The invention discloses an intelligent hoisting and transferring system and method for a high-density fast-response small carrier rocket. The real-time sensing unit is used for intelligently identifying and positioning a small target of a lifting point, intelligently identifying and centering a carrier vehicle bracket, centering a center line, measuring the relative pose of a manipulator system and a rocket body, measuring the relative pose of the manipulator system and a carrier vehicle, analyzing the stress condition of the manipulator system and determining the current state of the manipulator system; acquiring multi-source sensor data; the intelligent decision-making and supporting unit is used for carrying out instant analysis and decision-making on the data of the multi-source sensor and issuing tasks and instructions; and the mechanism behavior control unit is used for receiving the task and the instruction, executing corresponding operation and completing the hoisting and transferring process of positioning, grabbing, carrying, releasing and returning to the original point. The device has the advantages that the hoisting and transshipment efficiency is improved, the manual operation intensity is reduced, and the device has the characteristics of safety, intelligence, high efficiency, convenience and the like and better meets the field hoisting and transshipment test requirements.

    本发明公开了一种面向高密度快响应小型运载火箭的智慧吊装转载系统及方法,系统包括,实时感知单元:通过吊点微小靶标智能识别定位、运输车托架智能识别与对中、中线对中、机械手系统与箭体的相对位姿测量、机械手系统与运输车的相对位姿测量、机械手系统受力情况分析以及机械手系统当前所处状态确定,获取多源传感器数据;智能决策与支持单元:对多源传感器数据进行即时分析与决策,并下达任务和指令;机构行为控制单元:接收任务和指令并执行相应操作,完成定位‑抓取‑搬运‑释放‑回归原点的吊装转载过程。优点是:本发明提高了吊装转载效率,降低人工操作强度,具有安全、智能、高效、便捷等特点,更好地适应场区吊装转载测试需要。


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    Title :

    Intelligent hoisting and transshipping system and method for high-density fast-response small carrier rocket


    Additional title:

    面向高密度快响应小型运载火箭的智慧吊装转载系统及方法


    Contributors:
    CHU JINQIAN (author) / FAN TIANYU (author) / ZHOU YUHUA (author) / ZHANG LANYING (author) / ZHAO LEI (author) / LI YONGQIANG (author) / ZHU WEIKUN (author) / SUN SHAOYAN (author)

    Publication date :

    2025-02-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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