Automatic hoisting and transporting method for tower crane

An automatic hoisting and transporting method for a tower crane, the method comprising:

• building a three-dimensional grid model for a construction site, and generating a grid node set Φ0;
• generating an obstacle node set U0 and a feasible area node set Φ1 according to a position of an obstacle in the construction site and the grid node set Φ0;
• obtaining coordinates of an initial node S and an end node G by means of the three-dimensional grid model;
• planning a hoisting and transporting path from the initial node S to the end node G according to the initial node S, the end node G, the feasible area node set Φ1 and a preset hoisting and transporting path planning strategy, 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 according to a preset swing range calculation strategy;
• determining whether a collision may occur according to the swing range and the obstacle node set U0;
• if not, controlling the tower crane to continue to transport the object according to the hoisting and transporting path;
• if yes, controlling the tower crane to be braked;
• and
• predicting whether the tower crane may be overturned according to a preset overturning calculation strategy during braking of the tower crane;
• wherein the obtaining coordinates of an initial node S and an end node G by means of the three-dimensional grid model, comprises:
• setting a coordinate of the center of a tower crane base in a Cartesian coordinate system to be (a0, b0, c0);
• obtaining the coordinates of the initial point S and the end point G in the Cartesian coordinate system, the coordinates being respectively (as, bs, cs) and (ag, bg, cg);
• transforming the coordinates of the initial point S and the end point G in the Cartesian coordinate system into coordinates in the three-dimensional grid model, the coordinates in the three-dimensional grid model being respectively an initial point S(xs, ys, zs) and an end point G (xg, yg, zg), wherein
• {
• x
• s
• =
• a
• s
• -
• a
• 0
• y
• s
• =
• b
• s
• -
• b
• 0
• z
• s
• =
• c
• s
• -
• c
• 0
• ,
• {
• x
• g
• =
• a
• g
• -
• a
• 0
• y
• g
• =
• b
• g
• -
• b
• 0
• z
• g
• =
• c
• g
• -
• c
• 0
• ;
• and
• obtaining size information of the hoisted and transported object, and determining a centroid coordinate (xm, ym, zm) of the hoisted and transported object and a maximum distance lm between an edge of the hoisted and transported object and the centroid coordinate (xm, ym, zm), or in the absence of the hoisted and transported object, determining a centroid coordinate of a hoist hook and a maximum distance between an edge of the hoist hook and the centroid coordinate.