CN116135770A - Control method of automatic driving system of tower crane - Google Patents
Control method of automatic driving system of tower crane Download PDFInfo
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- CN116135770A CN116135770A CN202111353355.5A CN202111353355A CN116135770A CN 116135770 A CN116135770 A CN 116135770A CN 202111353355 A CN202111353355 A CN 202111353355A CN 116135770 A CN116135770 A CN 116135770A
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- tower crane
- area
- lifting
- automatic driving
- lifting hook
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention provides a control method of an automatic driving system of a tower crane, which solves the problem of automatic driving of the tower crane in a complex environment of a construction site and can realize the high-efficiency automatic operation process of the tower crane. Which comprises the following steps: s1, establishing a topographic map of the area environment below the tower crane; s2, planning a space path from a lifting point to a landing point; s3, controlling the motion of the lifting hook in three degrees of freedom after the tower crane hangs an object; s4, when obstacle avoidance is encountered in the movement of the lifting hook, a path is re-planned, and the movement of three degrees of freedom of the lifting hook is controlled until a target point is reached.
Description
Technical Field
The invention relates to a control method of an automatic driving system of a tower crane, in particular to a control method of an automatic driving system of a tower crane, and belongs to the technical field of artificial intelligence and intelligent home.
Background
The tower crane is a most common material handling tool in the field of building construction, and has the main function of handling various materials and equipment on a construction site.
The existing tower crane mainly adopts a manual visual operation mode, a tower crane worker operates the tower crane lifting hook to reach a designated position through an interphone and observation, and because the tower crane belongs to high-risk operation, a tower crane driver needs to have higher operation proficiency and safety consciousness. Errors are unavoidable due to manual operation. Some errors can lead to serious safety problems. Meanwhile, before the lifting of the tower crane is started, the tower crane is firstly required to be communicated with a tower crane driver through ground personnel to confirm the lifting position, and then the tower crane driver controls the tower crane to reach the lifting position, so that the tower crane driver and the ground commander confirm that the tower crane reaches the lifting position to start lifting. This process has many safety hazards and efficiency is not guaranteed.
The surrounding ground of the building on the building site comprises people flow, logistics, vehicles, material yards, various structures and the like, and has narrow site and complex environment; the construction operation surface on the building has people flow, logistics, material stacking, continuous building of new building, continuous erection of hack lever and reinforcing steel bar, narrow construction surface field and complex environment. The traditional automatic driving method cannot solve the problem of automatic driving of a building site in a complex environment, cannot ensure the construction safety of the building site, and cannot accurately hoist a hoisted object in place.
Disclosure of Invention
The invention aims to provide a control method of an automatic driving system of a tower crane, which can realize the high-efficiency automatic operation process of the tower crane.
The invention aims to achieve the aim, and the aim is achieved by the following technical scheme:
the control method of the automatic driving system of the tower crane comprises the following steps:
s1, establishing a topographic map of the area environment below the tower crane;
s2, planning a space path from a lifting point to a landing point;
s3, controlling the motion of the lifting hook in three degrees of freedom after the tower crane hangs an object;
s4, when obstacle avoidance is encountered in the movement of the lifting hook, a path is re-planned, and the movement of three degrees of freedom of the lifting hook is controlled until a target point is reached.
The control method of the automatic driving system of the tower crane is preferably realized, and the specific process of the step S1 is as follows:
(1) The tower crane is provided with a laser radar, and a rotating cradle head is arranged on a laser radar bracket of the tower crane;
(2) Starting the laser radar, and returning the tower crane to the nearest position of the tower crane from the cab;
(3) The rotary cradle head rotates to a specified angle, the tower arm starts to rotate, and the laser radar starts to scan;
(4) After the laser radar scans for one circle, the rotary holder rotates to the next appointed position, and scanning is performed again;
(5) After the scanning is completed, the travelling crane is pushed outwards to reach the next position, and the process is repeated until the whole area is scanned;
(6) And the radar data mapping software realizes the construction of an environment map of the area below the tower crane.
The control method of the automatic driving system of the tower crane is preferably realized, and the specific process of the step S2 is as follows: (1) Generating a lifting hook motion candidate region omega according to the initial position and the target position;
(2) Obtaining a highest point C of the terrain in the lifting hook movement candidate area according to the three-dimensional terrain map;
(3) According to the minimum safety distance requirement h safe The highest running height of the hook movement is obtained: h is a max ＝z c +h safe ，z c Is the coordinate value of the highest point C, h safe The safety distance is taken as a value;
(4) And determining the starting point coordinates and the ending point coordinates of the path planning result.
The control method of the automatic driving system of the tower crane is preferably realized, and the specific process of the step S3 is as follows:
(1) The lifting hook enters a lifting area or a falling area
The ground constructor presses a lifting hook call button of the handheld positioning control terminal, and after a call command is obtained, the tower crane automatic driving system plans a lifting hook movement route according to position information provided by the handheld positioning control terminal, and controls three motors of the tower crane to move according to a route planning result, so that the lifting hook finally reaches the edge of a lifting area or a falling area; in the hoisting area, the hand-held positioning control terminal performs man-machine interaction with the tower crane, so that a lifting hook of the tower crane is accurate in position, and the lifting hook is connected with a suspended object; in the falling area, the hand-held positioning control terminal performs man-machine interaction with the tower crane, so that a crane object of the tower crane accurately reaches a lifting position;
(2) The hooks being moved out of the lifting or lowering area
When the ground operator confirms that the suspended object is in a normal lifting state, pressing an automatic driving button on the handheld positioning control terminal, and the tower crane is in an automatic driving state, the tower crane lifts the suspended object vertically upwards, so that the lowest point of the suspended object leaves a lifting area, and the suspended object runs according to a planned route until safely reaching a falling area; or ground operators control the crane to leave the lifting area or the falling area, and the automatic driving function of the crane is started after the crane monitors that the lifting hook leaves the lifting area, and the crane runs according to a planned route until the crane safely reaches the falling area;
(3) The lifting hook returns to the last leaving area
When the tower crane automatic driving system monitors that the new lifting area and the previous lifting area are the same, the tower crane automatic driving system returns in the original path according to the path information stored in the system.
According to the optimal scheme of the control method of the automatic driving system of the tower crane, a lifting area is a cylindrical space with the radius r and the height h, and the center coordinates of the cylindrical space are obtained by a handheld positioning control terminal in the hands of ground constructors.
The control method of the automatic driving system of the tower crane comprises the following preferable scheme: the falling area is a cylinder, the height of the cylinder is larger than the highest height of a possible obstacle in the falling area, the position of the falling area is obtained through a handheld positioning control terminal in a worker hand, and the tower crane is controlled to reach a designated position.
The invention has the advantages that:
in order to solve the complex environmental problem of the construction site, the method provides a lifting area, an operating area, a falling area and related concepts, combines the sensor data, and comprehensively judges the movement of the tower crane by comprehensively analyzing the sensor data. The lifting area and the falling area are combined with automatic driving through man-machine interaction, and the tower crane is controlled through the handheld positioning control terminal, so that the automatic driving problem of a complex environment of a building site is solved. And the automatic driving is realized in a relatively open environment in the running area. Through the lifting area, the operation area, the falling area and related concepts, the operation range and the operation logic of the automatic tower crane driving system are standardized, and the working efficiency and the safety of the automatic tower crane driving system are further improved.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The control method of the automatic driving system of the tower crane comprises the steps that hardware comprises a computer and an industrial personal computer, a laser radar and a rotary cradle head are arranged on a tower arm and a lifting hook of the tower crane, and wireless communication is carried out between the systems through WIFI. The lifting area and the falling area are respectively arranged on the ground and the construction area, a construction worker holds the positioning control terminal in a hand manner, the terminal can remotely operate the tower crane to act, meanwhile, the terminal communicates with the tower crane automatic driving system, and the coordinate position of the remote control terminal is reported.
The control method of the automatic driving system of the tower crane comprises the following steps:
s1, establishing a topographic map of the area environment below the tower crane;
s2, planning a space path from a lifting point to a landing point;
s3, controlling the motion of the lifting hook in three degrees of freedom after the tower crane hangs an object;
s4, when obstacle avoidance is encountered in the movement of the lifting hook, a path is re-planned, and the movement of three degrees of freedom of the lifting hook is controlled until a target point is reached.
In this embodiment, the specific process of step S1 is as follows:
(1) The tower crane is provided with a laser radar, and a rotating cradle head is arranged on a laser radar bracket of the tower crane;
(2) Starting the laser radar, and returning the tower crane to the nearest position of the tower crane from the cab;
(3) The rotary cradle head rotates to a specified angle, the tower arm starts to rotate, and the laser radar starts to scan;
(4) After the laser radar scans for one circle, the rotary holder rotates to the next appointed position, and scanning is performed again;
(5) After the scanning is completed, the travelling crane is pushed outwards to reach the next position, and the process is repeated until the whole area is scanned;
(6) And the radar data mapping software realizes the construction of an environment map of the area below the tower crane.
In this embodiment, the specific process of step S2 is as follows:
(1) Generating a lifting hook motion candidate region omega according to the initial position and the target position;
(2) Obtaining a highest point C of the terrain in the lifting hook movement candidate area according to the three-dimensional terrain map;
(3) According to the minimum safety distance requirement h safe The highest running height of the hook movement is obtained: h is a max ＝z c +h safe ，z c Is the coordinate value of the highest point C, h safe The value of the safety distance is m;
(4) And determining the starting point coordinates and the ending point coordinates of the path planning result.
In this embodiment, the specific process of step S3 is as follows:
(1) The lifting hook enters a lifting area or a falling area
The ground constructor presses a lifting hook call button of the handheld positioning control terminal, and after a call command is obtained, the tower crane automatic driving system plans a lifting hook movement route according to position information provided by the handheld positioning control terminal, and controls three motors of the tower crane to move according to a route planning result, so that the lifting hook finally reaches a lifting area or a falling area;
(2) The hooks being moved out of the lifting or lowering area
The method comprises the steps that a ground constructor uses a handheld positioning control terminal to operate a tower crane lifting hook to leave a lifting area or a falling area, the tower crane is in an automatic driving preparation state after monitoring that the lifting hook leaves the lifting area, the tower crane enters an automatic driving state after pressing a lifting key on a touch screen of the handheld positioning control terminal, the tower crane lifts a lifting object vertically upwards, the lowest point of the lifting object leaves the lifting area, and the crane runs according to a planned route until the lifting object safely reaches the falling area;
(3) The lifting hook returns to the last leaving area
When the tower crane automatic driving system monitors that the new lifting area and the previous lifting area are the same, the tower crane automatic driving system returns in the original path according to the path information stored in the system. If the returned lifting point is a new position, the linear distance between the point B and the point C can be obtained according to the three-dimensional space coordinates C (x, y and theta) of the new position. Meanwhile, the highest point position of the obstacle is obtained according to a point cloud map of the area between the points B and C, a radar sensor on a tower lifting hook starts to work, whether surrounding obstacles are in a limiting range or not is detected, if the surrounding obstacles are in the limiting range, a lifting hook is controlled by a tower crane to control a motor Y to axially lift the lifting hook, meanwhile, whether the surrounding obstacles are out of the limiting range or not is judged by the lifting hook, if the surrounding obstacles are out of the limiting range, the lifting of the Y axis is stopped, the X axis starts to move according to the position close to the point C, the process is repeated until the distance of the X axis reaches a required value, at the moment, the theta axis starts to rotate, whether the surrounding of the lifting hook is provided with the obstacle or not is judged while the lifting hook rotates, and if the surrounding obstacles are in the limiting range, the Y axis starts to lift until the obstacle is out of the limiting range. When both the θ axis and the x axis reach the predetermined positions. The tower crane controls the y axis to start descending. Detecting whether an obstacle exists below the lifting hook by a laser radar while descending, and stopping descending if the distance of the obstacle is smaller than a limited range; if the distance between the obstacles is larger than the limit range, the obstacle falls to the edge position of the falling area and starts to be changed into manual operation.
In this embodiment, the lifting area is an area where the tower crane lifts goods from the ground, and is a cylindrical space with radius r and height h, and the center coordinates of the cylindrical space are obtained by a handheld positioning control terminal in the hands of ground constructors.
In this embodiment, the landing zone corresponds to the lifting zone, when the lifting hook lifts the goods from the ground to reach the designated position (the reached position is determined by the handheld positioning control terminal through the positioning coordinate value), the tower crane lifting hook needs to descend to a certain height, in the descending process, the environment condition of the landing position is often complicated, the conventional sensor cannot obtain the reliable landing height, in order to solve the problem, the concept of a 'landing zone' is provided, the landing zone is a cylinder, the height of the cylinder is greater than the highest height of the obstacle possibly appearing in the landing zone, the position of the landing zone is obtained through the handheld positioning control terminal in the hands of a worker, and the tower crane is controlled to reach the designated position.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The control method of the automatic driving system of the tower crane is characterized by comprising the following steps of:
s1, establishing a topographic map of the area environment below the tower crane;
s2, planning a space path from a lifting point to a landing point;
s3, controlling the motion of the lifting hook in three degrees of freedom after the tower crane hangs an object;
s4, when obstacle avoidance is encountered in the movement of the lifting hook, a path is re-planned, and the movement of three degrees of freedom of the lifting hook is controlled until a target point is reached.
2. The control method of the automatic driving system of the tower crane according to claim 1, wherein: the specific process of step S1 is as follows:
(1) The tower crane is provided with a laser radar, and a rotating cradle head is arranged on a laser radar bracket of the tower crane;
(2) Starting the laser radar, and returning the tower crane to the nearest position of the tower crane from the cab;
(3) The rotary cradle head rotates to a specified angle, the tower arm starts to rotate, and the laser radar starts to scan;
(4) After the laser radar scans for one circle, the rotary holder rotates to the next appointed position, and scanning is performed again;
(5) After the scanning is completed, the travelling crane is pushed outwards to reach the next position, and the process is repeated until the whole area is scanned;
(6) And the radar data mapping software realizes the construction of an environment map of the area below the tower crane.
3. The control method of the automatic driving system of the tower crane according to claim 1, wherein: the specific process of step S2 is as follows: (1) Generating a lifting hook motion candidate region omega according to the initial position and the target position;
(2) Obtaining a highest point C of the terrain in the lifting hook movement candidate area according to the three-dimensional terrain map;
(3) According to the minimum safety distance requirement h safe The highest running height of the hook movement is obtained: h is a max ＝z c +h safe ，z c Is the coordinate value of the highest point C, h safe The safety distance is taken as a value;
(4) And determining the starting point coordinates and the ending point coordinates of the path planning result.
4. The control method of the automatic driving system of the tower crane according to claim 1, wherein: the specific process of step S3 is as follows:
(1) The lifting hook enters a lifting area or a falling area
The ground constructor presses a lifting hook call button of the handheld positioning control terminal, and after a call command is obtained, the tower crane automatic driving system plans a lifting hook movement route according to position information provided by the handheld positioning control terminal, and controls three motors of the tower crane to move according to a route planning result, so that the lifting hook finally reaches the edge of a lifting area or a falling area; in the hoisting area, the hand-held positioning control terminal performs man-machine interaction with the tower crane, so that a lifting hook of the tower crane is accurate in position, and the lifting hook is connected with a suspended object; in the falling area, the hand-held positioning control terminal performs man-machine interaction with the tower crane, so that a crane object of the tower crane accurately reaches a lifting position;
(2) The hooks being moved out of the lifting or lowering area
When the ground operator confirms that the suspended object is in a normal lifting state, pressing an automatic driving button on the handheld positioning control terminal, and the tower crane is in an automatic driving state, the tower crane lifts the suspended object vertically upwards, so that the lowest point of the suspended object leaves a lifting area, and the suspended object runs according to a planned route until safely reaching a falling area; or ground operators control the crane to leave the lifting area or the falling area, and the automatic driving function of the crane is started after the crane monitors that the lifting hook leaves the lifting area, and the crane runs according to a planned route until the crane safely reaches the falling area;
(3) The lifting hook returns to the last leaving area
When the tower crane automatic driving system monitors that the new lifting area and the previous lifting area are the same, the tower crane automatic driving system returns in the original path according to the path information stored in the system.
5. The control method of the automatic driving system of the tower crane according to claim 1, wherein: the lifting area is a cylindrical space with radius r and height h, and the center coordinates of the cylindrical space are obtained by a handheld positioning control terminal in the hand of a ground constructor.
6. The tower crane autopilot system of claim 1 wherein: the falling area is a cylinder, the height of the cylinder is larger than the highest height of a possible obstacle in the falling area, the position of the falling area is obtained through a handheld positioning control terminal in a worker hand, and the tower crane is controlled to reach a designated position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111353355.5A CN116135770A (en) | 2021-11-16 | 2021-11-16 | Control method of automatic driving system of tower crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111353355.5A CN116135770A (en) | 2021-11-16 | 2021-11-16 | Control method of automatic driving system of tower crane |
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| Publication Number | Publication Date |
|---|---|
| CN116135770A true CN116135770A (en) | 2023-05-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111353355.5A Pending CN116135770A (en) | 2021-11-16 | 2021-11-16 | Control method of automatic driving system of tower crane |
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| Country | Link |
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| CN (1) | CN116135770A (en) |
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2021
- 2021-11-16 CN CN202111353355.5A patent/CN116135770A/en active Pending
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