims to address the technical problem of overcoming the technical challenge in prior art of difficulty in pit edge cleaning by providing a method for control of a grab bucket in pit cleaning that enables grabbing of material at the pit edge by defining the position of the grab bucket relative to the pit by coordinatograph processing and dynamically adjusting the position of the grab bucket.
To overcome the technical problem mentioned above, the present invention provides a method for control of a grab bucket in pit cleaning, including the steps of: performing spatial vectorization on the pit structure to construct a spatial coordinate system and calibrating the position coordinates of the pit edge;
PT08341LU determining the position of the grab bucket in the pit and calibrating the position coordinates in LU502619 dynamic state of the grab bucket based on the size of the grab bucket; driving, by a sliding assembly and a lifting assembly, the grab bucket to move in the pit, and in cooperation with the action of the grab bucket, driving the grab bucket for dynamic adjustment, so that the position coordinates in dynamic state of the grab bucket are controlled never to exceed coordinates of the pit edge; and setting a laser scan device to move along with the grab bucket to detect the material distribution state in the pit.
In an embodiment of the present invention, the spatial coordinate system includes a length coordinate, a width coordinate and a height coordinate in three directions, in which the point where the three sides of the pit meet is defined as the origin of coordinates to construct a 3D spatial model structure for the pit, so that every position in the pit can be represented by its coordinates.
In an embodiment of the present invention, the dynamic state of the grab bucket includes two limit position states, the grab bucket opened state and the grab bucket closed state. Before the grabbing action, the grab bucket is controlled to be in the opened state, in which the position coordinates of the grab bucket in the opened state are calibrated not to exceed the coordinates of the pit edge.
After grabbing is completed, the grab bucket is controlled to be in the closed state, in which the position coordinates of the grab bucket in the closed state are calibrated not to exceed the coordinates of the pit edge.
In an embodiment of the present invention, the grab bucket grabs at the lateral edge of the pit by a method including: controlling the grab bucket to be in the opened state and driving, by the sliding assembly, the grab bucket to move to the lateral edge of the pit, so that the position of the lateral edge of the grab bucket is defined through position coordinates in dynamic state to be consistent with the coordinates of the lateral edge of the pit; controlling the grab bucket to change from the opened state to the closed state, completing the material grabbing action; and upon completing the grabbing action, in cooperation with the dynamic change of the position of the grab bucket, dynamically adjusting, by the sliding assembly, the position of the grab bucket, so that the position of the most lateral edge of the grab bucket is always consistent with the coordinates of the lateral edge of the pit.
In an embodiment of the present invention, the grab bucket grabs at the bottom side of the pit by a method including: controlling the grab bucket to be in the opened state and driving, by the lifting assembly, the grab bucket to move to the bottom edge of the pit, so that the position of the bottom edge of the grab bucket is defined through position coordinates in dynamic state to be consistent with coordinates of the bottom edge of the pit; controlling the grab bucket to change from the opened state to the closed state, completing the material grabbing action; and upon completing the grabbing action, in cooperation with the dynamic change of the position of the grab bucket, dynamically adjusting, by the lifting assembly, the position of the grab bucket, so that the position of the most bottom edge of the grab bucket is always consistent with the coordinates of the bottom edge of the pit.
In an embodiment of the present invention, the grab bucket position control system includes a PLC controller, a frequency converter, a variable-frequency motor, and a position sensor. The PLC controller calculates the position error based on the position data fed back from the position sensor and the coordinate reference position. Speed compensation is calculated from the position error.
The speed compensation combined with the reference speed is defined as the given speed for the
PT08341LU frequency converter. The frequency converter accurately controls the rotation speed of the motor LU502619 through closed-loop vector speed control based on the given speed above, so that the sliding assembly and the lifting assembly have consistent speed with the grab bucket in cooperation with the dynamic change thereof.
In an embodiment of the present invention, the position of the sliding assembly in the spatial coordinate system is defined by setting a laser distance meter, and the distances measured by the laser distance meter are in one-to-one correspondence with the coordinates in the spatial coordinate system.
In an embodiment of the present invention, the sliding assembly includes a lateral sliding crane and a longitudinal sliding crane. The sliding speed and position of both the lateral sliding crane and the longitudinal sliding crane are accurately controlled through PID. The lateral sliding crane and the longitudinal sliding crane are controlled through inching technique in which the inching distance is controlled on the order of millimeter.
In an embodiment of the present invention, the lifting position of the lifting assembly and sliding assembly is calculated by accumulating the number of pulses using an absolute value rotary encoder and an incremental rotary encoder. The lifting positions controlled by the rotary encoder are in one- to-one correspondence with the coordinates in the spatial coordinate system.
In an embodiment of the present invention, the laser scan device is a dual laser radar that measures a single position multiple times and performs data processing through statistical algorithm for
Gaussian distribution and then performs imaging processing on the data.
The above technical solution of the present invention has the following advantages over prior art:
In the method for control of a grab bucket in pit cleaning of the present invention, spatial vectorization on the pit structure is performed to construct a spatial coordinate system and the position coordinates of the pit edge and the position coordinates in dynamic state of the grab bucket are calibrated in the spatial coordinate system respectively, and the position of the grab bucket relative to the pit is defined by coordinatograph processing to avoid collision of the grab bucket with the pit.
The sliding assembly and the lifting assembly drive the grab bucket to move in the pit, and in cooperation with the action of the grab bucket, drive the grab bucket for dynamic adjustment, so that the position coordinates in dynamic state of the grab bucket are controlled never to exceed coordinates of the edge, accomplishing grabbing of the material at the pit edge.
The laser scan device is set to move along with the grab bucket, so that on one hand, the position of the material can be determined so as to facilitate grabbing by the grab bucket, and on the other hand, the laser scan device moving along with the grab bucket can be moved to any position in the pit so as to accurately scan for remaining material in the pit.
In order to make the content of the present invention easier to understand clearly, the present invention will be explained in further detail below according to specific embodiments of the present invention and with reference to the accompanying drawings, in which
PTO8341LU
Fig. 1 is a flowchart of steps in a method for control of a grab bucket in pit cleaning according to the LU502619 present invention;
Fig. 2 is a view showing the process of grabbing at a lateral edge of a pit by a grab bucket according to the present invention; and
Fig. 3 is a view showing the process of grabbing at a bottom edge of a pit by a grab bucket according to the present invention.
The present invention will be further explained in the following with reference to the drawings and specific embodiments, so that those skilled in the art can better understand and implement the invention. However, the cited embodiments should not be taken as limitation of the present invention.
Referring to Fig. 1, a method for control of a grab bucket in pit cleaning according to the present invention includes the steps of: performing spatial vectorization on the pit structure to construct a spatial coordinate system and calibrating the position coordinates of the pit edge, wherein the spatial coordinate system is a coordinate system having three axes, X,Z and Y, representing a length coordinate, a width coordinate and a height coordinate in three directions, the point where the three sides of the pit meet is defined as the origin of coordinates to construct a 3D spatial model structure for the pit, so that every position in the pit can be represented by its coordinates; determining the position of the grab bucket in the pit and calibrating the position coordinates in dynamic state of the grab bucket based on the size of the grab bucket; the dynamic state of the grab bucket including two limit position states, the grab bucket opened state and the grab bucket closed state, in which before the grabbing action, the grab bucket is controlled to be in the opened state, in which the position coordinates of the grab bucket in the opened state is calibrated not to exceed the coordinates of the pit edge, and after grabbing is completed, the grab bucket is in the closed state, the position coordinates of the grab bucket in the closed state is calibrated not to exceed the coordinates of the pit edge to avoid collision of the grab bucket with the pit; driving, by a sliding assembly and a lifting assembly, the grab bucket to move in the pit, and in cooperation with the action of the grab bucket, driving the grab bucket for dynamic adjustment, so that the position coordinates in dynamic state of the grab bucket are controlled never to exceed coordinates of the edge; and during grabbing of the material at the edge, setting a laser scan device to move along with the grab bucket to detect the material distribution state in the pit, so that on one hand, the position of the material can be determined so as to facilitate grabbing by the grab bucket, and on the other hand, the laser scan device moving along with the grab bucket can be moved to any position in the pit so as to accurately scan for remaining material in the pit.
Referring to Fig. 2, the grab bucket grabs at the lateral edge of the pit by a method including: controlling the grab bucket to be in the opened state and driving, by the sliding assembly, the grab bucket to move to the lateral edge of the pit, so that the position of the lateral edge of the grab bucket is defined through position coordinates in dynamic state to be consistent with the coordinates of the lateral edge of the pit; driving, by the lifting assembly, the bucket to move
PT08341LU downwards, the grab bucket moving downwards against the lateral side of the pit to a specified LU502619 grabbing position based on the condition of the material detected by the laser scan device, the grab bucket being controlled to change from the opened state to the closed state, completing the action of material grabbing; during the change of the grab bucket from the opened state to the closed state, and when the position of the lateral edge of the grab bucket changes dynamically, adjusting dynamically, by the sliding assembly in cooperation with the dynamic change of the position of the grab bucket, the position of the grab bucket, so that the position of the most lateral edge of the grab bucket is always consistent with the coordinates of the lateral edge of the pit to grab the most possible material at the lateral edge of the pit.
Referring to Fig. 3, the grab bucket grabs at the bottom side of the pit by a method including: controlling the grab bucket to be in the opened state and driving, by the lifting assembly, the grab bucket to move to the bottom edge of the pit, so that the position of the bottom edge of the grab bucket is defined through position coordinates in dynamic state to be consistent with coordinates of the bottom edge of the pit; controlling the grab bucket to change from the opened state to the closed state, completing the material grabbing action; and during the change of the grab bucket from the opened state to the closed state, and when the position of the bottom edge of the grab bucket changes dynamically, in cooperation with the dynamic change of the position of the grab bucket, dynamically adjusting, by the lifting assembly, the position of the grab bucket, so that the position of the most bottom edge of the grab bucket is always consistent with the coordinates of the bottom edge of the pit to grab the most possible material at the bottom edge of the pit.
In all the grabbing methods described above, it is necessary to match the grabbing speed of the grab bucket with the speed of the sliding assembly or the lifting assembly. Specifically, the grab bucket position control system includes a PLC controller, a frequency converter, a variable-frequency motor, and a position sensor. The PLC controller calculates the position error based on the position data fed back from the position sensor and the coordinate reference position. Speed compensation is calculated from the position error. The speed compensation combined with the reference speed is defined as the given speed for the frequency converter. The frequency converter accurately controls the rotation speed of the motor through closed-loop vector speed control based on the given speed above, so that the sliding assembly and the lifting assembly have consistent speed with the grab bucket in cooperation with the dynamic change thereof, thereby avoiding the collision of the grab bucket with the pit due to inconsistent speed.
Specifically, the position of the sliding assembly in the spatial coordinate system is defined by setting a laser distance meter. The distances measured by the laser distance meter are in one-to-one correspondence with the coordinates in the spatial coordinate system. The lifting position of the lifting assembly and the sliding assembly is calculated by accumulating the number of pulses using an absolute value rotary encoder and an incremental rotary encoder. The lifting positions controlled by the rotary encoder are in one-to-one correspondence with the coordinates in the spatial coordinate system.
In this embodiment, the sliding assembly includes a lateral sliding crane and a longitudinal sliding crane. The sliding speed and position of both the lateral sliding crane and the longitudinal sliding crane are accurately controlled through PID. The lateral sliding crane and the longitudinal sliding crane are controlled through inching technique in which the inching distance is controlled on the order of millimeter.
Obviously, the embodiments described above are only examples for clear explanation and are not limitations on the implementation. For those of ordinary skill in the art, various other changes or
PT08341LU variations in the form can be made on the basis of the above description.
It is not necessary and LU502619 impossible to exhaust all the implementations here.
However, the obvious changes or variations derived therefrom still fall within the scope of protection created by the present invention.
Claims (10)
1. A method for control of a grab bucket in pit cleaning, comprising steps of: performing spatial vectorization on a pit structure to construct a spatial coordinate system and calibrating the position coordinates of a pit edge; determining a position of the grab bucket in the pit and calibrating the position coordinates in dynamic state of the grab bucket based on a size of the grab bucket; driving, by a sliding assembly and a lifting assembly, the grab bucket to move in the pit, and in cooperation with the action of the grab bucket, driving the grab bucket for dynamic adjustment, so that the position coordinates in dynamic state of the grab bucket are controlled never to exceed coordinates of the pit edge; and setting a laser scan device to move along with the grab bucket to detect a material distribution state in the pit.
2. The method for control of a grab bucket in pit cleaning of claim 1, wherein the spatial coordinate system includes, a length coordinate, a width coordinate and a height coordinate in three directions, in which the point where three sides of the pit meet is defined as the origin of coordinates to construct a 3D spatial model structure for the pit, so that every position in the pit can be represented by its coordinates.
3. The method for control of a grab bucket in pit cleaning of claim 1, wherein the dynamic state of the grab bucket includes two limit position states, a grab bucket opened state and a grab bucket closed state, before the grabbing action, the grab bucket being controlled to be in the opened state, in which the position coordinates of the grab bucket in the opened state are calibrated not to exceed the coordinates of the pit edge, and after grabbing is completed, the grab bucket being controlled to be in the closed state, in which the position coordinates of the grab bucket in the closed state are calibrated not to exceed the coordinates of the pit edge.
4. The method for control of a grab bucket in pit cleaning of claim 3, wherein the grab bucket grabs at the lateral edge of the pit by a method including: controlling the grab bucket to be in the opened state and driving, by the sliding assembly, the grab bucket to move to the lateral edge of the pit, so that the position of the lateral edge of the grab bucket is defined through position coordinates in dynamic state to be consistent with the coordinates of the lateral edge of the pit; controlling the grab bucket to change from the opened state to the closed state, completing the material grabbing action; and upon completing the grabbing action, in cooperation with the dynamic change of the position of the grab bucket, dynamically adjusting,
PT08341LU by the sliding assembly, the position of the grab bucket, so that the position of the most lateral LUS02619 edge of the grab bucket is always consistent with the coordinates of the lateral edge of the pit.
5. The method for control of a grab bucket in pit cleaning of claim 3, wherein the grab bucket grabs at the bottom side of the pit by a method including: controlling the grab bucket to be in the opened state and driving, by the lifting assembly, the grab bucket to move to the bottom edge of the pit, so that the position of the bottom edge of the grab bucket is defined through position coordinates in dynamic state to be consistent with coordinates of the bottom edge of the pit; controlling the grab bucket to change from the opened state to the closed state, completing the material grabbing action; and upon completing the grabbing action, in cooperation with the dynamic change of the position of the grab bucket, dynamically adjusting, by the lifting assembly, the position of the grab bucket, so that the position of the most bottom edge of the grab bucket is always consistent with the coordinates of the bottom edge of the pit.
6. The method for control of a grab bucket in pit cleaning of claim 3 or 4, wherein a grab bucket position control system includes a PLC controller, a frequency converter, a variable- frequency motor, and a position sensor, in which the PLC controller calculates the position error based on the position data fed back from the position sensor and the coordinate reference position, speed compensation 1s calculated from the position error, the speed compensation combined with the reference speed is defined as the given speed for the frequency converter, and the frequency converter accurately controls the rotation speed of the motor through closed- loop vector speed control based on the given speed , so that the sliding assembly and the lifting assembly have consistent speed with the grab bucket in cooperation with the dynamic change thereof.
7. The method for control of a grab bucket in pit cleaning of claim 1, wherein the position of the sliding assembly in the spatial coordinate system is defined by setting a laser distance meter, and the distances measured by the laser distance meter are in one-to-one correspondence with the coordinates in the spatial coordinate system.
8. The method for control of a grab bucket in pit cleaning of claim 7, wherein the sliding assembly includes a lateral sliding crane and a longitudinal sliding crane, the sliding speed and position of both the lateral sliding crane and the longitudinal sliding crane are accurately controlled through PID, and the lateral sliding crane and the longitudinal sliding crane are controlled through inching technique in which the inching distance is controlled on the order of millimeter.
PT08341LU
9. The method for control of a grab bucket in pit cleaning of claim 1, wherein the lifting LU502619 position of the lifting assembly and sliding assembly 1s calculated by accumulating the number of pulses using an absolute value rotary encoder and an incremental rotary encoder, and the lifting positions controlled by the rotary encoder are in one-to-one correspondence with the coordinates in the spatial coordinate system.
10. The method for control of a grab bucket in pit cleaning of claim 1, wherein the laser scan device is a dual laser radar that measures a single position multiple times and performs data processing through statistical algorithm for Gaussian distribution and then performs imaging processing on the data.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111110932.8A CN113816270B (en) | 2021-09-18 | 2021-09-18 | Control method for cleaning pit of grab bucket |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| LU502619A1 LU502619A1 (en) | 2023-03-20 |
| LU502619B1 true LU502619B1 (en) | 2023-06-15 |
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| LU502619A LU502619B1 (en) | 2021-09-18 | 2022-01-13 | Method for control of grab bucket in pit cleaning |
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| Country | Link |
|---|---|
| CN (1) | CN113816270B (en) |
| LU (1) | LU502619B1 (en) |
| WO (1) | WO2023040154A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113816270B (en) * | 2021-09-18 | 2024-05-10 | 法兰泰克重工股份有限公司 | Control method for cleaning pit of grab bucket |
| CN116333847B (en) * | 2023-04-07 | 2024-09-27 | 法兰泰克重工股份有限公司 | Pit surface strickling method and pit surface strickling equipment |
| CN117262627B (en) * | 2023-11-22 | 2024-01-19 | 泸州乐惠润达智能装备有限公司 | Flexible continuous cellar discharging conveying device |
| CN117342428A (en) * | 2023-12-06 | 2024-01-05 | 河南卫华重型机械股份有限公司 | Control method of horizontal layer grain taking grab bucket crane for brewing |
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| JP3241601B2 (en) * | 1996-07-11 | 2001-12-25 | 株式会社奥村組 | Crane control method and control device |
| JP4808940B2 (en) * | 2004-07-13 | 2011-11-02 | 株式会社日立プラントテクノロジー | Automatic crane control device for waste disposal plant |
| NL2008675C2 (en) * | 2012-04-20 | 2013-10-23 | Lely Patent Nv | VEHICLE FOR MOVING FOOD. |
| CN103274230B (en) * | 2013-07-01 | 2015-08-19 | 中国科学院自动化研究所 | A kind of automation wine unstrained spirits material goes out to store device |
| CN104118802B (en) * | 2014-07-21 | 2016-01-06 | 武汉理工大学 | A kind of full automaticity Waste handling crane feeding feeds intake operation autocontrol method |
| CN204138189U (en) * | 2014-07-25 | 2015-02-04 | 武汉理工大学 | The quick accurate positioning device of grab crane based on fuzzy neuron PID controller |
| JP6441008B2 (en) * | 2014-09-19 | 2018-12-19 | Ｉｈｉ運搬機械株式会社 | Grab bucket unloader operation support device |
| CN108675141A (en) * | 2018-06-08 | 2018-10-19 | 江苏金恒信息科技股份有限公司 | A kind of system and method for four rope grab crawl slag charge |
| CN110148175B (en) * | 2019-05-29 | 2021-06-29 | 山东大学 | Fermentation pit automatic positioning and boundary detection system and method based on two-dimensional label |
| CN110562729B (en) * | 2019-08-29 | 2024-09-10 | 武汉奋进智能机器有限公司 | Fermented grain discharging system and method |
| CN110510524A (en) * | 2019-09-05 | 2019-11-29 | 北京坚构创新科技有限公司 | A kind of material grab bucket intelligence control system |
| CN111747305B (en) * | 2020-06-19 | 2024-10-08 | 迅控(河南)自动化科技有限公司 | Full-automatic coke stacking method for delayed coking and grab bucket traveling system |
| CN111847252A (en) * | 2020-07-15 | 2020-10-30 | 湖州师范学院 | Intelligent grab bucket crane control system based on material imaging and control method thereof |
| CN113816270B (en) * | 2021-09-18 | 2024-05-10 | 法兰泰克重工股份有限公司 | Control method for cleaning pit of grab bucket |
-
2021
- 2021-09-18 CN CN202111110932.8A patent/CN113816270B/en active Active
-
2022
- 2022-01-13 WO PCT/CN2022/071830 patent/WO2023040154A1/en active Application Filing
- 2022-01-13 LU LU502619A patent/LU502619B1/en active IP Right Grant
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| Publication number | Publication date |
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| CN113816270B (en) | 2024-05-10 |
| WO2023040154A1 (en) | 2023-03-23 |
| LU502619A1 (en) | 2023-03-20 |
| CN113816270A (en) | 2021-12-21 |
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