The invention discloses a tower crane repetitive path planning and automatic control method based on a genetic algorithm, and belongs to the technical field of tower cranes. The method comprises the following steps: establishing a cylindrical coordinate system taking a tower crane base as an original point; in the process that a tower crane driver uses a controller to operate the tower crane, the posture of the tower crane and the material hoisting state are obtained through sensors on the tower crane, and a program automatically identifies coordinates of a starting point and a terminal point. And then calculating an optimal path through a genetic algorithm according to the starting point position coordinate and the ending point position coordinate. The program controls a lifting hook, a lifting arm, a trolley and other parts of the tower crane through the tower crane controller, and automatically operates according to a planned path to realize automatic control of the tower crane; meanwhile, the planned path can be corrected through manual operation intervention, and finally safe, rapid and convenient tower crane repeated path planning and automatic control are achieved.
本发明公开一种基于遗传算法的塔机重复路径规划及自动控制方法,属于塔机技术领域。本发明包括以下步骤:建立以塔机基座为原点的柱坐标系;在塔机司机使用控制器操作塔机的过程中,通过塔机上的各传感器获取塔机姿态和物料吊运状态,程序自动识别起点和终点坐标。然后根据起点位置坐标和终点位置坐标,通过遗传算法计算最优路径。程序通过塔机控制器控制塔机的吊钩、吊臂、小车等部件,按规划的路径自动运行,实现塔机自动控制;同时可以通过人工操作介入对规划的路径进行修正,最终实现安全、快捷、便利的塔机重复路径规划和自动控制。
Genetic algorithm-based tower crane repetitive path planning and automatic control method
一种基于遗传算法的塔机重复路径规划及自动控制方法
2024-09-27
Patent
Electronic Resource
Chinese
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