The invention relates to a method for generating a trajectory for a load transported by a hoisting appliance spanning a hoisting area. The method includes providing a 3-dimensional model of the hoisting area with located obstacles within the hoisting area; providing load parameters including load length, height, width and weight; generating a trajectory for navigating through the hoisting area by using the model of the hoisting area and taking in account located obstacles, load parameters; and load movement parameters including a maximum attainable speed of the hoist appliance with the load, wherein the generated trajectory includes a starting point, a target point and a number of consecutive line segments connecting the starting point and the target point; and optimizing the trajectory for speed by maximizing the length of at least one line segment in a main direction of travel in order to travel at a maximum attainable speed of the hoisting appliance with the load in the main direction of travel.
本发明涉及一种用于为由横跨升降区域的升降设备运输的负载生成轨迹的方法。所述方法包括提供升降区域的三维模型,该模型具有升降区域内的已定位障碍物;提供包括负载长度、高度、宽度和重量的负载参数。使用升降区域的模型并且考虑已定位障碍物、负载参数和包括带负载的升降设备的最大可达到速度的负载运动参数来生成用于导航通过升降区域的轨迹,其中所生成的轨迹包括起点、目标点以及连接起点和目标点的多条连续线段。以及通过最大化主行进方向上的至少一条线段的长度来针对速度优化轨迹,以便在主行进方向上以带负载的升降设备的最大可达到速度行进。
METHOD FOR GENERATING TRAJECTORY FOR HOISTING APPLIANCE
用于为升降设备生成轨迹的方法
2021-05-04
Patent
Elektronische Ressource
Chinesisch
IPC: | B66C Krane , CRANES |
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