The invention provides a control method of an automatic driving system of a tower crane, which solves the problem of automatic driving of the tower crane in a complex environment of a construction site and can realize a high-efficiency automatic operation process of the tower crane. The method comprises the following steps: S1, establishing an environmental topographic map of a region below the tower crane; s2, planning a space path from a hoisting point to a landing point; s3, after the tower crane lifts an object, the lifting hook is controlled to move in three degrees of freedom; and S4, when the lifting hook encounters obstacle avoidance during movement, re-planning the path, and controlling the lifting hook to move in three degrees of freedom until the lifting hook reaches a target point.
本发明提供了一种塔式起重机自动驾驶系统控制方法,解决了建筑工地复杂环境下的塔机的自动驾驶问题,能够实现高效率的塔吊自动运行过程。其包括以下步骤:S1.建立塔吊下方区域环境地形图;S2.规划起吊点到落地点空间路径;S3.塔吊在吊上物体后,控制吊钩三个自由度的运动;S4.吊钩运动中遇到避障时,重新规划路径,控制吊钩三个自由度的运动,直到达目标点。
Method for controlling automatic driving system of tower crane
塔式起重机自动驾驶系统控制方法
19.05.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | B66C Krane , CRANES |
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