Method for grabbing materials through throwing bucket

Abstract

The invention discloses a method for grabbing materials through a throwing bucket, and the method comprises the steps: carrying out the real-time scanning through a laser radar, and obtaining a frame of data of a sector where a measured steel wire rope is located; traversing all sampling point data in one frame of data, and screening out effective sampling points of the detected steel wire rope; calculating angle values of the effective sampling points; recording a sampling distance corresponding to the effective sampling point; the actual included angle between the current direction and the horizontal or vertical direction of the measured steel wire rope is calculated by combining the position relation between the laser radar and the measured steel wire rope; calculating the actual distance between the grab bucket and the target material, and selecting a corresponding system model to calculate the lowering time of the grab bucket to the target material by judging whether a hoisting mechanism of the grab bucket needs to reach a full speed; according to the actual included angle and the lowering time, the grab bucket is controlled to grab the target material; by means of the method, the problem that a portal crane grab bucket cannot grab materials due to the fact that the variable-amplitude stroke of a portal crane cannot reach the edge of a cargo ship cabin or a hidden cabin is too large is solved, and the purpose that the throwing bucket grabs the materials in a stroke blind area is achieved.

Description

technical field [0001] The invention belongs to the technical field of mechanical motion control, in particular to a method for grabbing materials by throwing a bucket. Background technique [0002] When the gantry type ship unloader is unloading the ship, it usually encounters the problem that the gantry motor grab can not be grasped due to the difficulty in reaching the edge of the cargo ship's cabin due to the gantry crane's luffing stroke, or when the dark cabin is too large. At this time, it is usually necessary to hoist the trolley into the cabin, and use the trolley to push the material to the position where the grab bucket can grab it in the luffing stroke, and then the driver will carry out the grab and transfer operation. This process is time-consuming, labor-intensive, and inefficient, and the cart driver who pushes materials in the cabin also has certain safety risks. [0003] Therefore, how to solve the problem that the gantry crane cannot reach the edge of the...

AI Technical Summary

Problems solved by technology

[0004] In view of the above problems, the present invention provides a method for grabbing materials by throwing buckets that at least solves some of the above technical problems. Through this method, it is difficult to reach the edge of the cargo ship's cabin due to the variable amplitude travel of the door operator, or when the dark cabin is too large. The problem that the grab bucket cannot grab, realize the throwing bucket grabbing the materials in the blind area

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