The embodiment of the invention relates to the technical field of intelligent construction, in particular to a tower crane track discretization method and device, equipment and a medium. The scheme of the tower crane track discretization method comprises the steps that according to the gear speed of each operation gear of a tower crane, the gear separation speed between adjacent operation gears is determined; obtaining the planning speed of each track point on the original planning track; according to the gear separation speed, a gear speed matched with the planned speed is obtained; and for each track point on the original planned track, replacing the planned speed with the adaptive gear speed to obtain a discretized planned track. According to the tower crane track discretization method adaptive to gear control, the tower crane track can meet kinematic characteristics, speed output can be discretized into gear speed, the control precision of the tower crane is improved through track discretization processing, and the safety risk is effectively reduced.
本申请实施例涉及智能建造技术领域,且涉及一种塔吊轨迹离散化方法、装置、设备和介质。其中塔吊轨迹离散化方法的方案为:根据塔吊各个运行档位的档位速度,确定相邻的运行档位之间的档位分隔速度;获取原始规划轨迹上每个轨迹点的规划速度;根据所述档位分隔速度,得到与所述规划速度适配的档位速度;针对所述原始规划轨迹上的每个轨迹点,以所述适配的档位速度替代所述规划速度,得到离散化处理后的规划轨迹。本申请实施例提供了一种适配档位控制的塔吊轨迹离散化方法,使得塔吊轨迹既能满足运动学特性又能将速度输出离散化为档位速度,通过轨迹离散化处理提高了塔吊的控制精度,有效降低安全风险。
Tower crane track discretization method and device, computing equipment and storage medium
塔吊轨迹离散化方法、装置、计算设备和存储介质
2023-12-08
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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