The invention provides a double-flat-arm landing derrick hoisting path planning method and system and a medium, and the method comprises the steps: calculating the middle position of a hoisting piece based on obtained hoisting piece information, derrick information, hoisting environment information, an initial position and a target position; based on a preset first algorithm, a horizontal plane hoisting path of the hoisting piece from the initial position to the middle position is calculated; based on the hoisting environment information, determining a vertical plane hoisting path of the hoisting piece from the middle position to the target position; the first algorithm is determined based on the influence of the swinging amplitude of the hanger and the swinging eliminating time of the hanger on the hoisting path; according to the method, the hoisting process is decomposed, hoisting path planning is simplified from a three-dimensional space to a planning problem in two-dimensional planes of a horizontal plane and a vertical plane, the path planning difficulty is reduced, and the path planning efficiency is improved; the hoisting path is automatically planned by considering the influence of the swinging amplitude and the swinging eliminating time of the hoisting piece on the hoisting path, and the efficiency and the capability of the hoisting piece to pass through the narrow channel can be improved by hoisting according to the path.
本发明提供了一种双平臂落地抱杆吊装路径规划方法、系统和介质,包括:基于获取的吊件信息、抱杆信息、吊装环境信息、初始位置和目标位置,计算吊件的中间位置;基于预设的第一算法,计算吊件从初始位置到中间位置的水平面吊装路径;基于吊装环境信息,确定吊件从中间位置到目标位置的铅垂面吊装路径;第一算法基于吊件摆动幅度和吊件消摆时间对吊装路径的影响确定;本发明对吊装过程进行分解,将吊装路径规划由三维空间简化为在水平面和铅垂面两个二维平面内的规划问题,降低了路径规划的难度,提高路径规划的效率;考虑吊件摆动幅度和消摆时间对吊装路径的影响自动规划吊装路径,按此路径进行吊装能提高效率和吊件通过狭窄通道的能力。
Double-flat-arm landing derrick hoisting path planning method and system and medium
一种双平臂落地抱杆吊装路径规划方法、系统和介质
2023-09-19
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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