The invention discloses an unmanned crane system based on automatic trajectory planning, which is characterized in that the position data of a lifting hook is collected through a first tracking positioner, the position data of goods is collected through a second tracking positioner, and the position data of a goods carrying end point is input through a mobile terminal; fusing the position data of the lifting hook/the position data of the goods/the position data of the carrying terminal point with a preset three-dimensional map, calculating and planning a first moving strategy for moving the lifting hook to the position of the goods according to the position coordinates of the lifting hook and the position coordinates of the goods, and calculating and planning a second moving strategy for moving the lifting hook to the position of the goods according to the position coordinates of the goods and the position coordinates of the carrying terminal point; and finally, the control terminal controls the rotating mechanism to drive the cargo boom to rotate by a certain angle around the tower, controls the sliding mechanism to drive the lifting hook to slide by a certain distance in the direction of the cargo boom, and controls the lifting mechanism to drive the lifting hook to ascend/descend by a certain distance. The automatic driving function of the crane is achieved, a large amount of repeated work of a crane operator is replaced, and the working efficiency and safety of the crane are improved to a great extent.
本发明公开了一种基于自动轨迹规划的无人起重机系统,通过第一跟踪定位器采集吊钩的位置数据,通过第二跟踪定位器采集货物的位置数据,通过移动终端输入货物搬运终点的位置数据,并将吊钩的位置数据/货物的位置数据/搬运终点的位置数据与预设的三维地图进行融合,根据吊钩的位置坐标和货物的位置坐标,计算并规划吊钩移动至货物位置的第一移动策略,根据货物的位置坐标和搬运终点的位置坐标,计算并规划吊钩将货物搬运至终点位置的第二移动策略,最后通过控制终端控制旋转机构驱动起重臂绕塔架一定转动角度,控制滑动机构驱动吊钩沿起重臂方向滑动一定距离,控制升降机构驱动吊钩上升/下降一定距离,实现了起重机的自动驾驶功能,代替起重机操作员大量重复性的工作,很大程度上提高起重机工作效率与安全性。
Unmanned crane system based on automatic trajectory planning
基于自动轨迹规划的无人起重机系统
2024-06-28
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |