US 11,787,670 B1
Control method, control system, and device for grab of portal crane
Zhao Tian, Jiangsu (CN); Zhongjian She, Jiangsu (CN); Jinqi Wan, Jiangsu (CN); Zhaoyun Li, Jiangsu (CN); Qingyong Tao, Jiangsu (CN); Hailei Wang, Jiangsu (CN); Kai Yang, Jiangsu (CN); and Chigeng Zhang, Jiangsu (CN)
Assigned to JIANGSU SUGANG INTELLIGENT EQUIPMENT INDUSTRY INNOVATION CENTER CO., LTD.
Filed by JIANGSU SUGANG INTELLIGENT EQUIPMENT INDUSTRY INNOVATION CENTER CO., LTD., Jiangsu (CN)
Filed on Apr. 19, 2023, as Appl. No. 18/136,382.
Claims priority of application No. 202210410227.8 (CN), filed on Apr. 19, 2022.
Int. Cl. B66C 13/48 (2006.01); B66C 13/46 (2006.01); B66C 5/10 (2006.01); G06T 7/70 (2017.01); B66C 13/16 (2006.01)
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
OG exemplary drawing
 
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.