CN102542361B - 起重机吊装物路径规划方法 - Google Patents
起重机吊装物路径规划方法 Download PDFInfo
- Publication number
- CN102542361B CN102542361B CN201210007417.1A CN201210007417A CN102542361B CN 102542361 B CN102542361 B CN 102542361B CN 201210007417 A CN201210007417 A CN 201210007417A CN 102542361 B CN102542361 B CN 102542361B
- Authority
- CN
- China
- Prior art keywords
- lifting
- barrier
- path
- region
- crane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 87
- 238000013439 planning Methods 0.000 title claims abstract description 68
- 230000004888 barrier function Effects 0.000 claims abstract description 152
- 230000008569 process Effects 0.000 claims abstract description 33
- 230000009466 transformation Effects 0.000 claims abstract description 7
- 238000004458 analytical method Methods 0.000 claims description 13
- 230000008859 change Effects 0.000 claims description 7
- 238000012360 testing method Methods 0.000 claims description 6
- 238000013500 data storage Methods 0.000 claims description 4
- 238000007689 inspection Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000013528 artificial neural network Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 206010049669 Dyscalculia Diseases 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000010297 mechanical methods and process Methods 0.000 description 1
- 230000005226 mechanical processes and functions Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 238000013316 zoning Methods 0.000 description 1
Landscapes
- Control And Safety Of Cranes (AREA)
Abstract
Description
Claims (13)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201210007417.1A CN102542361B (zh) | 2012-01-11 | 2012-01-11 | 起重机吊装物路径规划方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201210007417.1A CN102542361B (zh) | 2012-01-11 | 2012-01-11 | 起重机吊装物路径规划方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN102542361A CN102542361A (zh) | 2012-07-04 |
CN102542361B true CN102542361B (zh) | 2016-03-02 |
Family
ID=46349206
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201210007417.1A Active CN102542361B (zh) | 2012-01-11 | 2012-01-11 | 起重机吊装物路径规划方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN102542361B (zh) |
Families Citing this family (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102897674B (zh) * | 2012-10-11 | 2014-09-24 | 中联重科股份有限公司 | 一种确定吊装路径的方法及装置 |
CN103017757B (zh) * | 2012-12-06 | 2015-05-20 | 中联重科股份有限公司 | 工程机械入场路径规划方法和路径规划装置 |
CN103208213B (zh) * | 2013-03-11 | 2015-07-15 | 中联重科股份有限公司 | 一种操作仿真虚拟指挥装置、系统、方法和工程机械 |
CN103278153B (zh) * | 2013-04-27 | 2016-01-13 | 中南大学 | 一种基于空间二维映射的汽车起重机三维路径规划方法 |
DE112014004641T5 (de) * | 2013-10-08 | 2016-08-18 | Nanyang Technological University | Verfahren und System für eine intelligente Kran-Hebebewegung |
CN105347195B (zh) * | 2015-10-31 | 2018-02-23 | 长治清华机械厂 | 带智能控制的全力矩限制器 |
CN106056978B (zh) * | 2016-05-30 | 2019-02-15 | 中船重工(昆明)灵湖科技发展有限公司 | 一种基于ais系统的水域安防报警方法 |
CN106966298B (zh) * | 2017-04-17 | 2018-08-14 | 山东建筑大学 | 基于机器视觉的装配式建筑智能吊装方法与系统 |
CN107390695B (zh) * | 2017-08-10 | 2020-11-24 | 三一海洋重工有限公司 | 一种起重机运动轨迹规划方法和装置 |
CN107292886B (zh) * | 2017-08-11 | 2019-12-31 | 厦门市美亚柏科信息股份有限公司 | 基于网格划分及神经网络的目标物入侵检测方法及装置 |
CN108625592B (zh) * | 2018-04-12 | 2020-05-12 | 天津大学 | 建筑外围脚手架拆除吊运方法 |
US11195402B2 (en) | 2019-07-25 | 2021-12-07 | International Business Machines Corporation | Predictive warning system |
CN110989603B (zh) * | 2019-12-13 | 2022-08-16 | 苏州大学应用技术学院 | 一种起重机搬运作业路径规划方法 |
CN111321898A (zh) * | 2020-02-28 | 2020-06-23 | 广东博智林机器人有限公司 | 布料路径规划方法、装置、设备和存储介质 |
US11327883B2 (en) | 2020-03-12 | 2022-05-10 | International Business Machines Corporation | Solid-state drive performance and lifespan based on data affinity |
CN112507787B (zh) * | 2020-11-03 | 2022-08-05 | 北京深睿博联科技有限责任公司 | 基于正样本筛选视障人员障碍物的目标检测方法及装置 |
WO2022143193A1 (zh) * | 2020-12-31 | 2022-07-07 | 广州市建筑科学研究院集团有限公司 | 一种塔机自动吊运方法 |
CN112819952B (zh) * | 2021-02-24 | 2022-05-13 | 中冶南方工程技术有限公司 | 一种废钢料场磁盘吊车最优取料点的确定方法 |
CN112897346B (zh) * | 2021-03-31 | 2022-05-13 | 中国水利水电夹江水工机械有限公司 | 一种起重机运行路线规划方法 |
CN112884422B (zh) * | 2021-04-28 | 2021-08-06 | 河南科技学院 | 一种用于堆场仓储的起重机自动运行系统 |
CN117422835A (zh) * | 2023-11-14 | 2024-01-19 | 国网湖北省电力有限公司超高压公司 | 一种基于球极坐标系的吊车安全作业范围评估方法及系统 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101441736A (zh) * | 2007-11-21 | 2009-05-27 | 新乡市起重机厂有限公司 | 汽车起重机机器人路径规划方法 |
CN101985343A (zh) * | 2009-07-08 | 2011-03-16 | 嫩青利勃海尔-维克股份有限公司 | 用于操纵悬吊在承载缆上的负载的起重机 |
-
2012
- 2012-01-11 CN CN201210007417.1A patent/CN102542361B/zh active Active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101441736A (zh) * | 2007-11-21 | 2009-05-27 | 新乡市起重机厂有限公司 | 汽车起重机机器人路径规划方法 |
CN101985343A (zh) * | 2009-07-08 | 2011-03-16 | 嫩青利勃海尔-维克股份有限公司 | 用于操纵悬吊在承载缆上的负载的起重机 |
Non-Patent Citations (4)
Title |
---|
基于扇形栅格地图的移动机器人全局路径规划;李天成等;《机器人》;20100731;第32卷(第4期);第547-552页 * |
基于极坐标、栅格和模糊方法的路径规划;王挺等;《微计算机信息》;20081231;第24卷(第2-2期);第219-220、309页 * |
极坐标系下基于遗传算法的路径规划方法;冯琦等;《机械科学与技术》;20040531;第23卷(第5期);第625-626,630页 * |
极坐标系下机器人路径规划算法;李艳辉等;《大庆石油学院学报》;20111231;第35卷(第6期);第80-84页 * |
Also Published As
Publication number | Publication date |
---|---|
CN102542361A (zh) | 2012-07-04 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN102542361B (zh) | 起重机吊装物路径规划方法 | |
CN106842231B (zh) | 一种道路边界检测及跟踪方法 | |
CN112000754B (zh) | 地图构建方法、装置、存储介质及计算机设备 | |
CN104330090B (zh) | 机器人分布式表征智能语义地图创建方法 | |
CN105702151B (zh) | 一种室内地图构建方法及装置 | |
KR101382982B1 (ko) | 로봇의 주행 경로 계획 장치 및 방법 | |
CN110320930B (zh) | 基于Voronoi图的多无人机编队队形可靠变换方法 | |
Cheng et al. | Modeling tower crane operator visibility to minimize the risk of limited situational awareness | |
Zhang et al. | Multiagent approach for real-time collision avoidance and path replanning for cranes | |
CN103136393B (zh) | 一种基于网格划分的区域覆盖率计算方法 | |
CN109144072A (zh) | 一种基于三维激光的机器人智能避障方法 | |
CN103135550B (zh) | 用于电力巡线的无人机多重避障控制方法 | |
Renzaglia et al. | Multi-robot three-dimensional coverage of unknown areas | |
CN103017757B (zh) | 工程机械入场路径规划方法和路径规划装置 | |
CN103941264B (zh) | 一种室内未知环境下使用激光雷达定位方法 | |
CN104714555B (zh) | 一种基于边缘的三维自主探索方法 | |
CN106873630A (zh) | 一种飞行控制方法及装置,执行设备 | |
CN110009218A (zh) | 一种智能变电站安全作业管控方法及系统 | |
CN104914407B (zh) | 一种室内定位装置和定位方法 | |
CN106127723B (zh) | 外围空间特征信息提取方法 | |
CN107402018A (zh) | 一种基于连续帧的导盲仪组合路径规划方法 | |
CN109682336A (zh) | 用于车身精度检测的三坐标测量路径自动规划与优化方法 | |
CN108663669A (zh) | 用于电力巡线中应用的机载激光雷达系统 | |
CN102897674B (zh) | 一种确定吊装路径的方法及装置 | |
An et al. | Re-optimization strategy for truck crane lift-path planning |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Method for planning path of lift object for crane Effective date of registration: 20171013 Granted publication date: 20160302 Pledgee: ZOOMLION Group Finance Co.,Ltd. Pledgor: ZOOMLION HEAVY INDUSTRY SCIENCE&TECHNOLOGY Co.,Ltd. Registration number: 2017430000071 |
|
PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20181008 Granted publication date: 20160302 Pledgee: ZOOMLION Group Finance Co.,Ltd. Pledgor: ZOOMLION HEAVY INDUSTRY SCIENCE&TECHNOLOGY Co.,Ltd. Registration number: 2017430000071 |
|
PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Method for planning path of lift object for crane Effective date of registration: 20181206 Granted publication date: 20160302 Pledgee: ZOOMLION Group Finance Co.,Ltd. Pledgor: ZOOMLION HEAVY INDUSTRY SCIENCE&TECHNOLOGY Co.,Ltd. Registration number: 2018430000129 |
|
PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20200114 Granted publication date: 20160302 Pledgee: ZOOMLION Group Finance Co.,Ltd. Pledgor: ZOOMLION HEAVY INDUSTRY SCIENCE&TECHNOLOGY Co.,Ltd. Registration number: 2018430000129 |
|
PC01 | Cancellation of the registration of the contract for pledge of patent right |