A Method of Motion Path Planning for Overhead Crane

Abstract

The invention relates to a method for planning a movement path of a bridge crane. The patent of the invention adopts a method of jumping and searching nodes to optimize the selection method of expansion nodes in the A* algorithm, which can effectively improve the efficiency of the algorithm work. In addition, the improved A* algorithm takes into account the kinematics model of the crane, and adds a turning cost to reduce the inflection point in the planned path, so as to alleviate the problems of repeated start and stop of the motor and shaking of the boom during the operation of the starter. Applying this method to the path planning of bridge cranes, the improved A* algorithm can plan the ideal driving path at a faster speed in the task of planning the same path. At the same time, the method provided by the patent of the present invention can also take into account the kinematics characteristics of the crane while obtaining the optimal path, so as to alleviate the problem of boom swing to the greatest extent. The method applied to the path planning of the bridge crane can not only improve the automatic loading efficiency of the crane, but also provide a guarantee for industrial safety production.

Description

technical field [0001] The invention relates to the field of road engineering measurement, in particular to a method for planning a motion path of a bridge crane. Background technique [0002] As the level of mechanization and intelligence in the manufacturing process continues to increase, machines can begin to make decisions autonomously. Among them, path planning is a hot topic in the research of machine intelligence, and has been widely used in unmanned driving, intelligent navigation, intelligent logistics and other fields. Path planning requires the mechanical agent to autonomously decide to generate a motion path from the initial point to the target point under the premise of environmental awareness. The evaluation of the planning quality often includes: path length, time consumption, and energy consumption costs. [0003] In industrial production, the differences in production background and mechanical structure impose different requirements on path planning. Among...

AI Technical Summary

Problems solved by technology

Due to the influence of the restrictive relationship between the speed of the cart and the trolley during the movement of the bridge crane, the inflection point and the oblique line will cause the trolley to start and stop repeatedly, which makes the anti-sway work of the starter crane more difficult. A big safety hazard

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