Method for automatically obtaining optimal operation path of unmanned crown block

Abstract

The invention relates to a method for automatically obtaining an optimal operation path of an unmanned crown block, and belongs to the technical field of metallurgical automatic control. According tothe technical scheme, the method comprises the following steps: 1, setting data information; 2, calculating by adopting a scene application type obstacle avoidance method (14), calculating a current coping strategy through comprehensive parameter setting and comparison and crown block work order type and work order state transition, and giving an operation path; and 3, executing the method, and formatting and issuing the operation path according to a path planning strategy. The method has the advantages that the number of turning points on the crown block operation path is reduced, the probability that the crown block decelerates when passing through the turning points is reduced, and therefore the crown block operation efficiency is greatly improved; future requirements of development ofa crown block unmanned driving system are met, and smooth and efficient operation of crown block unmanned driving with increasing complexity can be continued.

Description

technical field [0001] The invention relates to a method for automatically obtaining the optimal operation path of an unmanned crane, belonging to the technical field of metallurgical automatic control. Background technique [0002] With the development of smart factories in the metallurgical industry, the unmanned driving system of warehouse cranes has received widespread attention. The operating path of the crane is more prominent in the unmanned driving system: there are different types of obstacles in the warehouse, and the warehouse area involves a wide range of operations and includes manual packing areas. Therefore, the rationality of the operation path directly determines the performance of the unmanned driving system of the crane. Unreasonable path selection will result in low operation efficiency, poor user experience and serious safety hazards. If the manual packing area is treated as an obstacle, when the crane is related to the packing area operation, the coord...

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Problems solved by technology

Therefore, the rationality of the operation path directly determines the performance of the unmanned driving system of the crane. Unreasonable path selection will result in low operation efficiency, poor user experience and serious safety hazards.

If the manual packing area is treated as an obstacle, when the crane is related to the packing area operation, the coordinates of the end point of the rectangle based on the packing area will be obtained according to the intersection of the line segment and the rectangle, and the packing area will be avoided, and the packing operation cannot be completed

This will restrict the operation of unmanned cranes and affect the business in the reservoir area, so a new path planning method is urgently needed to meet the needs of the site

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