The invention relates to the technical field of intelligent control of tower cranes, and particularly provides a method and a system for detecting the size of a hoisted object of a tower crane based on multi-sensor fusion and the tower crane. Through combination of an advanced point cloud clustering algorithm and a point cloud filtering distance measurement technology, the plane size of a hanging object and the distance between the highest point of the hanging object and a radar are obtained. The weighing sensor is used for detecting whether the hoisted object leaves the ground or not, the plane size obtained by the laser radar and data of the weighing sensor are subjected to fusion analysis, and meanwhile the height of the hoisted object is measured and calculated in combination with the lifting hook height encoder; and the collected data are fused in the central processing unit. According to the invention, a multi-sensor fusion technology is utilized to carry out rear-end fusion on laser point cloud data, hung object weight data and tower crane motion state data, so that the accuracy and comprehensiveness of hung object size detection are improved.

    本发明涉及塔式起重机智能控制技术领域,具体提供了一种基于多传感器融合的塔式起重机吊物尺寸检测方法、系统及塔式起重机,包括以下步骤:激光雷达获取吊钩下方的吊物点云数据,通过并结合先进的点云聚类算法与点云过滤测距技术,以获取吊物的平面尺寸以及吊物最高点距离雷达的距离;使用称重传感器用于检测吊物是否离开地面,将激光雷达获取的平面尺寸和称重传感器的数据融合分析,同时结合吊钩高度编码器,测算出吊物的高度;将采集的数据在中央处理器中进行融合。本发明利用多传感器融合技术,将激光点云数据、吊物重量数据以及塔机运动状态数据进行后端融合,以提高吊物尺寸检测的准确性和全面性。


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    Title :

    Method and system for detecting size of hoisted object of tower crane based on multi-sensor fusion and tower crane


    Additional title:

    基于多传感器融合的塔式起重机吊物尺寸检测方法、系统及塔式起重机


    Contributors:
    WEI GUOLIANG (author) / DING HONGLEI (author) / LI ZHONGHENG (author) / LI MINGJING (author) / LI GANG (author) / WANG SHIBO (author) / LIU SHUNTAO (author)

    Publication date :

    2024-04-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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