The invention relates to an unmanned crown block path static planning method, and belongs to the technical field of crown block control methods. According to the technical scheme, an obstacle model is simplified, a crown block main hook serves as a mass point, the mass point movement track is calculated, and by judging whether the crown block automatic movement track passes through an obstacle or not and calculating an inflection point, the crown block can avoid the obstacle to move, the walking path is planned, and the operation efficiency and operation safety of the unmanned crown block are guaranteed. The method has the advantages that by simplifying the obstacle model and calculating the particle motion trail, the unmanned crown block can automatically avoid the obstacle, the walking path is planned, and the running efficiency and running safety of the unmanned crown block are guaranteed.
本发明涉及一种无人天车路径静态规划方法,属于天车控制方法技术领域。本发明的技术方案是:简化障碍物模型,将天车主钩作为一个质点,计算质点运动轨迹,通过判断天车自动运行轨迹是否经过障碍物,并计算拐点,实现天车避让障碍物运行,规划行走路径,保障无人天车运行效率和运行安全。本发明的有益效果是:通过简化障碍物模型和计算质点运动轨迹,能够实现无人天车自动避让障碍物,规划行走路径,保障无人天车运行效率和运行安全。
Unmanned crown block path static planning method
一种无人天车路径静态规划方法
07.03.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | B66C Krane , CRANES |
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