Improved tower crane hoisting path planning method and device based on A* algorithm
A path planning, tower crane technology, applied in transportation and packaging, cranes, geometric CAD, etc., can solve the problems of low lifting height, low algorithm efficiency, practicality and safety to be improved, etc., to improve safety and efficiency. , the effect of avoiding blind spots
Pending Publication Date: 2022-01-07
GUANGZHOU INSTITUTE OF BUILDING SCIENCE CO LTD +1
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Problems solved by technology
In addition, the A* algorithm is also an algorithm for path planning, but the conventional A* algorithm is used for path planning in tower crane work scenarios, which has problems such as low algorithm efficiency and low lifting height, and the practicability and safety need to be improved.
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[0056] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the present invention. Apparently, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0057] In the working scene of the tower crane, due to the complex situation in the area close to the ground or obstacles, there are often people and machinery working, or there are irregular obstacles, etc. Therefore, for the sake of safety, the tower crane driver will generally lift the crane when driving. Lift the object to a certain height, make it a certain distance from the ground and obstacles, and then start the operation of luffing and turning, so as to avoid the large h...
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The invention relates to the technical field of tower crane automatic control, and particularly discloses a tower crane hoisting path planning method and device based on A * algorithm improvement. The method comprises the following steps: building a three-dimensional grid model of a construction site under cylindrical coordinates, and generating a grid node set; generating an obstacle point set according to obstacles in the construction site and the grid node set; coordinates of a hoisting starting point and coordinates of a hoisting ending point under the cylindrical coordinates are obtained; and planning a hoisting path from the hoisting starting point to the hoisting ending point according to the hoisting starting point, the hoisting ending point, the grid node set, the obstacle point set and a preset hoisting path planning strategy. According to the method, the set data structure is optimized, the calculation time is greatly shortened, the path planning efficiency is improved, the problem of visual blind areas existing in manual driving is avoided by generating the obstacle point set, and a specific heuristic function is adopted, so that the planned lifting path better conforms to the working scene and the lifting logic of the tower crane, and the working efficiency of the tower crane is improved. And the hoisting safety and efficiency are improved.
Description
technical field [0001] The invention relates to the technical field of tower crane automatic control, in particular to a tower crane hoisting path planning method and device based on an improved A* algorithm. Background technique [0002] Tower cranes are key mechanical equipment in construction work. Tower cranes can be seen everywhere in building construction sites, which can effectively save manpower, reduce construction costs and improve construction progress. However, due to the high position of the tower crane cab, the tower crane operator's field of vision is greatly limited, and there are buildings and obstacles in the site, so blind cranes and mountain cranes often occur. The driver can only combine the instructions of the ground personnel , work based on experience, blindness, high difficulty of operation, and certain potential safety hazards. At the same time, tower crane drivers repeat labor for a long time in a small high-altitude cab, prone to fatigue, which af...
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Login to View More IPC IPC(8): G06F30/17G06F30/20B66C13/48B66C23/62
CPCG06F30/17G06F30/20B66C13/48B66C23/62
Inventor 黎杰明陈航胡贺松唐孟雄邵泉陈喜生杨才广
Owner GUANGZHOU INSTITUTE OF BUILDING SCIENCE CO LTD