Control method, control system, and device for grab of portal crane

A control system for a grab of a portal crane, comprising:

• a height acquiring module, configured for acquiring height information of the grab;
• an amplitude acquiring module, configured for acquiring amplitude variation information of a luffing mechanism;
• an angle acquiring module, configured for acquiring slewing angle information of a rotation of a slewing mechanism;
• a position determination module, configured for 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;
• a grab positioning module, configured for 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;
• a material positioning module, configured for acquiring scanning information of a hull, and determining position information of a material according to the scanning information of the hull;
• and
• a route planning module, configured for planning an operation route of the grab according to the actual position information and the position information of the material.