Tower Crane Hoisting Path Planning With Collision Prediction
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Solution Overview
Problem
Existing tower crane operations face challenges with limited visibility, blind hoisting, and potential safety hazards due to human fatigue, with current technologies failing to provide comprehensive path planning and collision avoidance, leading to inefficiencies and safety risks.
Innovation Solution
An automatic hoisting and transporting method for tower cranes that utilizes a three-dimensional grid model to plan paths, generate obstacle and feasible area node sets, and predict collisions, ensuring safe and efficient operation by integrating video monitoring and optical flow algorithms for real-time control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If video monitoring technology is used for live image recording, then visual information is captured, but image data is not fully utilized for analysis and automatic operation cannot be realized
Solution Approach 1:
The patent replaces manual operation with an automatic control system that uses optical flow algorithms to process video data. The system calculates motion vectors from consecutive video frames to determine object position, speed, and trajectory, enabling automated hoisting and transporting operations without requiring human interpretation of visual information.
Solution Approach 2:
The system performs self-monitoring and self-control by automatically analyzing video data through optical flow algorithms. The tower crane autonomously tracks objects, calculates motion parameters, and adjusts its operations based on the analyzed data, making the system self-sufficient without continuous human intervention.
2Measurement precision
If sensor monitoring is used at key parts of boom and pull rod, then sensitive technical parameters are obtained, but monitoring capability is limited due to installation restrictions
Solution Approach 1:
The optical flow algorithm-based monitoring system serves multiple functions: it tracks object position, calculates motion speed, determines trajectory, and provides collision avoidance information. A single video monitoring approach replaces multiple specialized sensors, achieving versatile monitoring capability across different parameters without installation restrictions.
Solution Approach 2:
The patent introduces video images as an intermediary medium to obtain information about object position and motion. Instead of directly measuring parameters with sensors on the crane structure, the system uses visual information processing to indirectly derive all necessary monitoring data, bypassing physical installation constraints.
3Loss of time
If RRT algorithm is used to search for hoisting and transporting path, then a feasible path is rapidly obtained, but the path is not necessarily optimal
Solution Approach 1:
The system performs preliminary path planning using the RRT algorithm to quickly obtain a feasible path. This initial path serves as a baseline that can be rapidly generated and then optimized if needed, ensuring that operation can begin without excessive delay while maintaining the possibility of improvement.
Solution Approach 2:
The patent employs dynamic path adjustment by continuously monitoring the hoisting and transporting process. The system can modify the initial RRT-generated path in real-time based on actual conditions, object position, and environmental factors, making the path planning adaptive rather than static.
Data Source
AI summary
Disclosed is an automatic hoisting and transporting method for a tower crane, the method including: building a three-dimensional grid model for a construction site, and generating a grid node set; generating an obstacle node set and a feasible area node set; obtaining coordinates of an initial node and an end node; planning a hoisting and transporting path from the initial node to the end node, and generating corresponding operating parameters; controlling the tower crane to transport an object according to the operating parameters, and calculating a swing range of the hoisted and transported object and a swing arm at a current position; determining whether a collision may occur; and predicting whether the tower crane may be overturned. The method realizes automatic hoisting and transporting of the tower crane. The object does not collide with an obstacle during hoisting and transporting, thereby ensuring safe operation of the tower crane.