The invention discloses a vehicle grab bucket steel wire rope deviation rectification control method and system, and the method specifically comprises the following steps: after the grab bucket completes the grabbing action, shooting images of four steel wire ropes between the grab bucket and a travelling crane, and controlling the grabbing direction of the grab bucket through two steel wire ropes on the outer side; a shot image containing the steel wire ropes is input into a steel wire rope recognition model, and the steel wire rope recognition model outputs mask images of the four steel wire ropes and a point set of pixel points corresponding to the four steel wire ropes; the two steel wire ropes on the outer side are fitted based on the point sets corresponding to the two steel wire ropes on the outer side, the included angle between the two steel wire ropes on the outer side and the horizontal direction is determined, the crane is controlled to move so that the included angle between the two steel wire ropes on the outer side and the horizontal direction can be about 90 degrees, then the rope is collected to control the grab bucket to ascend, and therefore the winding risk of the steel wire ropes in the rope collecting process is effectively reduced.
本发明公开一种车抓斗钢丝绳纠偏控制方法及系统,该方法具体如下:在抓斗完成抓取动作后,拍摄抓斗与行车之间四根钢丝绳的图像,其中外侧两根钢丝绳用于控制抓斗的抓取方向;将拍摄的含有钢绳的图像输入钢丝绳识别模型,丝绳识别模型输出四根钢丝绳的掩膜图及四根钢丝绳对应的像素点的点集;基于外侧两根钢丝绳对应的点集拟合外侧两根钢丝绳,确定外侧两根钢丝绳与水平方向的夹角,控制行车移动,以使外侧两根钢丝绳与水平方向的夹角为90度左右,再收绳控制抓斗上升,从而有效降低钢丝绳在收绳过程中的缠绕风险。
Crane grab bucket steel wire rope deviation rectification control method and system
一种行车抓斗钢丝绳纠偏控制方法及系统
06.05.2025
Patent
Elektronische Ressource
Chinesisch
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