The invention relates to the technical field of tower cranes, in particular to an anti-collision method and system for a lifting hook of a tower crane, and the method comprises the following steps: S1, collecting and extracting data when the lifting hook runs, obtaining and filtering laser point cloud data, and retaining the laser point cloud data of a set horizontal area around the lifting hook; s2, establishing a kinematics prediction model based on a rotational motion principle of a rigid body; s3, track prediction in a set horizontal area around the lifting hook is carried out by using the established model; s4, collision judgment is conducted, the minimum safety distance D is set, obstacles in a set horizontal area around the lifting hook are detected, the shortest distance d between the obstacles and the traveling track of the lifting hook is calculated and screened out according to the detected positions of the multiple obstacles, whether d is smaller than D or not is judged, and if d is smaller than D, the lifting hook ascends to avoid the obstacles; the driving path of the crane hook can be predicted, whether the collision risk exists or not is calculated, and the hook is controlled to ascend to avoid obstacles when the collision risk exists; therefore, the collision risk of the tower crane is reduced.
本发明涉及塔式起重机技术领域,具体是一种塔式起重机吊钩防碰撞方法及系统,包括:S1、吊钩行驶时数据采集并提取,获取并过滤激光点云数据,保留吊钩周围设定水平区域的激光点云数据;S2、基于刚体的旋转运动原理,建立一个运动学预测模型;S3、使用建立的模型来进行吊钩周围设定水平区域内的轨迹预测;S4、进行碰撞判断,最小安全距离D,检测吊钩周围设定水平区域的障碍物,根据检测到的多个障碍物的位置计算并筛选出障碍物与吊钩行驶轨迹的最短距离d,判断d是否小于D,若d小于D,则将吊钩上升避障;本发明能够对起重机吊钩的行驶路径进行预测,计算是否有碰撞风险,并在有碰撞风险时控制吊钩上升避障;从而降低了塔式起重机碰撞的风险。
Anti-collision method and system for lifting hook of tower crane
一种塔式起重机吊钩防碰撞方法及系统
2024-01-30
Patent
Electronic Resource
Chinese