全自动垃圾搬运起重机控制系统设计  

The Design of Automatic Garbage Handling Crane’s Control System

作　　者：张冒 程文明[2] 杨翰元 ZHANG Mao;CHENG Wen-ming;YANG Han-yuan(Chengdu Aeronautic Polytechnic,Sichuan Chengdu 610100,China;Southwest Jiaotong University,Sichuan Chengdu 610031,China;Shanghai Anfeng Equipment Technology Co.,Ltd.,Shanghai 200125,China)

机构地区：[1]成都航空职业技术学院,四川成都610100 [2]西南交通大学,四川成都610031 [3]上海昂丰装备科技有限公司,上海200125

出　　处：《机械设计与制造》2022年第6期73-76,82,共5页Machinery Design & Manufacture

基　　金：国家自然科学基金—大型起重机仿生结构风致效应特性及抗风减载机理研究(51675450)。

摘　　要：针对现有垃圾搬运起重机运行主要依赖人工操作存在的时间长、效率低、劳动强度大等问题,设计实现了一套全自动垃圾搬运起重机控制系统。通过分析系统功能需求,给出了控制系统硬件架构。在此基础上,运用2D激光雷达结合起重机大车运动的方式,实现垃圾仓内垃圾表面高度的测量。采用网格划分及领域点差值比较算法,实现自动取料位置的准确选取。在作业管理方面,使用程序序列的方式实现起重机的全自动化运行。实际项目验证表明:该设计方案实现了垃圾搬运起重机的全自动无人值守运行的目标,能够实现自动作业的有效管理,协调上料、移料、混料工作,系统运行稳定可靠、作业效率高。At present,the operation of garbage handling cranes mainly relies on manual operation,there exist the problems of long period,low efficiency and hard work,so this paper designed and implemented an automatic garbage handling crane’s control system.Based on the functional requirements of system,the hardware architecture of system was presented.On the basis of logical structure,the measurement of the surface height of garbage in the garbage bin was realized,by using 2D LiDAR combined with crane movement.The automatic picking position is accurately selected,with meshing and domain point difference comparison algorithm.In terms of job management,the use of program sequences to achieve full automation of the crane.The actual project verification shows:the design achieves the goal of fully automated unattended operation of the garbage handling crane,it can realize the effective management of automatic work,coordinate the loading,moving and mixing work. The automatic control system runs stably and reliably,and high working efficiency.

关 键 词：全自动垃圾搬运起重机 垃圾高度测量 取料位置 作业管理 

分 类 号：TH16[机械工程—机械制造及自动化] TH21