CN101554979B - Tower crane anti-collision on-line monitoring and early warning system based on ultrasonic sensing network and method thereof - Google Patents
Tower crane anti-collision on-line monitoring and early warning system based on ultrasonic sensing network and method thereof Download PDFInfo
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- CN101554979B CN101554979B CN2009100224444A CN200910022444A CN101554979B CN 101554979 B CN101554979 B CN 101554979B CN 2009100224444 A CN2009100224444 A CN 2009100224444A CN 200910022444 A CN200910022444 A CN 200910022444A CN 101554979 B CN101554979 B CN 101554979B
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Abstract
The invention discloses a tower crane anti-collision early warning system based on an ultrasonic sensing network and a method thereof. A multi-ultrasonic sensor fusion technology is adopted for monitoring surrounding obstacles of the tower crane, collision early warning information of the tower crane is acquired by positioning and identification of the obstacles, prediction of tracks and calculation of existing ultrasonic map data anti-collision model, and possible collision state is notified to the driver of the tower crane in time. The system comprises a main controller module and an ultrasonic monitoring point module which communicate with each other in a wireless network form, and the ultrasonic monitoring point module adopts an ultrasonic sensor for monitoring the surrounding obstacles of the tower crane. The system and the method solve the difficult problem of tower crane active anti-collision monitoring, and are characterized by strong anti-jamming capability, good real-time andeasy-to-use, thus effectively reducing the labor intensity of the driver of the tower crane, improving the anti-collision monitoring level of the tower crane, reducing the occurrence of tower crane c ollision accidents, and leading the tower crane to run safely and efficiently.
Description
Technical field
The present invention relates to a kind of tower crane safety monitoring system, relate in particular to a kind of based on the tower crane anti-collision on-line monitoring forewarn system of ultrasonic sensing network and the method that adopts this system's on-line monitoring early warning.
Background technology
Tower crane (hereinafter to be referred as the tower machine) is the hoisting crane of construction trade working space maximum, and sling height height, work range are big, belong to aloft work, is level and the vertical lifting hoisting and conveying machinery and equipment that generally uses on the present building ground.Along with the sustained and rapid development of China's economy, the construction trade scale constantly enlarges, and the tower machine has been created good economic benefits and social benefit.
Along with the expansion of city capital construction scale, urban architecture density constantly increases.The tower machine operation of new construction site will be subjected to the influence of peripheral existed building or other obstacles, in servicely exist more collision hidden danger.Therefore, to the intensive building ground of neighboring buildings, guarantee the safe in operation in the construction of tower machine, reduce safety misadventure, satisfying the construction needs again as much as possible simultaneously is major issues that tower machine collision avoidance system needs solve.
By to the existing Searches of Patent Literature, Chinese invention patent " the safety intelligent measurement and control instrument of tower crane flock-mate fork operation ", the patent No. 200610041832.3, this patent of invention discloses the safety intelligent detecting instrument of a kind of tower crane flock-mate fork operation, this instrument has a many locking terminals equipment and a tread controller to constitute, final terminal is arranged on every operation tower crane, and may collide between the tower crane group reported to the police; China's utility model patent " the anti-locality protection device that hits of tower machine ", the patent No. 01206182.4, this utility model patent discloses a kind of tower machine anti-collision and has hit the locality protection device.Foregoing invention and utility model patent all are to adopt electron steering, form by sensor, communication network and the driver's cab read-out etc. that install at tower machine trolley body, pivoting part place, calculate the relative position between the tower machine after the motion over the ground by every tower machine of real-time monitoring horizontal arm, realize the anticollision function.There are many deficiencies in this method: at first the situation in engineering construction place is constantly to change constantly, the work of tower machine allows zone and work limit zone to change mutually with situation, work allows the zone can become the work limit zone, restricted areas also can become the permission zone, and this sometimes variation is faster.Electronic control system exists weak point, alerting ability shortcoming when the generation of reply this variation, particularly accident.Tower machine staff often has to the parameter work according to prior division work area and restricted areas in next electron steering collision avoidance system, if want to allowing zone and restricted areas to do suitable change then need recomputate the division setup parameter, take time and effort, limited tower machine operation personnel's subjective initiative.These difficulties mainly are because the principle of work that collision avoidance system is selected for use causes.What its anticollision principle adopted is a kind of passive type anticollision security model, and system just monitors the state of kinematic motion of self and the situation of peripheral obstacle is lacked perception.The collision of tower machine mainly occurs in the contact point and the contact surface of tower arm and peripheral obstacle (comprising peripheral tower machine), because the tower arm lengths is bigger, peripheral obstacle form is varied, adopts active collision monitoring to become the difficult point of collision avoidance system research and development.
Because the contactless monitoring mode of sonac and good sensing characteristics, it has been successfully applied in reversing automobile collision avoidance system and the robot navigation system.Because tower machine mode of operation and environment and the above two system's tools are very different, its monitoring technology directly can't be introduced the tower machine collision monitoring of tower machine, need to improve its monitoring technology and make it to be used for obtaining of tower machine collision monitoring and warning information.
Summary of the invention
Problem at above-mentioned prior art existence, the objective of the invention is to, provide a kind of based on the tower crane anti-collision on-line monitoring forewarn system of ultrasonic sensing network and the method that adopts this system's on-line monitoring early warning, peripheral obstacle is discerned and located realizing, thereby solve the bottleneck problem of above-mentioned active collision avoidance system.
In order to realize above-mentioned task, the present invention adopts following technical scheme:
A kind of tower crane anti-collision on-line monitoring forewarn system based on ultrasonic sensing network is characterized in that this system comprises:
A main controller module, the real time data that is used to finish the obstacle characteristic information that ultrasonic monitoring point surveys merges to be calculated, create ultrasonic map and real-time update, obstacle is positioned and trajectory predictions, with the anticollision Model Matching and collide evaluation, result's storage also may be collided by man machine interface notice tower machine driver and in time be taked effective preventive;
Several monitoring point modules are arranged in the some positions of tower machine equilibrium arm and crane arm, be used to finish peripheral obstacle is monitored, and obstacle information is calculated, and obtain the characteristic information of obstacle, upload main controller module during with fructufy;
Main controller module communicates with wireless network mode and monitoring point module.
Described main controller module comprises: CPU processing unit, memory cell, wireless communication unit, man machine interface unit and power supply etc.The obstacle characteristic information that the CPU processing unit of main controller module is surveyed by wireless communication unit real-time collecting system monitoring point, carry out real time data and merge calculating, input anticollision model calculates the following safe condition value of tower machine, with its result's storage and by man machine interface notice tower machine driver.
Described monitoring point module comprises: CPU processing unit, memory cell, wireless communication unit, ultrasonic sensing unit, compensating unit and power supply etc.The monitoring point module is carried out peripheral obstacle perception by initiatively launching ultrasonic signal, calculates and obtain the characteristic information (shape, distance) of the obstacle that monitors, and this information is uploaded main controller module in real time.
The monitoring method of above-mentioned tower crane anti-collision on-line monitoring forewarn system based on ultrasonic sensing network, it is characterized in that, this method adopts main controller module is set, a plurality of monitoring points module realizes identification and location to tower machine periphery obstacle, and then obtain the tower machine and may may in time notify tower machine driver by collision status by collision information, specifically comprise the steps:
A, main controller module, a plurality of monitoring points module are in the tower crane initialization immediately of starting shooting;
B, main controller module start wireless communication unit, are in wait state; The monitoring point module is uploaded main controller module with the obstacle monitoring result in real time;
C, main controller module real time fusion are calculated each monitoring point module data, obtain tower machine ambient environment complete information, create ultrasonic map and real-time update; Carry out the obstacle location and carry out trajectory predictions;
D, main controller module is with obstacle real time information and information of forecasting and anticollision Model Matching and collide evaluation.
E, with may collision information storage and by the notice of the man machine interface on main controller module tower machine driver.
Tower machine anticollision forewarn system based on ultrasonic sensing network of the present invention has the advantages that antijamming capability is strong, real-time good, be simple and easy to usefulness.The invention has the beneficial effects as follows: effectively reduce tower machine driver labour intensity, improve tower machine collision monitoring level, reduce the generation of tower machine collision case, make tower machine safety, efficient operation.
Description of drawings
Fig. 1 is an on-line monitoring system composition frame chart of the present invention;
Fig. 2 is a tower machine anti-collision monitoring workflow of the present invention;
Fig. 3 is that ultrasonic monitoring point of the present invention is arranged scheme drawing;
Fig. 4 main controller module composition frame chart of the present invention;
Fig. 5 is a monitoring point of the present invention module composition frame chart;
Fig. 6 is a main controller module software architecture diagram of the present invention;
Fig. 7 is a main controller module system supervisor workflow of the present invention;
Fig. 8 is a monitoring point of the present invention module workflow.
Below in conjunction with accompanying drawing and embodiment the present invention is described in further details.
The specific embodiment
As shown in Figure 1, the tower crane anti-collision on-line monitoring forewarn system based on ultrasonic sensing network of the present invention is made up of main controller module and a plurality of monitoring points module two parts.
Main controller module is positioned at tower machine operator's compartment, the real time data of mainly finishing the obstacle characteristic information of system monitoring point detection merges to be calculated, create ultrasonic map and real-time update, carry out obstacle location and trajectory predictions, with the anticollision Model Matching and collide evaluation, result's storage also may be collided by man machine interface notice tower machine driver.
The monitoring point module is arranged on tower machine equilibrium arm and the some monitoring points of crane arm, finish the monitoring of peripheral obstacle, the obstacle information that monitors is calculated the characteristic information (shape, distance) that obtains obstacle, this information is uploaded main controller module in real time.
Main controller module and each monitoring point module all are respectively arranged with wireless communication unit, and the control command between them, data message etc. transmit by the wireless network mode.
As shown in Figure 2, tower machine anti-collision monitoring workflow of the present invention is as follows: the monitoring point module utilizes ultrasonic transduter to monitor the place ahead situation in real time, if obstacle appears at the monitored area, the ultrasonic monitoring point module carries out the obstacle information feature extraction, obtain the shape and the distance feature data of obstacle, with data upload to main controller module.Main controller module carries out the real time data fusion at uploading data, creates the ultrasonic map of ambient environment or upgrades map; In addition according to fusion results, on large scale, carry out obstacle and discern once more and locate and carry out the obstacle trajectory predictions.Ultrasonic map, obstacle real time information and information of forecasting input anticollision model are calculated, obtain tower machine safe condition value, possible anti-collision warning information is informed tower machine driver according to hazard level by man machine interface, takes effective preventive.
Fig. 3 provides a specific embodiment of the present invention, and in an embodiment, the layout of monitoring point of the present invention module on crane arm as shown in the figure.Xoy is made as absolute coordinate system over the ground among the figure, and x ' oy ' is made as relative coordinate system, and choosing tower revolution of arm center is the origin of coordinates, and the tower arm is an ox ' axle.Obstacle might fall in the beam angle θ of single-sensor, also might fall in the beam angle θ of two or more sensors, promptly in the overlay region, carves at this moment, and main controller module carries out obstacle Spatial Dimension Multi-sensor Fusion.When the tower arm turns round with angular velocity omega, sensor i t constantly the distance of detecting obstacles thing P be S
i(t), the distance that constantly detects obstacle P at (t+1) is S
i(t+1), main controller module carries out obstacle dimension time for positioning Multi-sensor Fusion.
Fig. 4 provides a specific embodiment of the present invention, in an embodiment, main controller module core processor of the present invention adopts the S3C2440 treater of ARM920T series, and ARM920T has MMU, instruction and data Cache and the high speed AMBA bus interface of full performance.As the CPU core of S3C2440 chip, 16/32 ARM920T risc microcontroller adopts 0.13um CMOS standard block structure, and having independently, 16kB refers to modern buffer memory and 16kB metadata cache.The peripheral expansion memory device adopts the NAND Flash of 64M, is used for storing preamble, kernel program, file system and application program.Keyboard display module adopts touch LCD display, carries out system parameter setting demonstration and the ultrasonic map of tower machine ambient environment and shows in real time.USB interface is by inserting movable flashing disk storage tower machine collision monitoring data.Wireless communication unit adopts the cc2480 chip with 802.1 5.4 communication protocols, forms the Mesh net with other wireless communication units, and this unit is connected with treater by serial ports.The audiofrequency output module is used for exporting tower machine possibility collision risk information, reminds tower machine driver safe in operation.Jtag interface is used for non-intrusion type debugging main controller module.
Fig. 5 provides a specific embodiment of the present invention, and in an embodiment, monitoring point of the present invention module is made up of CPU processing unit, Flash memory cell, wireless communication module, ultrasonic sensing module, temperature compensation module, jtag interface and power supply etc.The CPU processing unit is selected the C8051F330 treater for use, this treater has CIP-51 microcontroller kernel, CIP-51 and MCS-51 instruction set are compatible fully, the C8051F330 device is fully-integrated mixed signal SOC(system on a chip) type MCU, aboundresources in the C8051F330 micro controller system sheet, comprise 1 full speed, non-intrusion type at system debug interface (in the sheet), 16 passages of 10 200ksps are single-ended/difference ADC, band simulation Port Multiplier, 10 digit currents output DAC, the 25MHz internal oscillator of high-precision programmable, but the Flash memory device of 8KB in-system programming, 768 byte ram in slice, hard-wired SMBus/I
2C, enhancement mode UART and enhancement mode SPI serial interface, 17 port I/O (allowing the 5V input).Jtag interface is with non-intrusion type debugging ultrasonic monitoring point module program.Wireless communication unit adopts the cc2480 chip with 802.15.4 communication protocol, and forms the Mesh net with other wireless communication units.The Flash memory device is used for preserving ultrasonic monitoring point module working parameter.The ultrasonic sensing module is made up of ultrasonic transduter (waterproof transceiver type), power driving circuit, amplifying circuit and filter circuit, is used for receiving in real time the ultrasonic distance signal of monitoring point.Temperature detecting module is made up of temperature sensor, modulate circuit, and the monitoring of environmental temperature is carried out ultrasonic range measurement accuracy compensation.The ultrasonic monitoring point module sends in real time and receives the ultrasonic pulse formation by the ultrasonic sensing module and carries out peripheral obstacle perception, utilizes reflected ultrasonic to handle profile and the range data of obtaining obstacle, and uploads main controller module by wireless communication unit.
Fig. 6 provides a specific embodiment of the present invention, in an embodiment, the main controller module software configuration is divided into three layers, bottom is a driver layer, comprise serial port drive program, USB drive program, LCD drive program, audio driver, touch-screen drive program and Flash drive program, these drive programs provide corresponding bottom hardware operation-interface for system software.Interlayer is a built-in Linux operating system, in the present embodiment, has selected for use cutting to cross Linux 2.6.13 kernel, removes the N/R functional module, effectively reduces system scale, and the real-time of system is provided.The superiors are application software layers, comprise system supervisor, anticollision model program, system calibration program, wireless network transmissions program and yaffs file system.System supervisor is the main program of tower machine collision avoidance system, finishes the overall system management work, mainly comprises system operational parameters management, system calibration management, collision monitoring management, the ultrasonic map demonstration of obstacle, data storage management etc.; The anticollision model program is responsible for anti-collision warning and is calculated, collision point, the collision time data of output possibility collision accident, and carry out the hazard level ordering, possible anti-collision warning information is by inform tower machine driver by speech form; The system calibration program is responsible for the calibration operation of system works precision; The wireless network transmissions program is finished and being connected of radio communication by serial port drive, is responsible for system's self-defining data communication analysis; The yaffs file system is responsible for the logical file of system is managed, and comprises the duplicating of logical file, deletes, operation such as modification, and this document system drives the file operation that realizes movable flashing by Flash, realizes that the system works data are preserved and backup.
Fig. 7 provides a specific embodiment of the present invention, in an embodiment, main controller module system supervisor workflow is as follows: operating personal selects to start the main controller module system supervisor by touch-screen, system at first enters the self check state, patrol and examine oneself state and each ultrasonic monitoring point module state, if find fault then show and remind the operator to carry out trouble tracing and eliminating by the audio frequency mode by the LCD display pictograph, if trouble removal, management program is carried out System self-test again, if self check is passed through, enter systemic-function and select the interface, mainly comprise the initialization system parameter, system calibration, start collision monitoring and shutdown system.If select the initialization system parameter, system enters working parameter and sets the interface, relevant system parameters is set, carrying out the master controller parameter earlier sets, start by wireless network successively then and set each ultrasonic monitoring point module parameter, the saved system working parameter, receive the shutdown confirmation that each ultrasonic monitoring point returns after the return system function select the interface; If the selective system calibration function carries out system calibration, after each hardware module was ready, the start-up system calibration procedure was finished each ultrasonic monitoring point module range measurement accuracy calibration, returns after calibration is finished; If select to start the collision monitoring function, start each ultrasonic R point module, whether circulatory monitoring receives the obstacle data of monitoring point, if receiving one group of obstacle data then carries out data fusion and calculates, on large scale, carry out obstacle identification and location, its result is created or upgrade ultrasonic map, and carry out the obstacle trajectory predictions and calculate.With predict the outcome, current data and the existing input of diagram data ultrasonically anticollision model program calculate may collision accident collision point, collision time, and carry out hazard level and sort, according to security of system distance setting parameter, judge whether there is risk of collision.May collide if exist, start voice reminder and report to the police; If there is not risk of collision, then only show, and this result is preserved by the LCD display pictograph, carry out circulatory monitoring once more then, withdraw from until system closing; If management program is received the shutdown system instruction, at first preserve working parameter, send halt instruction to each ultrasonic monitoring point module then, receiving that withdrawing from blanked-off pipe after each ultrasonic monitoring point module is shut down confirmation manages program.
Fig. 8 provides a specific embodiment of the present invention, in an embodiment, each ultrasonic monitoring point module workflow is as follows: ultrasonic monitoring point module main program is after receiving the enabled instruction that main controller module sends, carry out entering the mode of operation selection mode after the functions of modules initialization, wait for that main controller module sends work order.If selective system is set pattern, main program receives working parameter and preserves and change the work at present parameter, enters shutdown mode subsequently.If select shutdown mode, then at first upload this module shutdown acknowledgment signal and inform main controller module, shut down then, promptly enter the module low power consumpting state.If selective system monitoring pattern, at first emission is waited for reception and the signal that receives is carried out the autocorrelation demodulation whether judge has obstacle then in the monitoring range of default through the ultrasonic signal of pseudo random code modulation, if do not have, then start the ultrasound emission circulatory monitoring once more; If monitor obstacle, then carry out profile identification and calculate by waveform analysis, calculate by the laggard row distance of temperature compensating.Behind the obstacle data upload main controller module that monitors with this monitoring point, whether inquiry requires to shut down, if do not shut down, then returns ultrasound emission point and prepares monitoring next time; If require to shut down, then turn back to shutdown mode.
More than enumerating only is a specific embodiment of the present invention.Obviously, the invention is not restricted to version and ardware model number that above embodiment provides, many distortion (type) can also be arranged.Those of ordinary skill in the art can directly derive or associate all distortion (type) from content disclosed by the invention, all should think protection scope of the present invention.
Claims (4)
1. tower crane anti-collision on-line monitoring forewarn system based on ultrasonic sensing network is characterized in that this system comprises:
A main controller module, the real time data that is used to finish the obstacle characteristic information that ultrasonic monitoring point surveys merges to be calculated, create ultrasonic map and real-time update, obstacle is positioned and trajectory predictions, with the anticollision Model Matching and collide evaluation, result's storage also may be collided by man machine interface notice tower machine driver and in time be taked effective preventive;
Several monitoring point modules are arranged in the some positions of tower machine equilibrium arm and crane arm, be used to finish peripheral obstacle is monitored, and obstacle information is calculated, and obtain the characteristic information of obstacle, upload main controller module during with fructufy;
Main controller module communicates with wireless network mode and monitoring point module.
2. the tower crane anti-collision on-line monitoring forewarn system based on ultrasonic sensing network as claimed in claim 1, it is characterized in that described main controller module comprises: CPU processing unit, memory cell, wireless communication unit, man machine interface unit and power supply; The obstacle characteristic information that the CPU processing unit of main controller module is surveyed by wireless communication unit real-time collecting system monitoring point, carry out real time data and merge calculating, input anticollision model calculates the following safe condition value of tower machine, with its result's storage and by man machine interface notice tower machine driver.
3. the tower crane anti-collision on-line monitoring forewarn system based on ultrasonic sensing network as claimed in claim 1, it is characterized in that described monitoring point module comprises: CPU processing unit, memory cell, wireless communication unit, ultrasonic sensing unit, compensating unit and power supply; The monitoring point module is carried out peripheral obstacle perception by initiatively launching ultrasonic signal, calculates and obtains the characteristic information of the obstacle that monitors, and this information is uploaded main controller module in real time.
4. the monitoring method of the described tower crane anti-collision on-line monitoring forewarn system based on ultrasonic sensing network of claim 1, it is characterized in that, this method adopts main controller module is set, a plurality of monitoring points module realizes identification and location to tower machine periphery obstacle, and then obtain the tower machine and may may in time notify tower machine driver by collision status by collision information, specifically comprise the steps:
A, main controller module, a plurality of monitoring points module are in the tower crane initialization immediately of starting shooting;
B, main controller module start wireless communication unit, are in wait state; The monitoring point module is uploaded main controller module with the obstacle monitoring result in real time;
C, main controller module real time fusion are calculated each monitoring point module data, obtain tower machine ambient environment complete information, create ultrasonic map and real-time update; Carry out the obstacle location and carry out trajectory predictions;
D, main controller module is with obstacle real time information and information of forecasting and anticollision Model Matching and collide evaluation.
E, with may collision information storage and by the notice of the man machine interface on main controller module tower machine driver.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009100224444A CN101554979B (en) | 2009-05-11 | 2009-05-11 | Tower crane anti-collision on-line monitoring and early warning system based on ultrasonic sensing network and method thereof |
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| CN2009100224444A CN101554979B (en) | 2009-05-11 | 2009-05-11 | Tower crane anti-collision on-line monitoring and early warning system based on ultrasonic sensing network and method thereof |
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| CN101554979A CN101554979A (en) | 2009-10-14 |
| CN101554979B true CN101554979B (en) | 2011-05-04 |
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Families Citing this family (17)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101885451A (en) * | 2010-08-13 | 2010-11-17 | 大连市建筑安全监督管理站 | Tower crane intelligent early-warning system |
| CN102176019A (en) * | 2011-02-15 | 2011-09-07 | 徐州赫思曼电子有限公司 | Anti-collision device of aerial vehicle cage |
| CN102120556A (en) * | 2011-02-28 | 2011-07-13 | 大连理工大学 | Ultrasonic probe type anti-collision device for working platform |
| US9415976B2 (en) * | 2012-05-10 | 2016-08-16 | Trimble Navigation Limited | Crane collision avoidance |
| CN102915019B (en) * | 2012-10-31 | 2014-07-16 | 大连海事大学 | System for monitoring free state and anchoring state of floating docks |
| CN103231989B (en) * | 2013-03-13 | 2015-06-17 | 中国矿业大学 | System and method for real-time fault monitoring of lifting hoisting-synergic flexible cable parallel kinematic machine |
| CN103646505B (en) * | 2013-12-25 | 2016-01-27 | 中国电建集团成都勘测设计研究院有限公司 | Vibrate site safety monitoring and pre-alarming method in chassis operational process |
| CN103991794A (en) * | 2014-05-04 | 2014-08-20 | 南通大力神建筑机械有限公司 | Ultrasonic anti-collision prompting apparatus of tower crane |
| CN104071714A (en) * | 2014-06-25 | 2014-10-01 | 华东交通大学 | Anti-collision monitoring system of tower crane group based on WSN (Wireless Sensor Network) and cloud computing |
| CN104649159B (en) * | 2015-01-12 | 2017-04-12 | 四川建筑职业技术学院 | Remote control safety tower crane based on point position coordinate and hoisting method of remote control safety tower crane |
| CN104843585A (en) * | 2015-04-15 | 2015-08-19 | 江苏万象建工集团有限公司 | Intelligent tower crane control system |
| CN107235419A (en) * | 2017-07-11 | 2017-10-10 | 长沙海川自动化设备有限公司 | Safety monitoring system for tower crane and the derrick crane with it |
| CN107215792B (en) * | 2017-07-11 | 2019-12-17 | 长沙海川自动化设备有限公司 | group tower anti-collision control method and control device |
| CN107285206B (en) * | 2017-07-14 | 2018-12-14 | 武汉市特种设备监督检验所 | A kind of collision-proof method based on derrick crane collision prevention early warning system |
| CN108046144A (en) * | 2017-12-12 | 2018-05-18 | 湖南百特随车起重机有限公司 | A kind of transmission method of telescopic arm crash sensing system and the application system |
| CN112578783B (en) * | 2019-09-29 | 2022-08-30 | 杭州海康机器人技术有限公司 | Walking control method and device for automatic guided transport vehicle |
| CN117105097B (en) * | 2023-10-23 | 2024-04-02 | 杭州未名信科科技有限公司 | Intelligent tower crane control system, method and control equipment |
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