The invention discloses a tower crane motion planning method and system, and relates to the technical field of cranes. Comprising the following steps: collecting geometric parameters and material parameters of the tower crane, constructing a finite element model of the tower crane based on the geometric parameters and the material parameters, and determining motion constraint conditions of the tower crane; based on the established model, setting target positions of the rotating arm and the trolley, generating a plurality of paths for the rotating arm and the trolley to reach the target positions, determining a shortest path, inputting control variable combinations to carry out a simulation test, obtaining cost factors under different control variable combinations, and based on a set fitness function, selecting motion planning input to obtain a simulation result. Meanwhile, a working range environment image and real-time environment load data of the tower crane are collected; and correcting the motion planning input based on the working range environment image of the tower crane and the real-time environment load data, and adjusting the motion paths of the rotating arm and the trolley to obtain the accurate motion planning input and the motion path.
本发明公开了一种塔式起重机运动规划方法及系统,本发明涉及起重机技术领域。包括以下步骤:采集塔式起重机的几何参数和材料参数,基于几何参数和材料参数构建塔式起重机的有限元模型,确定塔式起重机运动约束条件;基于建立的模型,设置旋臂和台车的目标位置,生成若干旋臂和台车到达目标位置的路径,并确定最短路径,输入控制变量组合进行模拟试验,得到不同控制变量组合下的成本因素,基于设置的适应度函数,选择运动规划输入,同时采集塔式起重机工作范围环境图像和实时环境负载数据;基于塔式起重机工作范围环境图像和实时环境负载数据对运动规划输入进行修正,同时对旋臂和台车的运动路径进行调整,得到精确运动规划输入和运动路径。
Tower crane motion planning method and system
一种塔式起重机运动规划方法及系统
17.12.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B66C Krane , CRANES |
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