The invention discloses a tower crane remote control obstacle avoidance method which specifically comprises the following steps: establishing obstacle acquisition equipment, acquiring fixed obstacles and moving obstacles during acquisition of the obstacle acquisition equipment, establishing obstacle avoidance equipment, performing active obstacle avoidance and passive obstacle avoidance during obstacle avoidance, and performing active obstacle avoidance and passive obstacle avoidance during passive obstacle avoidance. The obstacle avoidance host analyzes the data of the obstacle acquisition equipment, obtains the operation data of the tower crane, carries out pre-judgment according to the operation direction of the tower crane, and gives an alarm when the pre-judgment data falls into an obstacle position; according to the remote control obstacle avoidance method for the tower crane, static and/or dynamic obstacle collection within the operation range of the tower crane can be achieved, the obstacle avoidance method is provided for intelligent planning of the hoisting path, a basic reference is provided for later operation speed and direction control of the hoisting path, and on the basis, the hoisting efficiency planning of the tower crane can be further researched.
本发明公开了一种塔机远控避障方法,所述方法具体如下:建立障碍采集设备,所述障碍采集设备采集时,包括固定障碍采集和移动障碍采集,建立避障设备,避障时,包括主动避障和被动避障,被动避障时,避障主机对障碍采集设备数据并进行解析,同时获取塔机运行数据,并根据塔机运行方向进行预判,预判数据落入到障碍位时,避障主机进行报警;本发明的塔机远控避障方法,能够实现塔机运行范围内的静态和/或动态障碍物采集,给吊运路径智能规划提供了避障方法,为吊运路径后期运行速度和方向控制提供了一个基础参考,在此基础上,才能够进一步研究塔机调运效率规划。
Remote control obstacle avoidance method for tower crane
一种塔机远控避障方法
2022-04-01
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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