The invention provides a tower crane control method capable of realizing adaptive view angle direction change. The tower crane control method comprises the following steps: establishing a unified coordinate system based on sensor and GPS differential positioning; determining advancing, retreating, leftward and rightward directions of the lifting hook according to the position of a ground operator; the forward, backward, leftward and rightward movement directions are decomposed into the movement direction of the luffing mechanism and the movement direction of the rotating mechanism; calculating the speed of a luffing mechanism and the speed of a rotating mechanism after decomposition; and transmitting the speed of the luffing mechanism and the speed of the rotating mechanism to motor motion control equipment. According to the invention, ground personnel can more intuitively control the movement direction of the lifting hook of the tower crane conveniently, and the non-intuitiveness that the ground personnel need to control the movement of the lifting hook in the view angle direction of a tower crane driver is avoided.

    本发明提供了一种自适应视角方向变换的塔式起重机控制方法,包括:建立基于传感器和GPS差分定位的统一坐标系;根据地面操作人员位置,确定吊钩前进,后退,向左,向右方向;将前进,后退,向左,向右运动方向分解成变幅机构运动方向和旋转机构运动方向;计算分解后的变幅机构速度和旋转机构速度;将变幅机构速度和旋转机构速度发送给电机运动控制设备。本发明方便了地面人员能更直观地控制塔机吊钩的运动方向,摆脱地面人员需要以塔机司机的视角方向控制吊钩运动的不直观性。


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    Title :

    Self-adaptive view angle direction changing tower crane control method


    Additional title:

    一种自适应视角方向变换的塔式起重机控制方法


    Contributors:
    MING ZHANGYAO (author) / REN HUANHUAN (author) / XIE MING (author)

    Publication date :

    2025-03-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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