The invention provides a tower crane unmanned control system and an unmanned control method. The control method comprises the following steps: acquiring the hoisting height of a tower crane lifting hook, the operation amplitude of a tower crane trolley and the rotation angle data of a tower crane cargo boom in the operation process of a tower crane in real time, and calculating to obtain the initial attitude data of the tower crane; acquiring three-dimensional modeling data of the obstacles around the tower crane in real time, and generating three-dimensional model data of the obstacles around the tower crane according to the three-dimensional modeling data; acquiring spatial position data of a ground hoisting point and a target unloading point where the tower crane runs; generating a preset operation path and target attitude data of the tower crane; and converting the preset running path and the target attitude data into a path control instruction, and driving a tower crane lifting hook to run to a ground lifting point or a target unloading point according to the path control instruction. The tower crane system autonomously collects the tower crane operation state and the surrounding environment data and generates a path plan to control the tower crane to operate, so that the problem of low intelligent degree of tower crane operation in the prior art is solved.
本发明提供了一种塔机无人驾驶控制系统及无人驾驶控制方法,控制方法包括:实时获取塔机运行过程中的塔机吊钩的起吊高度、塔机小车的运转幅度以及塔机起重臂的回转角度数据并计算得到塔机的初始姿态数据;实时获取塔机周围环境障碍物的三维建模数据并根据三维建模数据生成塔机周围环境障碍物的三维模型数据;获取塔机运行的地面吊装点和目的卸货点的空间位置数据;生成塔机的预设运行路径和目标姿态数据;将预设运行路径和目标姿态数据转换为路径操控指令并根据路径操控指令驱动塔机吊钩运行至地面吊装点或目的卸货点。塔机系统自主收集塔机运行状态和周围环境数据,并生成路径规划控制塔机运行,解决了现有技术中的塔机操作智能化程度低的问题。
Unmanned driving control system and unmanned driving control method for tower crane
塔机无人驾驶控制系统及无人驾驶控制方法
2023-10-10
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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