System and method for optimizing control of track of rotary crane

Abstract

The invention relates to a system and a method for the optimizing control of the track of a rotary crane. The system comprises a crane optimization track control device, a movement mechanism position detection module and a position control module, wherein the crane optimization track control device is connected with the movement mechanism position detection module and the position control module, and the movement mechanism position detection module and a movement mechanism control module are connected with movement mechanisms. The method comprises the following steps of: pre-designing and optimizing coordinate movement tracks in a natural space; converting the coordinate movement tracks into coordinates of the movement mechanisms; and performing real-time control on each movement mechanism. The system and the method can conveniently realize track optimization and track tracing, effectively reduce the running distance, improve the movement speed, save the movement space, reduce shaking and twisting of objects, are convenient for positioning control, are convenient to realize lifting and synergistic operations of large-size objects by a plurality of cranes, realize safety, high efficiency, energy conservation and emission reduction in the lifting process, greatly reduce the labor intensity, and has good economical efficiency and wide application range.

Description

technical field [0001] The invention relates to the technical field of crane loading and unloading, in particular to the technical field of track operation control during the hoisting process of a rotary crane, in particular to a rotary crane track optimization control system and a control method thereof. Background technique [0002] In modern society, the rapid development of logistics makes crane hoisting more and more pursuit of safety, high efficiency and energy saving. Among common cranes, most cranes contain at least one rotating mechanism, such as door cranes and tower cranes. For the moving part, some cranes have more than one rotating mechanism. For example, some door cranes have a rotating and moving mechanism, and the amplitude of the door crane is also realized through the rotating mechanism. [0003] The traditional rotary crane motion control method is designed to conform to the operation mode of the mechanical movement mechanism of the crane rather than the o...

AI Technical Summary

Problems solved by technology

However, for rotary cranes, its linear motion often requires the coordinated movement of multiple kinematic mechanisms, and the coordinated control of multiple kinematic mechanisms is neither intuitive nor convenient if the driver is manually operated. It is very difficult, so at present, most drivers realize the hoisting movement track by separately controlling a single motion mechanism, so that the straight line movement cannot be guaranteed; due to the limitation of the safe movement space, some hoisting must run through a straight line or a specific space trajectory. At the same time, the driver has to sacrifice the hoisting speed, subdivide the motion trajectory, coordinate and control the positions of multiple motion mechanisms at low speed and small steps to fit a straight line or a specific space trajectory

[0006] At the same time, the objects to be hoisted are getting bigger and bigger, and more and more cranes are required to lift and lift. When there are rotating cranes for lifting, its trajectory tracking or coordination becomes very difficult. There is no way to take the mechanical movement structure of a crane as the original point of movement. For the operator and the commander, they all work according to the vertical space coordinates (Cartesian space) that people are accustomed to. Therefore, multiple cranes lift large objects. tougher

[0007] To sum up, due to the unintuitive and inconvenient operation and the driver's instinctive pursuit of speed, this type of movement still has certain safety hazards. Therefore, it is urgent to provide a hoisting operation mode that conforms to people's natural habits, and gradually become more important

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