The invention provides an intelligent lifting hook obstacle avoidance method for a tower crane, which avoids obstacles and safely delivers a lifted object. Comprising the following steps that S1, a lifting hook enters a lifting area or a landing area, and if the lifting hook enters the lifting area or the landing area for the first time, the intelligent lifting hook is manually controlled to move to a designated position through a handheld positioning terminal; if the intelligent lifting hook enters the lifting area or the landing area for the second time, the intelligent lifting hook moves to the position above the designated position according to the intelligent lifting hook motion trail memorized last time; s2, the lifting hook is driven out of the lifting area or the landing area, the tower crane vertically lifts the lifting object upwards, the lowest point of the lifting object leaves the lifting area or the landing area, and then the lifting object runs according to a path planned by an automatic driving system of the tower crane until the lifting object safely reaches the landing area; and during driving, the intelligent lifting hook finds that the obstacle is within the safe distance on the driving path, the path is planned again, the obstacle is avoided, and the information of the obstacle is recorded on the environmental topographic map, so that the obstacle is avoided when the path is planned next time.

    本发明提供了一种塔式起重机智能吊钩避障方法,避开障碍物将吊物安全送达。包括以下步骤:S1.吊钩进入起吊区或降落区内,如首次进入到起吊区或降落区内,通过手持定位终端人工控制智能吊钩运动到指定位置;如第二次进入到该起吊区或降落区内,按上一次记忆的智能吊钩运动轨迹运动到指定位置上方;S2.吊钩驶出起吊区或降落区,塔吊将吊物垂直向上吊起,使吊物的最低点离开起吊区或降落区,然后按照塔吊自动驾驶系统规划的路径进行行驶,直到安全到达降落区;行驶期间,智能吊钩发现在行驶路径上有障碍物在安全距离内,重新规划路径,避开该障碍物,并将该障碍物信息记录到环境地形图上,以便下次规划路径时避开该障碍物。


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    Titel :

    Intelligent lifting hook obstacle avoidance method for tower crane


    Weitere Titelangaben:

    一种塔式起重机智能吊钩避障方法


    Beteiligte:
    WANG QUANLIANG (Autor:in) / LI ZHONGHENG (Autor:in) / LIU SHUNTAO (Autor:in) / WANG ZHI (Autor:in)

    Erscheinungsdatum :

    2024-01-30


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B66C Krane , CRANES



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