The embodiment of the invention relates to the technical field of intelligent construction, in particular to a tower crane motion control method and device, equipment and a medium. The scheme of the tower crane motion control method comprises the following steps: acquiring an original planning track from a planner of a tower crane; obtaining the starting delay time of the tower crane in each axial direction; and according to the starting delay time in each axial direction, integrally translating and staggering the track points on the original planning track in each axial direction, and aligning the starting time in each axial direction, so that each axis reaches the expected same position at the same moment. According to the embodiment of the invention, the motion of the tower crane is controlled according to the actual working condition and the dynamic characteristics of the tower crane, and the control model is matched with the actual working condition and the dynamic characteristics of the tower crane by starting the delay dislocation processing through the shaft action, so that the operation control of the tower crane is more accurate, and the safety risk is effectively reduced.

    本申请实施例涉及智能建造技术领域,且涉及一种塔吊运动控制方法、装置、设备和介质。其中塔吊运动控制方法的方案为:从塔吊的规划器获取原始规划轨迹;获取塔吊各个轴方向上的启动延时时间;按照所述各个轴方向上的启动延时时间,在各个轴方向上分别将所述原始规划轨迹上的轨迹点进行整体平移错位,将各个轴方向上的启动时间拉齐,使各轴在同一时刻到达期望的同一位置。本申请实施例依据塔吊实际的工况和动力学特性对塔吊进行运动控制,通过轴动作启动延时错位处理使得控制模型与真实塔吊的工况和动力学特性相适配,从而使得塔吊运行控制更加精准,有效降低安全风险。


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    Title :

    Tower crane motion control method and device, computing equipment and storage medium


    Additional title:

    塔吊运动控制方法、装置、计算设备和存储介质


    Contributors:
    QI BIN (author)

    Publication date :

    2023-10-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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