Jib crane hoisting operation anti-collision method and system

Abstract

The invention discloses a jib crane hoisting operation anti-collision method and a system. According to the system, an obstacle classification model is established, and the appearance and position information of obstacles in an operation area is accurately acquired by adopting a crane jib head autonomous detection and study method. A cylindrical coordinate system of a crane is established, the operation area is divided into different sectors according to slewing angles, the sectors are divided into different fan-shaped grids according to the distance from a slewing center, environmental data of the operation area are precisely stored based on the fan-shaped grids, and a hoisting safe operation three-dimensional boundary wall is generated by utilizing the data of the fan-shaped grids. Motion and position parameters of a crane jib at the next moment are predicted by using a weighted linear regression model based on the position information of the crane jib at the most recent 20 moments. Aiming at the predicted motion and different distances from the boundary wall of the crane jib, crane jib control strategies such as no intervention, speed limiting, micro-motion and prohibition are adopted. Functional tests in an actual operation environment show that the system can effectively prevent the collision between the crane jib and the obstacles in the operation area.

Description

technical field [0001] The invention relates to an anti-collision system, in particular to an anti-collision method and system for hoisting operation of a jib crane. Background technique [0002] Cranes are widely used in construction and transportation industries, but industrial accidents involving crane hoisting operations occur frequently. According to public statistics, the number of deaths caused by crane accidents in my country was 231 in 2005, 314 in 2006, and 347 in 2007, ranking first among all mechanical accident deaths. According to statistics from the American Labor Safety and Health Commission, from 1992 to 2001, there were 137 fatal accidents involving cranes in the United States. The investigation of the causes of these accidents found that improper operation accounted for 48% of the accidents, and the collision and lifting overload caused by poor observation were the main reasons. [0003] During the hoisting operation, because the crane operator is not fam...

AI Technical Summary

Problems solved by technology

[0007] Path planning is to regard the crane as a multi-degree-of-freedom manipulator, and use a certain algorithm to find an optimal anti-collision path in its configurable space. In-device implementation

[0008] During the hoisting process, by installing various sensors on the crane and obstacles in the work area, such as global positioning system, radar, ultra-wideband sensor, video acquisition card, wireless remote radio frequency card, infrared detector or 3D laser scanner, etc., Detect people and objects in the crane operating area to establish a position system to avoid potential collisions in real time. This technology is mostly used in tower, bridge and crawler cranes that work in relatively fixed positions for a long time; for mobile booms For overhead cranes, because of their strong mobility, they are mostly used for hoisting operations that frequently change the working environment, so this technology is not suitable for them

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