The invention provides a bridge crane obstacle avoidance trajectory planning method and system based on a segmented time polynomial, and is applied to the technical field of cranes. Path planning of a bridge crane is carried out in an environment with obstacles; and planning the track of the bridge crane through a segmented time polynomial based on the planned path. According to the invention, after path planning is carried out, a piecewise time polynomial trajectory optimization technology is adopted to generate a smoother obstacle avoidance trajectory, so that the energy loss of the system is effectively reduced, efficient and smooth trajectory planning and tracking can be realized in an obstacle environment, and the operation performance and energy utilization efficiency of the bridge crane are improved.

    本申请提供一种基于分段时间多项式的桥式起重机避障轨迹规划方法及系统,应用于起重机技术领域,其中,在存在障碍物的环境下进行桥式起重机的路径规划;基于规划的路径通过分段时间多项式对桥式起重机的轨迹规划。本申请在进行路径规划后,采用了分段时间多项式轨迹优化技术,以生成更平滑的避障轨迹,从而有效降低系统的能量损耗,能够在障碍物环境中实现高效、平滑的轨迹规划和跟踪,提高桥式起重机的作业性能和能源利用效率。


    Access

    Download


    Export, share and cite



    Title :

    Bridge crane obstacle avoidance trajectory planning method and system based on segmented time polynomial


    Additional title:

    基于分段时间多项式的桥式起重机避障轨迹规划方法及系统


    Contributors:
    MA XIANGHUA (author) / LI YANHONG (author) / XU MIN (author) / LIU ZHIHENG (author)

    Publication date :

    2024-12-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



    Bridge crane path planning method considering obstacle avoidance

    WANG XINWEI / LIU JIE / DONG XIANZHOU et al. | European Patent Office | 2020

    Free access

    Obstacle avoidance trajectory planning method and system and vehicle

    ZHANG KAI / BIN YANG / CUI JIAXING et al. | European Patent Office | 2020

    Free access


    Trajectory planning method and system for bridge crane

    MA XIN / LI GANG / LI YIBIN | European Patent Office | 2023

    Free access

    Automatic obstacle avoidance system of tower crane

    SONG YUE | European Patent Office | 2025

    Free access