The invention discloses an emergency start-stop control protection device and method for unmanned tower crane equipment, a point cloud data acquisition module acquires point cloud data of each functional area of a construction site, and an obstacle model construction module constructs a space grid model of each functional area based on the point cloud data to obtain a space obstacle model of the construction site; a fault-tolerant space generation module obtains a hoisting piece fault-tolerant space formed along the hoisting path based on a space region of the hoisting path passing through the space obstacle model, and a swing posture judgment module obtains a wind load borne by a hoisting piece in real time and judges the swing posture of the hoisting piece under the action of the wind load and the driving force of the current hoisting execution mechanism; and a hoisting equipment control module controls the start and stop of a current hoisting execution mechanism of the tower crane based on the interference condition between the hoisting piece and the fault-tolerant space in the swinging posture. According to the device, collision between a hoisting piece and an obstacle can be avoided by carrying out emergency control on the tower crane.

    本申请公开了无人驾驶塔吊设备的紧急启停控制保护装置及其方法,其中点云数据获取模块分别获取施工现场各功能区域的点云数据,障碍模型构建模块基于点云数据构建各功能区域的空间栅格模型,得到施工现场的空间障碍模型,容错空间生成模块基于吊运路径途经空间障碍模型的空间区域得到沿吊运路径形成的吊运件容错空间,摆动姿态判断模块实时获取吊运件受到的风载荷,判断出吊运件在风载荷和当前吊运执行机构驱动力作用下的摆动姿态,吊运设备控制模块基于在摆动姿态下吊运件和容错空间之间的干涉情况控制塔吊的当前吊运执行机构的启停。该装置能够通过对塔吊进行紧急控制来避免吊运件与障碍物发生碰撞。


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    Title :

    Emergency start-stop control protection device and method for unmanned tower crane equipment


    Additional title:

    无人驾驶塔吊设备的紧急启停控制保护装置及其方法


    Contributors:
    CHEN DEMU (author) / JIANG YUN (author) / ZHAO XIAODONG (author) / LU JIANJIANG (author) / CHEN XI (author) / GU JIAOYAN (author)

    Publication date :

    2021-08-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / B66C Krane , CRANES / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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