The invention discloses an automatic hoisting method and system of a truck-mounted crane, electronic equipment and a storage medium, and the automatic hoisting method of the truck-mounted crane comprises the following steps: obtaining point clouds of a plurality of laser radars for scanning the same to-be-hoisted object, and determining a parent laser radar and a child laser radar; performing ICP registration by taking the point cloud of the parent laser radar as a target point cloud and taking the point cloud of the child laser radar as a source point cloud to obtain a transformation matrix; converting the transformation matrix into a transformation matrix of each child laser radar relative to the parent laser radar; fusing the transformation matrix with the point cloud acquired by each laser radar; a point cloud grid is constructed and cut, the first cutting face is the intersection face of the station and the surface water plane, and the second cutting face is the horizontal plane where the bottom face of the to-be-hoisted object is located; and the projection coordinate of the bottom face center point of the station on the first cutting face serves as a termination point, the bottom face center coordinate of the to-be-hung object serves as a starting point, and the horizontal movement path of the to-be-hung object is obtained through an ant colony algorithm.

    本发明公开了一种随车吊自动吊装方法、系统、电子设备及存储介质,其中随车吊自动吊装方法,包括:获取多个激光雷达对同一待吊持物扫描的点云,确定父激光雷达和子激光雷达;以父激光雷达的点云为目标点云,以子激光雷达的点云为源点云进行ICP配准获取变换矩阵;将变换矩阵转化为每个子激光雷达相对于父激光雷达的变换矩阵;将变换矩阵与每个激光雷达获取的点云融合;构建并切割点云网格,第一切割面为工位与地表水平面的相交面,第二切割面为待吊装物底面所处的水平面;将工位的底面中心点在第一切割面的投影坐标作为终止点,待吊持物的底面中心坐标作为起始点,通过蚁群算法获取待吊持物的水平移动路径。


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    Title :

    Automatic hoisting method and system of truck-mounted crane, electronic equipment and storage medium


    Additional title:

    一种随车吊自动吊装方法、系统、电子设备及存储介质


    Contributors:
    ZHANG KEKE (author) / LU FEI (author) / WANG XIAN (author) / WANG TAO (author) / PENG XIANG (author) / YAN SHAOBIAO (author) / XIAO PEIJIE (author)

    Publication date :

    2024-11-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01S RADIO DIRECTION-FINDING , Funkpeilung



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