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公开(公告)号：US11708248B2
公开(公告)日：2023-07-25
申请号：US17799166
申请日：2021-02-26
发明人： Zhi Feng
IPC分类号： B66C13/06 , G05B19/4155 , B66C13/48
CPC分类号： B66C13/063 , B66C13/48 , G05B19/4155 , G05B2219/45046
摘要： The present invention provides a linear quadratic regulator (LQR)-based anti-sway control method for a hoisting system, comprising the following steps: obtaining a target position of a trolley, and obtaining a planned real-time path of the trolley according to the maximum velocity vm and maximum acceleration am of the trolley; establishing a dynamic model of the hoisting system according to a Lagrange's equation, for the Lagrange's equation, the trolley displacement x, the spreader sway angle θ, and the rope length l of the hoisting system being selected as generalized coordinate directions; observing lumped disturbance d using an extended state observer, and compensating for same in a controller, the lumped disturbance d comprising the dynamic model error and external disturbance to the hoisting system; tracking the planned real-time path of the trolley by a Q matrix and an R matrix using a linear quadratic regulator controller. The LQR-based anti-sway control method for a hoisting system provided by the present invention can make the hoisting system operate more smoothly, reduce sway during operation, and quickly eliminate sway when in place while observing the lumped disturbance using an extended state observer.
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公开(公告)号：US20230324554A1
公开(公告)日：2023-10-12
申请号：US18023938
申请日：2021-09-12
CPC分类号： G01S17/89 , G01S7/497 , G06T7/73 , G06T7/13 , G06T2207/10028
摘要： The present disclosure discloses a container positioning method and apparatus based on multi-line laser data fusion, the method comprising: acquiring point cloud data of at least two multi-line laser radars, and performing point cloud data fusion according to a coordinate system relationship between the at least two laser radars; performing clustering of scanning lines according to the fused point cloud data, and acquiring an edge point of a top surface or a side surface of a target container according to the clustered scanning lines; acquiring a contour of the top surface or the side surface of the target container according to the edge point of the top surface or the side surface of the target container to determine a central point and a heading angle of the target container so as to determine a position of the target container. The container positioning method and apparatus based on multi-line laser data fusion provided in the present disclosure acquire an edge point of a top surface or a side surface of a target container after point cloud data is fused via point cloud data of a multi-line laser radar, so as to accurately acquire the position of the target container.
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公开(公告)号：US11841436B2
公开(公告)日：2023-12-12
申请号：US18023938
申请日：2021-09-12
CPC分类号： G01S17/89 , G01S7/497 , G06T7/13 , G06T7/73 , G06T2207/10028
摘要： The present disclosure discloses a container positioning method and apparatus based on multi-line laser data fusion, the method comprising: acquiring point cloud data of at least two multi-line laser radars, and performing point cloud data fusion according to a coordinate system relationship between the at least two laser radars; performing clustering of scanning lines according to the fused point cloud data, and acquiring an edge point of a top surface or a side surface of a target container according to the clustered scanning lines; acquiring a contour of the top surface or the side surface of the target container according to the edge point of the top surface or the side surface of the target container to determine a central point and a heading angle of the target container so as to determine a position of the target container. The container positioning method and apparatus based on multi-line laser data fusion provided in the present disclosure acquire an edge point of a top surface or a side surface of a target container after point cloud data is fused via point cloud data of a multi-line laser radar, so as to accurately acquire the position of the target container.
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