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。


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    Title :

    Method for controlling automatic driving system of tower crane


    Additional title:

    塔式起重机自动驾驶系统控制方法


    Contributors:

    Publication date :

    2023-05-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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