The invention provides a gantry crane and a hoisting path planning method of a hoisting tool of the gantry crane, and belongs to the technical field of port automation equipment. The scanning system comprises a laser radar and a holder; the holder is fixedly arranged on the hoisting trolley and drives the laser radar to rotate to complete laser radar rotary scanning; the laser radar horizontal-pushing scanning and the laser radar rotary scanning process collect point cloud data and transmit the point cloud data to the industrial personal computer, and the industrial personal computer carries out algorithm processing on the point cloud data and outputs the layer height and spacing data subjected to the algorithm processing to the PLC; horizontal-pushing scanning and rotary scanning are completed through cooperation of the laser radar and the holder, the hoisting path is planned according to the relative position of the hoisting tool and the container area container, and the working efficiency of hoisting operation of the gantry crane is improved on the premise that hoisting safety is guaranteed.
本发明提出了一种龙门吊及其吊具的吊装路径规划方法,属于港口自动化设备技术领域,PLC控制器控制龙门大车和起重小车移动;扫描系统包括激光雷达和云台;云台固定设置在起重小车上,云台带动激光雷达旋转完成激光雷达旋转扫描;所述激光雷达平推扫描和激光雷达旋转扫描过程采集点云数据传输至工控机,工控机对点云数据进行算法处理,并将进行算法处理的层高及间距数据输出到PLC控制器;本发明通过激光雷达与云台相配合完成平推扫描与旋转扫描,根据吊具与箱区集装箱的相对位置规划吊装路径,保证吊装安全的前提下提高了龙门吊吊装作业的工作效率。
Gantry crane and hoisting path planning method for hoisting tool of gantry crane
一种龙门吊及其吊具的吊装路径规划方法
2022-12-06
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |