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Novel hoisting action planning method for crane

A technology of cranes and crawler cranes, applied in special data processing applications, instruments, electrical digital data processing, etc., can solve problems such as poor path quality, high path cost, and long planning time

Active Publication Date: 2015-04-01
DALIAN UNIV OF TECH
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Problems solved by technology

[0004] The invention provides a crane hoisting action planning method, aiming at the large path cost, long planning time and poor path quality caused by the serious detour and poor smoothness of the obtained path in the crane hoisting action planning of the existing high-dimensional action planning method The problem

Method used

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  • Novel hoisting action planning method for crane
  • Novel hoisting action planning method for crane
  • Novel hoisting action planning method for crane

Examples

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Embodiment Construction

[0033] The RRT-Connect planning method is one of the RRT variant methods widely used at present. In this example, the planning data obtained by the proposed method is compared with the data obtained by the RRT-Connect method in the same hoisting operation to illustrate the planning obtained by this method. The improvement of the path cost (path length), planning time, path detour, and collision detection times of the action sequence.

[0034] In this embodiment, the crane needs to lift the object to be hoisted outside the steel frame, enter between the steel frames from the entrance of the two rows of steel frames, and place the object to be hoisted on the target steel frame through actions such as turning and walking. The rows of steel frames are relatively close to each other, and the obstacle density is relatively high. In this process, collisions must be especially avoided. The planning results obtained by applying the RRT-Connect method and the proposed method are shown in...

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Abstract

The invention belongs to the fields of construction machinery, computation and control automation, and relates to a method for planning the hoisting action sequence of a crawling crane according to a rapidly-exploring random tree, a heuristic strategy, and a CAD technology, namely, computer-assisted hoisting scheme design technology on the basis of modern brand new hoisting scheme design theory method. With the adoption of the method, the problems of terrible roundabout path, large route cost, long planning time and poor route quality of the existing hoisting action planning method can be solved; a specific action sequence for automatically switching from the starting pose position and orientation into the placing pose position and orientation on the premise that the crane is automatically avoided collision from a hoisted matter; therefore, the hoisting can be safely and efficiently done through the crane based on the action sequences; the simulating and rehearsing result of the hoisting shows that the method is effective and efficient.

Description

technical field [0001] The present invention belongs to the field of engineering machinery, calculation and control automation, and relates to the use of rapidly expanding random tree (RRT, Rapidly-exploring Random Tree) and heuristic strategy (heuristic strategy) and CAD technology based on a new theoretical method of modern hoisting scheme design— —Computer Aided Lift Plan Design (CALPAD) technology, a method for planning the hoisting action sequence of crawler cranes; in an environment where obstacles are randomly distributed, the automatic avoidance of the crane and the hoisted object is given. Under the premise of collision, considering the hoisting site environment, personnel safety, hoisting time efficiency, and the trajectory cost of the hoisted objects, the specific action sequences required for automatic conversion from the initial pose to the in-position pose, the crane is based on these action sequences The hoisting operation can be completed smoothly, safely and e...

Claims

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Application Information

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IPC IPC(8): G06F17/50
Inventor 吴迪王晓丽王欣
Owner DALIAN UNIV OF TECH
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