Crane control method and system based on operation intention recognition

• Main Authors: WU YAXUAN, ZHOU ZIJUN, ZHANG TAO, SUN NING, YANG TONG, WU QINGXIANG, PANG RUIPING, CHENG YALONG, WU JIANGJUN, WU YINAN
• Format: Patent
• Language: Chinese; English
• Published: 15.03.2024
• Subjects: CRANES; HAULING; HOISTING; LIFTING; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS,WINCHES, OR TACKLES; PERFORMING OPERATIONS; TRANSPORTING

The invention relates to the field of intelligent tower cranes, and provides a crane control method and system based on operation intention recognition. The tower crane experiment platform comprises a pillar, a rotating arm is arranged at the upper end of the pillar, a trolley is arranged on the rotating arm, the bottom of the trolley is connected with one end of a lifting rope, and the other end is connected with a distributed mass load; the controller comprises a first MPC controller and a second MPC controller, and the first MPC controller is used for processing the received operation instruction and outputting a control instruction for controlling the trolley/rotating arm to move in combination with data collected by the sensor; the second MPC controller is used for processing the received operation instruction, generating a target position reference track in combination with the current position of the trolley/rotating arm, and outputting a control instruction for controlling the positioning of the troll