Crane trajectory discretization method, apparatus, computing device, and storage medium
By using a tower crane trajectory discretization method, the planned speed is adapted to the gear speed, which solves the problem of limited control accuracy of unmanned tower cranes and achieves higher control accuracy and safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- KYLAND TECH CO LTD
- Filing Date
- 2023-09-05
- Publication Date
- 2026-06-30
Smart Images
Figure CN117185137B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of intelligent construction technology, and in particular to a method, apparatus, computing device, and storage medium for discretizing tower crane trajectories. Background Technology
[0002] Tower cranes are widely used in building and infrastructure construction. Traditional tower crane control requires a driver and a ground supervisor, resulting in high labor intensity and safety risks. In recent years, the construction industry has been exploring ways to achieve unmanned tower cranes, but most methods simply eliminate the need for a high-altitude operator, replacing it with cloud-based control from the ground. For example, fuzzy control, sliding mode control, genetic algorithms, and neural networks are used to build models in laboratory environments for simulation, aiming for precise control of unmanned tower cranes. However, these methods only output continuous control quantities. In practical applications, many unmanned tower cranes rely on traditional gear-based control, meaning they can only send gear-level I / O (input / output). Therefore, the existing control outputs and methods are incompatible, limiting the control accuracy of unmanned tower cranes and preventing precise control. Summary of the Invention
[0003] In view of the above-mentioned problems of the prior art, the embodiments of this application provide a tower crane trajectory discretization method, device, computing device and storage medium, and provide a tower crane trajectory discretization method adapted to gear control, so that the tower crane trajectory can not only meet the kinematic characteristics, but also discretize the speed output into gear speed. The control accuracy of the tower crane is improved through trajectory discretization processing, and safety risks are effectively reduced.
[0004] To achieve the above objectives, the first aspect of this application provides a method for discretizing tower crane trajectories, comprising:
[0005] Determine the speed separation between adjacent operating gears based on the speed of each operating gear of the tower crane.
[0006] Obtain the planning velocity of each trajectory point on the original planned trajectory;
[0007] Based on the gear separation speed, the gear speed that matches the planned speed is obtained;
[0008] For each trajectory point on the original planned trajectory, the planned speed is replaced with the adapted gear speed to obtain the discretized planned trajectory.
[0009] As one possible implementation of the first aspect, the method further includes:
[0010] Measure the speed of the highest gear in the specified operating gear range;
[0011] The speed of each operating gear is calculated based on the highest gear speed and the Hertz value of the inverter corresponding to each operating gear.
[0012] As one possible implementation of the first aspect, determining the gear separation speed between adjacent operating gears based on the gear speeds of each operating gear of the tower crane includes:
[0013] The average speed of two adjacent operating gears is used as the gear separation speed between adjacent operating gears.
[0014] As one possible implementation of the first aspect, obtaining the gear speed adapted to the planned speed based on the gear separation speed includes:
[0015] For each operating gear, the interval between the speeds of two gears adjacent to the speed of the gear is determined as the speed interval corresponding to the operating gear;
[0016] For each trajectory point on the original planned trajectory, if the planned speed value of the trajectory point is within the speed range, then the gear speed of the operating gear corresponding to the speed range is taken as the gear speed that matches the planned speed.
[0017] As one possible implementation of the first aspect, the method further includes:
[0018] Based on different velocity directions, the original planned trajectory is divided into multiple segmented trajectories;
[0019] For each trajectory point on the segmented trajectory, the absolute value of the planned velocity of the trajectory point is extracted, and the velocity direction information of the trajectory point is saved;
[0020] Based on the gear separation speed, obtain the gear speed that matches the absolute value of the planned speed;
[0021] For each trajectory point on the segmented trajectory, the absolute value of the planned speed is replaced with the adapted gear speed to obtain the discretized segmented trajectory.
[0022] The velocity direction information is added to each segmented trajectory; the segmented trajectories are then combined to obtain the discretized planned trajectory.
[0023] As one possible implementation of the first aspect, the method further includes:
[0024] Based on the planned speed corresponding to each trajectory point on the original planned trajectory, the first distance is obtained by integral calculation;
[0025] Based on the gear speed adapted to each trajectory point on the discretized planned trajectory, the second distance is obtained by integral calculation.
[0026] If the difference between the first route and the second route is less than a preset threshold, the endpoint of the second route is corrected based on the endpoint of the first route.
[0027] As one possible implementation of the first aspect, the method further includes:
[0028] When the distance difference is greater than or equal to a preset threshold and the distance difference diverges, the appropriate gear speed for the specified trajectory point is downshifted in a predetermined order.
[0029] As one possible implementation of the first aspect, the method further includes:
[0030] If the distance difference is greater than or equal to a preset threshold and the distance difference does not diverge, the gear separation speed is adjusted according to the distance difference.
[0031] A second aspect of this application provides a tower crane trajectory discretization device, comprising:
[0032] The first processing unit is used to: determine the gear separation speed between adjacent operating gears based on the gear speed of each operating gear of the tower crane.
[0033] The acquisition unit is used to: acquire the planning speed of each trajectory point on the original planning trajectory;
[0034] The second processing unit is used to: obtain a gear speed that matches the planned speed based on the gear separation speed;
[0035] The discrete processing unit is used to: replace the planned speed with the adapted gear speed for each trajectory point on the original planned trajectory to obtain the discretized planned trajectory.
[0036] As one possible implementation of the second aspect, the apparatus further includes a third processing unit, the third processing unit being used for:
[0037] Measure the speed of the highest gear in the specified operating gear range;
[0038] The speed of each operating gear is calculated based on the highest gear speed and the Hertz value of the inverter corresponding to each operating gear.
[0039] As one possible implementation of the second aspect, the first processing unit is used to:
[0040] The average speed of two adjacent operating gears is used as the gear separation speed between adjacent operating gears.
[0041] As one possible implementation of the second aspect, the second processing unit is used for:
[0042] For each operating gear, the interval between the speeds of two gears adjacent to the speed of the gear is determined as the speed interval corresponding to the operating gear;
[0043] For each trajectory point on the original planned trajectory, if the planned speed value of the trajectory point is within the speed range, then the gear speed of the operating gear corresponding to the speed range is taken as the gear speed that matches the planned speed.
[0044] As a possible implementation of the second aspect, the second processing unit is further configured to: divide the original planned trajectory into multiple segmented trajectories based on different speed directions; extract the absolute value of the planned speed of each trajectory point on the segmented trajectory and save the speed direction information of the trajectory point; and obtain a gear speed that matches the absolute value of the planned speed according to the gear separation speed.
[0045] The discrete processing unit is further configured to: replace the absolute value of the planned speed with the appropriate gear speed for each trajectory point on the segmented trajectory to obtain the discretized segmented trajectory; add the speed direction information to each segmented trajectory; and synthesize the segmented trajectories to obtain the discretized planned trajectory.
[0046] As one possible implementation of the second aspect, the discrete processing unit is further configured to:
[0047] Based on the planned speed corresponding to each trajectory point on the original planned trajectory, the first distance is obtained by integral calculation;
[0048] Based on the gear speed adapted to each trajectory point on the discretized planned trajectory, the second distance is obtained by integral calculation.
[0049] If the difference between the first route and the second route is less than a preset threshold, the endpoint of the second route is corrected based on the endpoint of the first route.
[0050] As one possible implementation of the second aspect, the discrete processing unit is further configured to:
[0051] When the distance difference is greater than or equal to a preset threshold and the distance difference diverges, the appropriate gear speed for the specified trajectory point is downshifted in a predetermined order.
[0052] As one possible implementation of the second aspect, the discrete processing unit is further configured to:
[0053] If the distance difference is greater than or equal to a preset threshold and the distance difference does not diverge, the gear separation speed is adjusted according to the distance difference.
[0054] A third aspect of this application provides a computing device, comprising:
[0055] Communication interface;
[0056] At least one processor connected to the communication interface; and
[0057] At least one memory connected to the processor and storing program instructions that, when executed by the at least one processor, cause the at least one processor to perform the method described in any of the first aspects above.
[0058] A fourth aspect of this application provides a computer-readable storage medium having program instructions stored thereon, which, when executed by a computer, cause the computer to perform the method described in any of the first aspects above.
[0059] These and other aspects of the invention will become more apparent from the following description of several embodiments. Attached Figure Description
[0060] The various features of the present invention and the relationships between them are further explained below with reference to the accompanying drawings. The drawings are exemplary; some features are not shown to scale, and some drawings may omit conventional features in the field of this application that are not essential to this application, or additional features that are not essential to this application may be shown. The combination of features shown in the drawings is not intended to limit the present application. Furthermore, throughout this specification, the same reference numerals refer to the same things. Specific descriptions of the drawings are as follows:
[0061] Figure 1A This is a structural diagram illustrating the application scenarios of various embodiments of this application;
[0062] Figure 1B This is a schematic diagram of the tower crane used in various embodiments of this application;
[0063] Figure 2 This is a schematic diagram of an embodiment of the tower crane trajectory discretization method provided in this application.
[0064] Figure 3 An example diagram showing the data calculation results of the gear speed and gear separation speed in one embodiment of the tower crane trajectory discretization method provided in this application;
[0065] Figure 4 A schematic diagram of the discrete algorithm flow of an embodiment of the tower crane trajectory discretization method provided in this application;
[0066] Figure 5 A schematic diagram of an embodiment of the tower crane trajectory discretization device provided in this application;
[0067] Figure 6 A schematic diagram of an embodiment of the tower crane trajectory discretization device provided in this application;
[0068] Figure 7 A schematic diagram of a computing device provided in an embodiment of this application. Detailed Implementation
[0069] The terms "first, second, third, etc." or similar terms such as module A, module B, module C, etc., used in the specification and claims are only used to distinguish similar objects and do not represent a specific ordering of objects. It is understood that a specific order or sequence may be interchanged where permitted so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.
[0070] In the following description, the labels of the steps, such as S110, S120, etc., do not necessarily mean that the steps will be executed in this way. The order of the steps can be interchanged or executed simultaneously if permitted.
[0071] The term "comprising" as used in the specification and claims should not be construed as limiting itself to what follows; it does not exclude other elements or steps. Therefore, it should be interpreted as specifying the presence of the mentioned feature, integral, step, or component, but does not exclude the presence or addition of one or more other features, integrals, steps, or components, or groups thereof. Thus, the statement "device comprising means A and B" should not be limited to a device consisting solely of components A and B.
[0072] The term "an embodiment" or "an embodiment" as used in this specification means that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in at least one embodiment of the invention. Therefore, the terms "in one embodiment" or "in an embodiment" appearing throughout this specification do not necessarily refer to the same embodiment, but may refer to the same embodiment. Furthermore, in one or more embodiments, the particular features, structures, or characteristics can be combined in any suitable manner, as will be apparent to those skilled in the art from this disclosure.
[0073] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. In case of any inconsistency, the meaning set forth in this specification or derived from the content described herein shall prevail. Furthermore, the terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application. To accurately describe the technical content of this application and to accurately understand the invention, the following explanations or definitions of the terms used in this specification are provided before describing specific embodiments:
[0074] 1) Variable-frequency drive (VFD): A VFD is a power control device that uses frequency conversion technology and microelectronics to control an AC motor by changing the frequency of the power supply. A VFD mainly consists of a rectification unit (AC to DC), a filter, an inverter (DC to AC), a braking unit, a drive unit, a detection unit, and a microprocessor unit. The VFD adjusts the voltage and frequency of the output power supply by switching its internal IGBTs (Insulated Gate Bipolar Transistors), providing the required power voltage according to the actual needs of the motor, thereby achieving energy saving and speed regulation. In addition, VFDs have many protection functions, such as overcurrent, overvoltage, and overload protection.
[0075] 2) TCP (Transmission Control Protocol): A connection-oriented, reliable, byte-stream-based transport layer communication protocol. TCP is designed to adapt to layered protocol hierarchies that support multiple network applications. Pairs of processes in host computers connected to different but interconnected computer communication networks rely on TCP for reliable communication services. TCP assumes that it can obtain simple, potentially unreliable datagram services from lower-level protocols. In principle, TCP should be able to operate over a variety of communication systems, from hardwired connections to packet-switched or circuit-switched networks.
[0076] The existing methods will be introduced first, and then the technical solution of this application will be described in detail.
[0077] Tower cranes are widely used in building and infrastructure construction. Traditional tower crane control requires a driver and a ground supervisor, resulting in high labor intensity and safety risks. In recent years, the construction industry has been exploring ways to achieve unmanned tower cranes, but most methods simply eliminate the need for a high-altitude operator, replacing it with cloud-based control from the ground. For example, fuzzy control, sliding mode control, genetic algorithms, and neural networks are used to build models in laboratory environments for simulation, aiming for precise control of unmanned tower cranes. However, these methods only output continuous control quantities. In practical applications, many unmanned tower cranes rely on traditional gear-based control, meaning they can only send gear-level I / O (input / output). Therefore, the existing control outputs and methods are incompatible, limiting the control accuracy of unmanned tower cranes and preventing precise control.
[0078] The existing technology has the following drawbacks: the existing control output and control method are not compatible, and the control accuracy of the tower crane is limited.
[0079] Based on the technical problems existing in the prior art, the embodiments of this application provide a tower crane trajectory discretization method, device, computing device and storage medium, and provide a tower crane trajectory discretization method adapted to gear control, so that the tower crane trajectory can not only meet the kinematic characteristics, but also discretize the speed output into gear speed. The control accuracy of the tower crane is improved by trajectory discretization processing, and safety risks are effectively reduced, thereby solving the technical problems mentioned in the prior art of mismatch between control output and control method and limited control accuracy of tower crane.
[0080] This application provides various embodiments of methods, devices, computing devices, and storage media for discretizing tower crane trajectories. The following describes... Figure 1A and Figure 1B The application scenarios of each embodiment of this application are introduced.
[0081] Figure 1A The control system of the tower crane of this application is shown, which includes video equipment, controller, frequency converter, motor and encoder.
[0082] The video equipment is used to acquire reference points in advance during the operation of the tower crane hook. These reference points include the hook's starting position, target position, and the passable position ahead of any obstacles to be avoided. The coordinates of the reference points acquired by the video equipment are in the user's coordinate system. The video equipment communicates with the controller via the Modbus TCP protocol.
[0083] The electric motor drives the movement of the tower crane hook. The tower crane consists of several axes, representing several adjustment directions. Each axis is driven by a motor.
[0084] The frequency converter receives the planned speed output from the controller and uses it to control the motor speed. One frequency converter is used for control of one axis direction.
[0085] The encoder is used to collect the actual position of the tower crane hook during its movement, helping the hook to avoid obstacles and reach the target position along a planned trajectory. The encoder and controller communicate via the Modbus 485 protocol.
[0086] The controller is used to generate the planned trajectory of the tower crane hook based on the reference point, determine the planned speed of each trajectory point, and drive the tower crane's frequency converter to control the hook to avoid obstacles and accurately reach the target position according to the planned trajectory.
[0087] In this application, each method embodiment runs in a controller, and each device embodiment is deployed in a controller.
[0088] Figure 1B The illustration shows a tower crane used in various embodiments of this application, which includes three axes: Lift, Turn, and Swing. Lift is also called hoisting, Turn is also called slewing, and Swing is also called luffing.
[0089] in, Figure 1A The mid-video device obtains the coordinates of the tower crane hook in the user coordinate system, which can be converted into... using a transformation matrix. Figure 1B Coordinates in the Cartesian coordinate system.
[0090] Figure 1B The structure is an example of a tower crane. In real-world scenarios, tower cranes may include other numbers of shafts, such as shafts that move laterally and / or longitudinally along guide rails.
[0091] Taking the lifting, rotating, and boom extension axes as an example, during the operation of the tower crane hook, each of the three axes is driven by an AC motor via a frequency converter, and the current position of each axis is collected by an absolute encoder. The vision device transmits the position of the main path point to the controller via Modbus TCP based on the detected obstacle positions. The controller sends motion commands to the three frequency converters via the Modbus 485 bus, while simultaneously collecting the position information from the three encoders.
[0092] Figure 2 This is a schematic diagram of an embodiment of the tower crane trajectory discretization method provided in this application. Figure 2 As shown, the method may specifically include:
[0093] Step S110: Determine the gear separation speed between adjacent operating gears based on the gear speed of each operating gear of the tower crane.
[0094] Step S120: Obtain the planning speed of each trajectory point on the original planning trajectory;
[0095] Step S130: Based on the gear separation speed, obtain the gear speed that matches the planned speed;
[0096] Step S140: For each trajectory point on the original planned trajectory, replace the planned speed with the adapted gear speed to obtain the discretized planned trajectory.
[0097] In practical applications, many unmanned tower cranes control their movement based on operating gears. Taking the hoisting, slewing, and luffing axes as examples, each axis has an operating gear or control gear to control the speed of its corresponding mechanism during crane movement. For example, the lever-type operating gear in the crane operator's cab can be used to control the crane's movement. Each gear can have 3 to 5 positions. For instance, when the hoisting axis's operating gear is set to X, the hoisting mechanism rises or falls at the speed corresponding to X; when the slewing axis's control gear is set to Y, the slewing mechanism rotates at the speed corresponding to Y.
[0098] To address the above-mentioned control method based on operating gears, a gear discretization method for the kinematic trajectory is needed. This method ensures that the trajectory satisfies kinematic characteristics while also discretizing the speed output into gear-specific speeds. In the gear-based control method, the gear speed corresponds to discrete values for each operating gear. The controller generates the original planned trajectory of the tower crane hook and determines the planned speed for each trajectory point. However, the planned speeds for each trajectory point do not match the gear speeds for each operating gear. Therefore, it is necessary to assign the planned speeds of each current trajectory point to the gear speeds one by one.
[0099] This application provides a trajectory discretization method for an unmanned tower crane adapted to gear control. For each trajectory point on the original planned trajectory, a suitable gear speed is found to replace the original planned speed, and the original planned trajectory is discretized. After discretization, the control output is adapted to the control method, thereby improving the control accuracy of the unmanned tower crane.
[0100] In step S110, the gear separation speed between two adjacent operating gears is determined based on the gear speed of each operating gear of the tower crane. If the planned speed of a certain trajectory point is less than or equal to the gear separation speed, the relatively lower gear speed is assigned to the trajectory point to obtain the discretized planned trajectory; if the planned speed of a certain trajectory point is greater than the gear separation speed, the relatively higher gear speed is assigned to the trajectory point to obtain the discretized planned trajectory.
[0101] In one example, the tower crane's lifting shaft has three operating speeds: speed 1 is 0.5 m / s, speed 2 is 1 m / s, and speed 3 is 1.5 m / s. A speed value within the range of 0.5 m / s to 1 m / s can be chosen as the speed separating speeds between speeds 1 and 2. For example, 0.75 m / s can be chosen as the speed separating speed between speeds 1 and 2. If the planned speed of a trajectory point is less than or equal to 0.75 m / s, then the speed of speed 1 (0.5 m / s) is assigned to that trajectory point, resulting in a discretized planned trajectory. In other words, the speed that matches the planned speed of that trajectory point is the speed of speed 1 (0.5 m / s). If the planned speed of a trajectory point is greater than 0.75 m / s, then the speed of speed 2 (1 m / s) is assigned to that trajectory point, resulting in a discretized planned trajectory. In other words, the speed that matches the planned speed of this trajectory point is the second gear speed of 1 m / s.
[0102] Similarly, a speed value within the range of 1 m / s to 1.5 m / s can be selected as the gear-separating speed between gear 2 and gear 3. For example, 1.25 m / s can be chosen as the gear-separating speed between gear 2 and gear 3. If the planned speed of a trajectory point is less than or equal to 1.25 m / s, then the gear-separating speed of 1 m / s (gear 2) is assigned to that trajectory point, resulting in the discretized planned trajectory; if the planned speed of a trajectory point is greater than 1.25 m / s, then the gear-separating speed of 1.5 m / s (gear 3) is assigned to that trajectory point as the discretized planned trajectory.
[0103] In step S120, the planned speed of each trajectory point on the original planned trajectory of the tower crane hook generated by the controller is obtained. In step S130, based on the gear separation speed determined in step S110, the gear speed adapted to the planned speed of each trajectory point is obtained. If the planned speed of a trajectory point is between two adjacent gear speeds, the planned speed is compared with the gear separation speed between the two adjacent gear speeds. If the planned speed is less than or equal to the gear separation speed, the gear speed adapted to the planned speed of the trajectory point is a relatively lower gear speed; if the planned speed is greater than the gear separation speed, the gear speed adapted to the planned speed of the trajectory point is a relatively higher gear speed. For example, if the planned speed of a trajectory point is 0.8 m / s, and its speed value is between gear 1 and gear 2 and greater than the gear separation speed between gear 1 and gear 2 (0.75 m / s), then the gear speed adapted to the planned speed of the trajectory point is gear 2 speed (1 m / s).
[0104] In step S140, for each trajectory point on the original planned trajectory, the planned speed in the original planned trajectory is replaced with the adapted gear speed obtained in step S130 to obtain the discretized planned trajectory.
[0105] The above example illustrates the trajectory discretization process for a tower crane's lifting axis. The same method can be used for trajectory discretization of each axis of the tower crane to ensure the control output matches the control method, thereby improving the control accuracy of the unmanned tower crane.
[0106] In summary, the embodiments of this application provide a tower crane trajectory discretization method adapted to gear control, which enables the tower crane trajectory to not only satisfy kinematic characteristics but also discretize the speed output into gear speed. The trajectory discretization process improves the control accuracy of the tower crane and effectively reduces safety risks.
[0107] In one embodiment, the method further includes:
[0108] Measure the speed of the highest gear in the specified operating gear range;
[0109] The speed of each operating gear is calculated based on the highest gear speed and the Hertz value of the inverter corresponding to each operating gear.
[0110] Discretizing the original planned trajectory requires setting the speed of each axis at each operating gear. In one example, setting the speed of each axis requires first measuring the actual speed of each axis at its highest manual gear. The measured actual speed of the highest gear is the speed of the highest gear. Then, based on the actual speed of the highest gear and the actual Hertz values corresponding to the other gears, the speeds of the other gears are determined. Here, the Hertz value represents the speed of the frequency converter. The Hertz value is marked on each gear in the frequency converter's instruction manual. The Hertz value of each gear can be obtained from the frequency converter's instruction manual. Then, the actual speed corresponding to the Hertz value of the highest gear is measured. Finally, the actual speed corresponding to the Hertz value of each other gear is calculated using a proportional formula, thus obtaining the speeds of the other gears. The method for obtaining the speed of each gear may include the following steps:
[0111] 1) The tower crane lifting axis (Lift) has five speed settings. Set the speed to the highest setting (5) to control the tower crane's operation. Take actual measurements when the maximum speed is reached during operation. Collect data to a file during the measurement process, and select data from the stable high-speed interval during the tower crane's operation for calculation. Typically, if the tower crane operates at its highest speed and maintains a relatively constant speed for more than 3 seconds, with minimal speed changes or only slight vibrations during this period, it can be considered to be in a stable operating range. Take the average of the actual speeds within this stable range and use this average as the maximum speed of the Lift (MaxVel_Lift, m / s). For example, if 100 sampling points are obtained within 3 seconds, take the average of these 100 sampling points as the maximum speed. This maximum speed can be used as the speed for the highest speed setting. For the Turn and Swing axes, find the maximum speeds MaxVel_Turn (radians / second) and MaxVel_Swing in the same way when moving at the highest speed setting.
[0112] 2) Based on the actual speed of the highest gear of each axis and the corresponding Hertz value of the frequency converter, calculate the speed of each gear for each axis. The conversion formula is as follows:
[0113]
[0114] Among them, Max Hz This indicates the highest Hertz value; Max vel Indicates the highest gear speed; G1 Hz Indicates the Hertz value for level 1; G1 Vel This represents the speed in gear 1. Using the above formula, the speeds of other gears can be calculated from the measured speed of the highest gear, based on the linear proportional relationship between the Hertz value and the measured speed.
[0115] In one embodiment, determining the gear separation speed between adjacent operating gears based on the gear speeds of each operating gear of the tower crane includes:
[0116] The average speed of two adjacent operating gears is used as the gear separation speed between adjacent operating gears.
[0117] Based on the calculated speed of each gear position for each axis, the gear separation speed for each axis can be calculated. For example, if the Lift axis has 5 gears, then there are 5 gear separation speeds, denoted by Th1 to Th5. Th1 is the speed separation value between 0 speed and 1st gear. That is, if the planned speed of a trajectory point on the original planned trajectory exceeds Th1 but is less than Th2, the planned speed is replaced by the 1st gear speed G1vel, and the trajectory is discretized.
[0118] Each axis has a corresponding speed and a corresponding Hertz value for the inverter. Similar to setting speed intervals between speeds, Hertz values between speeds can also be set. The Hertz interval between speed 0 and speed 1 is represented by Th1Hz. The value of Th1Hz can be preset within a reasonable range, such as 0.20Hz to 0.30Hz. In one example, Th1Hz is set to 0.25Hz by default. Th2Hz is taken as (G1Hz + G2Hz) / 2, which is the average of the Hertz values of the two speeds. The Hertz intervals and speed intervals between other speeds can also be calculated by averaging. See also... Figure 3 The data calculation results show the gear speed and gear separation speed of each gear of the three axes: luffing, lifting, and slewing.
[0119] In one embodiment, obtaining the gear speed adapted to the planned speed based on the gear separation speed includes:
[0120] For each operating gear, the interval between the speeds of two gears adjacent to the speed of the gear is determined as the speed interval corresponding to the operating gear;
[0121] For each trajectory point on the original planned trajectory, if the planned speed value of the trajectory point is within the speed range, then the gear speed of the operating gear corresponding to the speed range is taken as the gear speed that matches the planned speed.
[0122] The gear-separation speed serves as a dividing value for assigning different speeds to different gears, allowing for the definition of the speed range corresponding to each operating gear. For example, a tower crane lifting shaft has three operating gears. Gear 1 has a speed of 0.5 m / s, gear 2 has a speed of 1 m / s, and gear 3 has a speed of 1.5 m / s. The gear-separation speed between gears 1 and 2 is 0.75 m / s, and the gear-separation speed between gears 2 and 3 is 1.25 m / s. Therefore, for gear 2, the interval between its two adjacent gear-separation speeds is 0.75 m / s to 1.25 m / s, which constitutes the speed range corresponding to gear 2. In one example, if the planned speed of a trajectory point in the original planned trajectory is 1.2 m / s, which falls within the speed range corresponding to gear 2, then the gear-separation speed of 1 m / s for gear 2 is used as the appropriate gear-separation speed to match the planned speed of 1.2 m / s. Assigning 1 m / s to the trajectory point means replacing the original planned speed of 1.2 m / s with the appropriate gear speed of 1 m / s, thus obtaining the discretized planned trajectory.
[0123] In one embodiment, the method further includes:
[0124] Based on different velocity directions, the original planned trajectory is divided into multiple segmented trajectories;
[0125] For each trajectory point on the segmented trajectory, the absolute value of the planned velocity of the trajectory point is extracted, and the velocity direction information of the trajectory point is saved;
[0126] Based on the gear separation speed, obtain the gear speed that matches the absolute value of the planned speed;
[0127] For each trajectory point on the segmented trajectory, the absolute value of the planned speed is replaced with the adapted gear speed to obtain the discretized segmented trajectory.
[0128] The velocity direction information is added to each segmented trajectory; the segmented trajectories are then combined to obtain the discretized planned trajectory.
[0129] In another example, the direction of the crane hook's velocity may change during crane operation. In kinematics, the direction of velocity is represented by a symbol. For example, if we assume upward is the positive direction, then the velocity is 4 m / s. 2 This indicates that the object is moving upwards with a speed of 4 m / s. 2 The speed is -5m / s 2 This indicates that the object is moving downwards with a speed of 5 m / s. 2 In other words, the absolute value represents the magnitude of velocity, and the sign represents the direction of velocity. It's clear that the sign here has a different meaning than the positive and negative signs in mathematics. In mathematics, positive numbers are greater than negative numbers, and the sign reflects the numerical relationship. However, in kinematics, the sign of velocity is unrelated to its magnitude; only the absolute value represents the magnitude. Therefore, in trajectory discretization, only the absolute value of velocity can be processed. For reciprocating motion, the motion can be segmented according to different directions. For each segment, the absolute value of velocity is extracted and discretized; simultaneously, the sign information of the velocity is saved. After converting the velocity value of each segment into the corresponding gear speed, the sign information of the velocity is added to each segment trajectory. Finally, all the segment trajectories are integrated into a single overall trajectory.
[0130] For example, a certain direction can be set as the positive direction of motion. The sign of the continuous velocity in the planned trajectory is represented by a trajectory velocity symbol. Assuming the upward direction is set as positive on the ascending / descending axis, if the velocity direction is upward, the trajectory velocity symbol is positive; if the velocity direction is downward, the trajectory velocity symbol is negative. During trajectory discretization, the trajectory velocity symbol can be extracted first. For example, if there are 1000 trajectory points in the planned trajectory, the trajectory velocity symbols can be stored in an array with 1000 elements. Then, the planned velocity of each trajectory point in each segment is discretized as a positive value. If the planned trajectory is entirely negative, the negative values are directly converted to positive values and discretized using positive values. If the planned trajectory is entirely positive, it is also discretized using positive values. If the planned trajectory has both positive and negative directions, it is processed segment by segment according to different directions. Each segment of the trajectory in both the negative and positive directions undergoes a separate discretization process. For example, in a continuous planned trajectory, the first segment is positive, the middle segment is negative, and the last segment becomes positive again. At this point, the discretization process needs to be executed separately for the three trajectory segments mentioned above, and the process is executed three times in total. The trajectory velocity symbols of the trajectory points of the three trajectory segments are stored in three arrays respectively. After segmented processing, that is, after the continuous planned speed is converted into the corresponding gear speed, the motion direction information is added to each segment trajectory, and the segmented trajectories are combined into a total running trajectory.
[0131] Figure 4 This is a schematic diagram of the discrete algorithm flow of an embodiment of the tower crane trajectory discretization method provided in this application. Figure 4 As shown, during trajectory discretization, the trajectory velocity symbols are first temporarily stored in an array for later use, and the absolute values of the velocities of all trajectory points are taken. Then, iterative processing is performed on each segment of the trajectory. During each iteration, the gear-separating speed can be appropriately adjusted. The gear-separating speed can be linearly increased or decreased, for example, increasing both TH1 and TH2 by 1% to adapt the gear speed to the original planned speed. The gear-separating speed TH is adjusted in each iteration until the error accuracy requirement is met. In one example, an upper limit can be set for the number of iterations, for example, limiting the number of iterations to a maximum of 20,000. If no match is found after more than 20,000 iterations and the accuracy requirement is not met, the program exits and returns an error. See also... Figure 4 If the number of iterations does not exceed the limit, then according to the gear-separated speed TH, the gear speed is assigned to the trajectory point of the speed range corresponding to the planned speed value in this gear.
[0132] The ultimate goal of trajectory discretization is to ensure positional accuracy. Therefore, the path difference between the discretized trajectory and the undiscriminated trajectory must be sufficiently small to meet the accuracy requirements. In one embodiment, the method further includes:
[0133] Based on the planned speed corresponding to each trajectory point on the original planned trajectory, the first distance is obtained by integral calculation;
[0134] Based on the gear speed adapted to each trajectory point on the discretized planned trajectory, the second distance is obtained by integral calculation.
[0135] If the difference between the first route and the second route is less than a preset threshold, the endpoint of the second route is corrected based on the endpoint of the first route.
[0136] See Figure 4 The second distance is obtained by integrating the speed of each trajectory point on the discretized planned trajectory and calculating the speed of the corresponding gear. The first distance is obtained by integrating the planned speed of each trajectory point on the original planned trajectory. The difference between the first and second distances is the distance difference L. If the distance difference L is less than a preset threshold, the discretization result meets the error requirement. In this case, the discretized speed can be integrated to calculate the discretized position of each trajectory point, and then the endpoint correction can be performed on the discretized trajectory. For example, if the displacement of the trajectory before discretization is 100 meters and the displacement after discretization is 99.8 meters, the position of the last trajectory point is corrected during endpoint correction, forcing the distance between the last trajectory point and the starting point to 100 meters. Through endpoint correction, the tower crane can accurately reach the predetermined endpoint, achieving the predetermined operational goal.
[0137] In one embodiment, the method further includes:
[0138] When the distance difference is greater than or equal to a preset threshold and the distance difference diverges, the appropriate gear speed for the specified trajectory point is downshifted in a predetermined order.
[0139] See Figure 4 After discretization, the distance is calculated by integrating the speeds of the discretized trajectory points and the speeds of the undiscrete trajectory points, yielding the distance difference L. If the distance difference L does not meet the accuracy requirements, it is determined whether L is diverging. If the value of the distance difference L increases, meaning the position of the discretized trajectory point exceeds the originally planned position, then the distance difference L is determined to be diverging. In this case, the appropriate speed for each trajectory point is downgraded. Specifically, the appropriate speed for a specified trajectory point is downgraded sequentially according to a predetermined order.
[0140] Specifically, adjustments can be made by downshifting from the highest gear to the lowest. For example, if the highest gear is 3rd, downshifting can be performed first, lowering the speed point at 3rd gear to 2nd gear. If the distance difference L still does not meet the error requirement after all speed points at 3rd gear have been downshifted to 2nd gear, then downshifting can be performed again at 2nd gear. This adjustment process is repeated sequentially from highest to lowest gear until the distance difference L meets the error requirement.
[0141] Furthermore, during the downgrading adjustment of the highest gear, the downgrading process starts from both ends of the highest gear trajectory point's index interval and proceeds towards the middle, downgrading one by one. For example, first, trajectory point A, located at one end of the index interval, is downgraded to gear 2, and then it is checked whether the distance difference L meets the error requirement. If it does not meet the requirement, then trajectory point B, located at the other end of the index interval, is downgraded to gear 2, and then the distance difference L is checked again. If it still does not meet the requirement, the process continues, downgrading the trajectory points adjacent to A, then the trajectory points adjacent to B, to gear 2, until the accuracy requirement is met, ultimately matching the discrete value of each trajectory point.
[0142] For example, if there are 5000 trajectory points that need to be discretized in the planned trajectory, each trajectory point is marked with a serial number, and this serial number information is stored in an array. During downshifting, all discretized trajectory points need to be retrieved, starting with the highest gear. In one example, the highest gear for downshifting is 3rd gear, so the array needs to be searched for trajectory points with a speed of 3rd gear. The serial numbers of these trajectory points are within a range, with the smallest serial number on the left and the largest serial number on the right. Assume that 3rd gear corresponds to the range between the 800th and 900th trajectory points in the entire trajectory. The minimum serial number in this range is 800, and the maximum serial number is 900. Then, starting from both ends of the range, downshifting is performed on each trajectory point towards the middle. Specifically, the 800th trajectory point can be downshifted to 2nd gear first, and then the distance difference L can be checked to see if it meets the error requirement. If the requirements are not met, the 900th trajectory point is downgraded to level 2, and then the distance difference L is checked to see if it meets the error requirement. If it still does not meet the requirement, the 801st trajectory point, the 899th trajectory point, and so on, are downgraded to level 2 until the accuracy requirement is met, ultimately matching the discrete value of each trajectory point. This method of downgrading from both ends of the interval towards the middle is beneficial for the continuous and stable operation of the tower crane speed, maintaining good motion characteristics throughout the entire control process.
[0143] In one embodiment, the method further includes:
[0144] If the distance difference is greater than or equal to a preset threshold and the distance difference does not diverge, the gear separation speed is adjusted according to the distance difference.
[0145] See Figure 4 When the distance difference L does not meet the accuracy requirements, it is determined whether the distance difference L is diverging. If the value of the distance difference L is getting smaller and smaller, it is determined that the distance difference L is not diverging. In this case, the gear separation speed TH is converged and offset according to the distance difference L, so that the distance difference L continues to shift in the direction of decreasing, thereby ensuring that the end point of the trajectory is not deviated. Specifically, the speed TH at the separation point of each gear is adjusted linearly. If the error of the distance difference L is large, TH can be increased slightly. For example, increasing each TH by one-thousandth will shorten the distance difference L. If the difference between the first distance before discretization and the second distance after discretization is greater than 0, the discretized position has not reached the expected position, so the value of TH is increased. If the difference between the first distance before discretization and the second distance after discretization is less than or equal to 0, the value of TH is decreased. Regardless of whether the value of TH is increased or decreased, the goal of the adjustment is to make the absolute value of the distance difference gradually decrease. If the absolute value of the distance difference has a tendency to increase, the distance difference is diverging, and then it is adjusted according to... Figure 4 The divergent processing flow continues, that is, the appropriate gear speed for the specified trajectory point is downshifted in a predetermined order.
[0146] In summary, when the distance difference L does not meet the accuracy requirements, corresponding processing is carried out for both cases of distance difference divergence and non-divergence until the error meets the accuracy requirements. Finally, a suitable speed is matched for each trajectory point in the original planned trajectory, so that the control output is adapted to the speed-based control method, which improves the control accuracy of the unmanned tower crane and effectively reduces safety risks.
[0147] like Figure 5 As shown, this application also provides an embodiment of a tower crane trajectory discretization device. For the beneficial effects of this device or the technical problems it solves, please refer to the descriptions in the methods corresponding to each device, or to the descriptions in the invention summary; they will not be repeated here.
[0148] In an embodiment of the tower crane trajectory discretization device, the device includes:
[0149] The first processing unit 100 is used to: determine the gear separation speed between adjacent operating gears based on the gear speed of each operating gear of the tower crane.
[0150] Acquisition unit 200 is used to: acquire the planning speed of each trajectory point on the original planning trajectory;
[0151] The second processing unit 300 is used to: obtain a gear speed that matches the planned speed based on the gear separation speed;
[0152] The discrete processing unit 400 is used to: replace the planned speed with the adapted gear speed for each trajectory point on the original planned trajectory to obtain the discretized planned trajectory.
[0153] like Figure 6 As shown, in one embodiment, the device further includes a third processing unit 500, the third processing unit 500 being used for:
[0154] Measure the speed of the highest gear in the specified operating gear range;
[0155] The speed of each operating gear is calculated based on the highest gear speed and the Hertz value of the inverter corresponding to each operating gear.
[0156] In one embodiment, the first processing unit 100 is configured to:
[0157] The average speed of two adjacent operating gears is used as the gear separation speed between adjacent operating gears.
[0158] In one embodiment, the second processing unit 300 is used to:
[0159] For each operating gear, the interval between the speeds of two gears adjacent to the speed of the gear is determined as the speed interval corresponding to the operating gear;
[0160] For each trajectory point on the original planned trajectory, if the planned speed value of the trajectory point is within the speed range, then the gear speed of the operating gear corresponding to the speed range is taken as the gear speed that matches the planned speed.
[0161] In one embodiment, the second processing unit 300 is further configured to: divide the original planned trajectory into multiple segmented trajectories based on different speed directions; extract the absolute value of the planned speed of each trajectory point on the segmented trajectory and save the speed direction information of the trajectory point; and obtain a gear speed that matches the absolute value of the planned speed according to the gear separation speed.
[0162] The discrete processing unit 400 is further configured to: replace the absolute value of the planned speed with the adapted gear speed for each trajectory point on the segmented trajectory to obtain the discretized segmented trajectory; add the speed direction information to each segmented trajectory; and synthesize the segmented trajectories to obtain the discretized planned trajectory.
[0163] In one embodiment, the discrete processing unit 400 is further configured to:
[0164] Based on the planned speed corresponding to each trajectory point on the original planned trajectory, the first distance is obtained by integral calculation;
[0165] Based on the gear speed adapted to each trajectory point on the discretized planned trajectory, the second distance is obtained by integral calculation.
[0166] If the difference between the first route and the second route is less than a preset threshold, the endpoint of the second route is corrected based on the endpoint of the first route.
[0167] In one embodiment, the discrete processing unit 400 is further configured to:
[0168] When the distance difference is greater than or equal to a preset threshold and the distance difference diverges, the appropriate gear speed for the specified trajectory point is downshifted in a predetermined order.
[0169] In one embodiment, the discrete processing unit 400 is further configured to:
[0170] If the distance difference is greater than or equal to a preset threshold and the distance difference does not diverge, the gear separation speed is adjusted according to the distance difference.
[0171] Figure 7 This is a schematic structural diagram of a computing device 900 provided in an embodiment of this application. The computing device 900 includes: a processor 910, a memory 920, and a communication interface 930.
[0172] It should be understood that Figure 7 The communication interface 930 in the computing device 900 shown can be used to communicate with other devices.
[0173] The processor 910 can be connected to the memory 920. The memory 920 can be used to store the program code and data. Therefore, the memory 920 can be a storage unit inside the processor 910, an external storage unit independent of the processor 910, or a component that includes both the storage unit inside the processor 910 and the external storage unit independent of the processor 910.
[0174] Optionally, the computing device 900 may also include a bus. The memory 920 and communication interface 930 can be connected to the processor 910 via the bus. The bus can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc.
[0175] It should be understood that in the embodiments of this application, the processor 910 may be a central processing unit (CPU). The processor may also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor. Alternatively, the processor 910 may employ one or more integrated circuits to execute relevant programs to implement the technical solutions provided in the embodiments of this application.
[0176] The memory 920 may include read-only memory and random access memory, and provides instructions and data to the processor 910. A portion of the processor 910 may also include non-volatile random access memory. For example, the processor 910 may also store device type information.
[0177] When the computing device 900 is running, the processor 910 executes the computer execution instructions in the memory 920 to perform the operation steps of the above method.
[0178] It should be understood that the computing device 900 according to the embodiments of this application can correspond to the corresponding subject in executing the methods according to the various embodiments of this application, and the above and other operations and / or functions of each module in the computing device 900 are respectively for implementing the corresponding processes of the methods of this embodiment. For the sake of brevity, they will not be described in detail here.
[0179] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.
[0180] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.
[0181] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.
[0182] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.
[0183] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.
[0184] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0185] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, performs a tower crane trajectory discretization method, which includes at least one of the schemes described in the above embodiments.
[0186] The computer storage medium in this application embodiment can be any combination of one or more computer-readable media. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. For example, a computer-readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.
[0187] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.
[0188] The program code contained on a computer-readable medium may be transmitted using any suitable medium, including, but not limited to, wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.
[0189] Computer program code for performing the operations of this application can be written in one or more programming languages or a combination thereof, including object-oriented programming languages such as Java, Smalltalk, and C++, and conventional procedural programming languages such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).
[0190] Note that the above are merely preferred embodiments and the technical principles employed in this application. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present application has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, all of which fall within the scope of protection of the present invention.
Claims
1. A method for discretizing tower crane trajectories, characterized in that, include: Determine the speed separation between adjacent operating gears based on the speed of each operating gear of the tower crane. Obtain the planning velocity of each trajectory point on the original planned trajectory; Based on the gear separation speed, the gear speed that matches the planned speed is obtained; For each trajectory point on the original planned trajectory, the planned speed is replaced with the adapted gear speed to obtain the discretized planned trajectory.
2. The method according to claim 1, characterized in that, The method further includes: Measure the speed of the highest gear in the specified operating gear range; The speed of each operating gear is calculated based on the highest gear speed and the Hertz value of the inverter corresponding to each operating gear.
3. The method according to claim 1, characterized in that, The step of determining the gear separation speed between adjacent operating gears based on the gear speeds of each operating gear of the tower crane includes: The average speed of two adjacent operating gears is used as the gear separation speed between adjacent operating gears.
4. The method according to claim 1, characterized in that, The step of obtaining the gear speed adapted to the planned speed based on the gear segment speed includes: For each operating gear, the interval between the speeds of two gears adjacent to the speed of the gear is determined as the speed interval corresponding to the operating gear; For each trajectory point on the original planned trajectory, if the planned speed value of the trajectory point is within the speed range, then the gear speed of the operating gear corresponding to the speed range is taken as the gear speed that matches the planned speed.
5. The method according to claim 4, characterized in that, The method further includes: Based on different velocity directions, the original planned trajectory is divided into multiple segmented trajectories; For each trajectory point on the segmented trajectory, the absolute value of the planned velocity of the trajectory point is extracted, and the velocity direction information of the trajectory point is saved; Based on the gear separation speed, obtain the gear speed that matches the absolute value of the planned speed; For each trajectory point on the segmented trajectory, the absolute value of the planned speed is replaced with the adapted gear speed to obtain the discretized segmented trajectory. The velocity direction information is added to each segmented trajectory; the segmented trajectories are then combined to obtain the discretized planned trajectory.
6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: Based on the planned speed corresponding to each trajectory point on the original planned trajectory, the first distance is obtained by integral calculation; Based on the gear speed adapted to each trajectory point on the discretized planned trajectory, the second distance is obtained by integral calculation. If the difference between the first route and the second route is less than a preset threshold, the endpoint of the second route is corrected based on the endpoint of the first route.
7. The method according to claim 6, characterized in that, The method further includes: When the distance difference is greater than or equal to a preset threshold and the distance difference diverges, the appropriate gear speed for the specified trajectory point is downshifted in a predetermined order.
8. The method according to claim 6, characterized in that, The method further includes: If the distance difference is greater than or equal to a preset threshold and the distance difference does not diverge, the gear separation speed is adjusted according to the distance difference.
9. A tower crane trajectory discretization device, characterized in that, include: The first processing unit is used to: determine the gear separation speed between adjacent operating gears based on the gear speed of each operating gear of the tower crane. The acquisition unit is used to: acquire the planning speed of each trajectory point on the original planning trajectory; The second processing unit is used to: obtain a gear speed that matches the planned speed based on the gear separation speed; The discrete processing unit is used to: replace the planned speed with the adapted gear speed for each trajectory point on the original planned trajectory to obtain the discretized planned trajectory.
10. A computing device, characterized in that, include: Communication interface; At least one processor connected to the communication interface; as well as At least one memory connected to the processor and storing program instructions that, when executed by the at least one processor, cause the at least one processor to perform the method of any one of claims 1-8.
11. A computer-readable storage medium having program instructions stored thereon, characterized in that, When the program instructions are executed by a computer, the computer performs the method described in any one of claims 1-8.