CPC B66C 13/48 (2013.01) [B66C 5/10 (2013.01); B66C 13/16 (2013.01); B66C 13/46 (2013.01); G06T 7/70 (2017.01); G06T 2207/10028 (2013.01)] | 9 Claims |
1. A control method for a grab of a portal crane, comprising:
acquiring height information of the grab;
acquiring amplitude variation information of a luffing mechanism;
acquiring slewing angle information of a rotation of a slewing mechanism;
determining horizontal relative position information of the grab relative to a center point of the slewing mechanism according to the amplitude variation information and the slewing angle information;
determining actual position information of the grab relative to the center point of the slewing mechanism according to the horizontal relative position information and the height information;
acquiring scanning information of a hull, and determining position information of a material according to the scanning information of the hull; and
planning an operation route of the grab according to the actual position information and the position information of the material.
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