Development of one-button start system for automatic tamping of unmanned crawler crane

Aiming at the problems of low efficiency, poor precision and potential safety hazards caused by the reliance on manual operation of traditional crawler cranes for dynamic compaction operations, this paper proposes an automatic tamping one-button start system suitable for unmanned crawler cranes. First, the system is introduced in detail to realize the whole process of dynamic compaction construction. Secondly, based on the kinematic characteristics of crawler crane walking, the pure tracking algorithm and feedback correction mechanism are integrated to construct an adaptive control strategy for complex working conditions. Then, the system realizes the precise positioning of the target tamping point by the tamping hammer through the conversion of the global coordinate system and the vehicle-mounted local coordinate system, combined with the dynamic parameter solution. Finally, the tamping accuracy and tamping settlement of the system are tested. The average error of the tamping accuracy is 5.75 cm, and the tamping settlement error is required to be less than 5 cm. The final qualified rate is 86.8%, which verifies the real-time and reliability of the automatic tamping one-button start system of the unmanned crawler crane.