An Unmanned Crane System Based on 3D lidar in Anode Baking Workshop

Abstract

Facing the problems of low automation and a harsh working environment in roasting workshops, based on 3D lidar, an unmanned crane system is proposed and designed. Firstly, the integrated planning of the unmanned crane system is completed. The 3D lidar is used to get the accurate location of the pit. According to the real-time feedback of position, the crane is autonomously controlled to move to the right position, Then, delivering of the material block is automatically completed. During this period, based on 3D lidar, a method for identifying and locating pits is proposed. The excess point clouds are removed by straight-through filtering and Gaussian filtering, and the feature description matrix is established. The minimum weighted Euclidean distance is used to match the feature of the pit and the coordinates of matching points can be obtained. After that, the fuzzy control strategy and the crane of real-time position are combined to control the crane's moving speed, so that XX can be guaranteed. Finally, the experimental results show effectiveness of localizing the material pit and the accuracy of controlling of the unmanned crane in harsh environments.