A flow type crane jib anti-collision control method, system, device and storage medium

Abstract

The application discloses a flow type crane boom anti-collision control method, system and device and a storage medium, and the method comprises the following steps: constructing a three-dimensional space coordinate system; acquiring the rotation angle of a crane base and the horizontal distance and vertical distance from the base vertex to the origin to determine the base vertex coordinate; acquiring the length, lifting angle and rotation angle of the crane boom, and combining the base vertex coordinate to determine the boom vertex coordinate; acquiring the length, lifting angle and rotation angle of the connecting line between the boom vertex and the obstacle, and combining the boom vertex coordinate to determine the obstacle coordinate; constructing a dangerous spherical equation with the obstacle coordinate as the center and the preset dangerous distance as the radius; calculating the collision risk of the boom and the dangerous spherical equation and the time of entering the dangerous sphere; further determining the risk state, and selecting the corresponding control strategy according to the risk state; and the application can effectively solve the anti-collision problem in the boom movement process, and has good applicability and popularization.

Description

Technical Field

[0001] This invention relates to a method, system, device, and storage medium for anti-collision control of the boom of a mobile crane, belonging to the field of crane technology. Background Technology

[0002] Mobile cranes refer to movable cranes, mainly including truck cranes, crawler cranes, tire cranes, all-terrain cranes, and truck-mounted cranes. Due to their short operating cycles and high mobility, they are widely used in lifting operations in transportation, agriculture, oil fields, petrochemicals, wind power, nuclear power, and military industries. During lifting operations, operators use motors and transmission mechanisms to drive the lifting mechanism, consisting of the boom and hook, to lift and move heavy objects within space. However, the working environment for lifting operations is complex and may contain obstacles such as high-voltage cables. If the boom collides with an obstacle during spatial movement, it will not only affect the safety of the lifting operation but may also endanger the personal safety of the operators. To avoid such accidents, in addition to ensuring operators are familiar with the working environment and avoid collisions, the boom itself should also slow down upon detecting obstacles during movement and brake in dangerous situations to effectively prevent collisions and ensure the safety of lifting operations. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a method, system, device and storage medium for anti-collision control of mobile crane boom, which can prevent the boom from colliding with obstacles and effectively ensure the safety of lifting operations.

[0004] To achieve the above objectives, the present invention is implemented using the following technical solution:

[0005] In a first aspect, the present invention provides a method for preventing collisions with the boom of a mobile crane, comprising:

[0006] Select any fixed point on the crane as the origin and construct a three-dimensional spatial coordinate system;

[0007] Obtain the rotation angle of the crane base and the horizontal and vertical distances from the base vertex to the origin, and determine the coordinates of the base vertex in a three-dimensional coordinate system;

[0008] Obtain the length, lifting angle, and rotation angle of the crane boom, and determine the boom vertex coordinates in a three-dimensional coordinate system by combining the base vertex coordinates;

[0009] Obtain the length of the line connecting the boom apex and the obstacle, the lifting angle, and the rotation angle, and combine the boom apex coordinates to determine the obstacle coordinates in the three-dimensional coordinate system;

[0010] Construct the equation of the dangerous sphere with the obstacle coordinates as the center and the preset danger distance as the radius;

[0011] Calculate the collision risk of the boom with the equation of the dangerous sphere in the telescopic dimension, lifting dimension, and rotation dimension, and the time to enter the dangerous sphere.

[0012] The risk status is determined based on the collision risk and the time of entry into the dangerous sphere, and the corresponding control strategy is selected according to the risk status.

[0013] Optionally, the fixed point is the bottom center point of the crane base.

[0014] Optionally, the coordinates of the base vertex are:

[0015]

[0016] Where m and h are the horizontal and vertical distances between the base vertex and the origin, respectively, and β is the rotation angle of the base.

[0017] Optionally, the coordinates of the boom vertex are:

[0018]

[0019] Among them, (x P ,y P ,z P Let (x) be the coordinates of the vertices P of the boom. A ,y A ,z A Let θ be the coordinates of the base vertex A, and L, θ, and ω be the length of the boom, the lifting angle, and the rotation angle, respectively.

[0020] Optionally, the obstacle coordinates are:

[0021]

[0022] Among them, (x V ,y V ,z V (x) represents the V-coordinate of the obstacle. P ,y P ,z P Let ) represent the coordinates of the vertices P of the boom, d, α, and α. The length of the line connecting the top of the boom to the obstacle, the lifting angle, and the rotation angle are respectively measured.

[0023] Optionally, the equation for the dangerous sphere is:

[0024] (xx V ) 2 +(yy V ) 2+(zz V ) 2 =R 2

[0025] Where R is the preset danger distance, (x V ,y V ,z V () represents the V coordinate of the obstacle.

[0026] Optionally, the calculation of the collision risk of the boom in the telescopic dimension with the equation of the dangerous sphere and the time of entry into the dangerous sphere includes:

[0027] Based on the coordinates of the boom's apex, construct the parametric equation of the line containing the boom's extension dimension:

[0028]

[0029] Among them, (x P ,y P ,z P Let (x) be the coordinates of the vertices P of the boom. A ,y A ,z A ) represents the coordinates of vertex A of the base, and a is a parameter;

[0030] By simultaneously solving the parametric equations of the line containing the boom's extension dimension and the equations of the critical sphere, we can obtain:

[0031]

[0032] Solve the above expression:

[0033] If there is no solution, then the boom has no intersection with the dangerous spherical surface in the telescopic dimension, and there is no risk of collision between the boom and the dangerous spherical surface;

[0034] If a solution exists, then the boom intersects the dangerous sphere in the extension / retraction dimension, and there is a risk of collision between the boom and the dangerous sphere; obtain the intersection point P′ closest to the boom vertex P and the velocity v of the boom's extension / retraction motion. str Calculate the time it takes for the boom vertex P to enter the dangerous sphere in the scaling dimension:

[0035]

[0036] Where |PP′| is the distance between the vertices P and P′ of the boom, (x p′ ,y p′ ,z p′ Let P' be the coordinates of the intersection point.

[0037] Optionally, the calculation of the collision risk of the boom with the equation of the dangerous sphere in the lifting dimension and the time of entry into the dangerous sphere includes:

[0038] Construct the spherical equation for the lifting dimension of the boom, with the base vertex A as the center and the boom length L as the radius:

[0039] (xx A ) 2 +(yy A ) 2 +(zz A ) 2 =L 2

[0040] Among them, (x A ,y A ,z A () represents the coordinates of vertex A of the base;

[0041] Based on the equation of the sphere containing the lifting dimension of the boom, construct the equation of the tangent circle of the plane containing the OAP according to the base vertex A, the boom vertex P, and the origin O:

[0042] (y A ·z P -z A ·y P )·x+(z A ·x P -x A ·z P )·y+(x A ·y P -y A ·x P )·z=0

[0043] Among them, (x P ,y P ,z P () represents the coordinates of the vertices P of the boom;

[0044] By simultaneously solving the equations of the sphere containing the lifting dimension of the boom, the tangent circle of the plane containing the OAP, and the dangerous sphere, we can obtain:

[0045]

[0046] Solve the above expression:

[0047] If there is no solution, then the boom has no intersection with the dangerous spherical surface in the lifting dimension, and there is no risk of collision between the boom and the dangerous spherical surface;

[0048] If a solution exists, then the boom intersects the dangerous sphere in the lifting dimension, and there is a risk of collision between the boom and the dangerous sphere; obtain the intersection point P′ closest to the boom vertex P, and calculate the arc using the dot product formula. The central angle is:

[0049]

[0050] in, and Let A and B represent the vectors from the base vertex A to the boom vertex P and the intersection point P′, respectively. and These are the vector lengths;

[0051] Obtain the angular velocity v of the boom lifting motion lift Calculate the time it takes for the boom vertex P to enter the danger sphere in the lifting dimension based on the central angle:

[0052]

[0053] Optionally, the calculation of the collision risk of the boom in the rotational dimension with the equation of the dangerous sphere and the time of entry into the dangerous sphere includes:

[0054] With the projection point O′ of the origin O onto the boom as the center, and the projection length of |O′P| in the rotation dimension as the radius, construct the equation of the circular surface containing the boom's rotation dimension:

[0055]

[0056] Among them, (x P ,y P ,z P Let P be the coordinates of the boom apex, L and θ be the boom length and lifting angle respectively, and m and h be the horizontal and vertical distances between the base apex and the origin respectively.

[0057] Solve the equations simultaneously using the equations of the circle containing the boom's rotational dimension and the critical sphere:

[0058] If there is no solution, then the boom has no intersection with the dangerous sphere in the rotational dimension, and there is no risk of collision between the boom and the dangerous sphere;

[0059] If a solution exists, then the boom intersects the dangerous sphere in the rotational dimension, and there is a risk of collision between the boom and the dangerous sphere; obtain the intersection point P′ closest to the boom vertex P, and calculate the arc using the dot product formula. The central angle is:

[0060]

[0061] in, and These represent the projection points O respectively. ′ The vector from the top P of the boom to its intersection point P′. and These are the vector lengths;

[0062] Obtain the angular velocity v of the boom lifting motion spinCalculate the time it takes for the boom vertex P to enter the danger sphere in the lifting dimension based on the central angle:

[0063]

[0064] Optionally, determining the risk state based on collision risk and the time of entry into the dangerous sphere includes:

[0065] When the boom has no risk of collision with the dangerous spherical surface in the telescopic, lifting, and rotational dimensions, the boom's movement is in a low-risk state.

[0066] If the boom is at risk of colliding with the dangerous sphere in any of the telescopic, lifting, or rotating dimensions, and the time it takes to enter the dangerous sphere is less than or equal to the preset warning time, then the boom movement that has not entered the dangerous sphere is in a medium-risk state.

[0067] If the boom is at risk of colliding with a dangerous sphere in any of the telescopic, lifting, or rotational dimensions, and has already entered the dangerous sphere, then the boom's movement is in a high-risk state.

[0068] Optionally, selecting the appropriate control strategy based on the risk status includes:

[0069] When the boom movement is in a low-risk state, do not interfere with the boom movement;

[0070] When the boom's movement is in a medium-risk state, control the boom to slow down.

[0071] When the boom's movement is in a high-risk state, control the boom brake.

[0072] Secondly, the present invention provides a mobile crane boom anti-collision control system, the system comprising:

[0073] Coordinate system construction module: used to select any fixed point on the crane as the origin and construct a three-dimensional spatial coordinate system;

[0074] The base vertex coordinate module is used to obtain the rotation angle of the crane base and the horizontal and vertical distances from the base vertex to the origin, and to determine the base vertex coordinates in the three-dimensional coordinate system.

[0075] The boom vertex coordinate module is used to obtain the length, lifting angle and rotation angle of the crane boom, and determine the boom vertex coordinates in a three-dimensional coordinate system by combining the base vertex coordinates.

[0076] The obstacle coordinate module is used to obtain the length of the line connecting the boom apex and the obstacle, the lifting angle, and the rotation angle, and to determine the obstacle coordinates in a three-dimensional coordinate system by combining the boom apex coordinates.

[0077] The Dangerous Spherical Equation Module is used to construct dangerous spherical equations with the obstacle coordinates as the center and the preset danger distance as the radius.

[0078] The dimension calculation module is used to calculate the collision risk of the boom with the equation of the dangerous sphere in the telescopic dimension, lifting dimension, and rotation dimension, as well as the time to enter the dangerous sphere.

[0079] The strategy control module is used to determine the risk state based on the collision risk and the time of entry into the dangerous sphere, and select the corresponding control strategy according to the risk state.

[0080] Thirdly, the present invention provides a mobile crane boom anti-collision control device, including a processor and a storage medium;

[0081] The storage medium is used to store instructions;

[0082] The processor is configured to operate according to the instructions to perform the steps of the method according to any of the foregoing.

[0083] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, characterized in that the program, when executed by a processor, implements the steps of any of the methods described above.

[0084] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0085] This invention provides a mobile crane boom anti-collision control method, system, device, and storage medium. Based on the relationship between the crane boom length, lifting angle, rotation angle, and the distance, pitch angle, and azimuth angle of the obstacle from the boom tip, it utilizes spatial geometry to assess the collision risk of the boom's movement in the telescopic, lifting, and rotation dimensions. According to the risk level, corresponding control strategies are adopted, effectively preventing the boom from colliding with obstacles during lifting operations and ensuring the safety of the lifting operation. Furthermore, by using time rather than distance as the characteristic quantity for controlling boom deceleration or braking, sufficient deceleration or braking distance is maintained based on the boom's movement speed, ensuring the smoothness of the boom's movement during lifting operations. Attached Figure Description

[0086] Figure 1 This is a flowchart of a mobile crane boom anti-collision control method provided in an embodiment of the present invention;

[0087] Figure 2 This is a schematic diagram of a three-dimensional spatial coordinate system provided in an embodiment of the present invention;

[0088] Figure 3 This is a schematic diagram of the obstacle located in the telescopic dimension of the boom, provided in an embodiment of the present invention;

[0089] Figure 4 This is a schematic diagram of the obstacle located in the lifting dimension of the boom, provided in an embodiment of the present invention;

[0090] Figure 5 This is a schematic diagram of the obstacle located in the rotation dimension of the boom, provided in an embodiment of the present invention. Detailed Implementation

[0091] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0092] Example 1:

[0093] like Figure 1 As shown, this embodiment of the invention provides a collision avoidance control method for the boom of a mobile crane, comprising the following steps:

[0094] (1) Select any fixed point on the crane as the origin and construct a three-dimensional spatial coordinate system; in this embodiment, the fixed point is the bottom center point of the crane base.

[0095] (2) Obtain the rotation angle of the crane base and the horizontal and vertical distances from the base vertex to the origin, and determine the coordinates of the base vertex in the three-dimensional coordinate system;

[0096] like Figure 2 As shown, the coordinates of the base vertex are:

[0097]

[0098] Where m and h are the horizontal and vertical distances between the base vertex and the origin, respectively, and β is the rotation angle of the base.

[0099] (3) Obtain the length, lifting angle and rotation angle of the crane boom, and determine the coordinates of the boom vertex in the three-dimensional coordinate system in combination with the coordinates of the base vertex;

[0100] like Figure 2 As shown, the coordinates of the boom vertex are:

[0101]

[0102] Among them, (x P ,y P ,z P Let (x) be the coordinates of the vertices P of the boom. A ,y A ,z A Let θ be the coordinates of the base vertex A, and L, θ, and ω be the length of the boom, the lifting angle, and the rotation angle, respectively.

[0103] (4) Obtain the length of the line connecting the top of the boom and the obstacle, the lifting angle and the rotation angle, and determine the coordinates of the obstacle in the three-dimensional coordinate system by combining the coordinates of the top of the boom;

[0104] like Figure 2 As shown, the obstacle's coordinates are:

[0105]

[0106] Among them, (x V ,y V ,z V (x) represents the V-coordinate of the obstacle. P ,y P ,z P Let ) represent the coordinates of the vertices P of the boom, d, α, and α. The length of the line connecting the top of the boom to the obstacle, the lifting angle, and the rotation angle are respectively measured.

[0107] (5) Construct the equation of the dangerous sphere with the obstacle coordinates as the center and the preset danger distance as the radius;

[0108] Specifically, the equation for the dangerous sphere is:

[0109] (xx V ) 2 +(yy V ) 2 +(zz V ) 2 =R 2

[0110] Where R is the preset danger distance, (x V ,y V ,z V () represents the V coordinate of the obstacle.

[0111] (6) Calculate the collision risk of the boom with the dangerous sphere equation in the telescopic dimension, lifting dimension and rotation dimension respectively, as well as the time to enter the dangerous sphere;

[0112] like Figure 3 As shown, the calculation of the collision risk of the boom in the telescopic dimension with the equation of the dangerous sphere and the time to enter the dangerous sphere includes:

[0113] 1. Based on the coordinates of the boom apex, construct the parametric equation of the line containing the boom's extension / retraction dimension:

[0114]

[0115] Among them, (x P ,y P ,z P Let (x) be the coordinates of the vertices P of the boom. A ,yA ,z A ) represents the coordinates of vertex A of the base, and a is a parameter;

[0116] 2. By simultaneously solving the parametric equations of the line containing the boom's extension dimension and the equations of the critical sphere, we can obtain:

[0117]

[0118] 3. Solve the above expression:

[0119] If there is no solution, then the boom has no intersection with the dangerous sphere in the telescopic dimension, and there is no risk of collision between the boom and the dangerous sphere.

[0120] If a solution exists, then the boom intersects the dangerous sphere in the extension / retraction dimension, and there is a risk of collision between the boom and the dangerous sphere; obtain the intersection point P′ closest to the boom vertex P and the velocity v of the boom's extension / retraction motion. str Calculate the time it takes for the boom vertex P to enter the dangerous sphere in the scaling dimension:

[0121]

[0122] Where |PP′| is the distance between the vertices P and P′ of the boom, (x p′ ,y p′ ,z p′ Let P' be the coordinates of the intersection point.

[0123] like Figure 4 As shown, the calculation of the collision risk of the boom with the dangerous sphere equation in the lifting dimension and the time to enter the dangerous sphere includes:

[0124] 1. Construct the spherical equation for the lifting dimension of the boom, with the base vertex A as the center and the boom length L as the radius:

[0125] (xx A ) 2 +(yy A ) 2 +(zz A ) 2 =L 2

[0126] Among them, (x A ,y A ,z A () represents the coordinates of vertex A of the base;

[0127] 2. Based on the equation of the sphere containing the lifting dimension of the boom, construct the equation of the tangent circle of the plane containing the OAP according to the base vertex A, the boom vertex P, and the origin O:

[0128] (y A·z P -z A ·y P )·x+(z A ·x P -x A ·z P )·y+(x A ·y P -y A ·x P )·z=0

[0129] Among them, (x P ,y P ,z P () represents the coordinates of the vertices P of the boom;

[0130] 3. By simultaneously solving the equations of the sphere containing the lifting dimension of the boom, the tangent circle of the plane containing the OAP, and the critical sphere, we can obtain:

[0131]

[0132] 4. Solve the above expression:

[0133] If there is no solution, then the boom has no intersection with the dangerous spherical surface in the lifting dimension, and there is no risk of collision between the boom and the dangerous spherical surface;

[0134] If a solution exists, then the boom intersects the dangerous sphere in the lifting dimension, and there is a risk of collision between the boom and the dangerous sphere; obtain the intersection point P′ closest to the boom vertex P, and calculate the arc using the dot product formula. The central angle is:

[0135]

[0136] in, and Let A and B represent the vectors from the base vertex A to the boom vertex P and the intersection point P′, respectively. and These are the vector lengths;

[0137] Obtain the angular velocity v of the boom lifting motion lift Calculate the time it takes for the boom vertex P to enter the danger sphere in the lifting dimension based on the central angle:

[0138]

[0139] like Figure 5 As shown, the calculation of the collision risk of the boom with the equation of the dangerous sphere in the rotational dimension and the time to enter the dangerous sphere includes:

[0140] 1. The projection point O of the origin O onto the boom ′ With |O as the center, ′Construct the equation of the circle containing the rotational dimension of the boom using the projected length of P as the radius:

[0141]

[0142] Among them, (x P ,y P ,z P Let P be the coordinates of the boom apex, L and θ be the boom length and lifting angle respectively, and m and h be the horizontal and vertical distances between the base apex and the origin respectively.

[0143] 2. Solve the equations simultaneously using the equations of the circular surface containing the boom's rotational dimension and the equation of the critical sphere:

[0144] If there is no solution, then the boom has no intersection with the dangerous sphere in the rotational dimension, and there is no risk of collision between the boom and the dangerous sphere;

[0145] If a solution exists, then the boom intersects the dangerous sphere in the rotational dimension, and there is a risk of collision between the boom and the dangerous sphere; obtain the intersection point P′ closest to the boom vertex P, and calculate the arc using the dot product formula. The central angle is:

[0146]

[0147] in, and These represent the projection points O respectively. ′ The vector from the top P of the boom to its intersection point P′. and These are the vector lengths;

[0148] Obtain the angular velocity v of the boom lifting motion spin Calculate the time it takes for the boom vertex P to enter the danger sphere in the lifting dimension based on the central angle:

[0149]

[0150] (7) Determine the risk status based on the collision risk and the time of entry into the dangerous sphere, and select the corresponding control strategy according to the risk status.

[0151] (1) Determining the risk status based on collision risk and the time of entry into the dangerous spherical surface includes:

[0152] When the boom has no risk of collision with the dangerous spherical surface in the telescopic, lifting, and rotational dimensions, the boom's movement is in a low-risk state.

[0153] If the boom is at risk of colliding with the dangerous sphere in any of the telescopic, lifting, or rotating dimensions, and the time it takes to enter the dangerous sphere is less than or equal to the preset warning time, then the boom movement that has not entered the dangerous sphere is in a medium-risk state.

[0154] If the boom is at risk of colliding with a dangerous sphere in any of the telescopic, lifting, or rotational dimensions, and has already entered the dangerous sphere, then the boom's movement is in a high-risk state.

[0155] (2) Selecting appropriate control strategies based on the risk status includes:

[0156] When the boom movement is in a low-risk state, do not interfere with the boom movement;

[0157] When the boom's movement is in a medium-risk state, control the boom to slow down.

[0158] When the boom's movement is in a high-risk state, control the boom brake.

[0159] Example 2:

[0160] This invention provides a collision avoidance control system for a mobile crane boom, the system comprising:

[0161] Coordinate system construction module: used to select any fixed point on the crane as the origin and construct a three-dimensional spatial coordinate system;

[0162] The base vertex coordinate module is used to obtain the rotation angle of the crane base and the horizontal and vertical distances from the base vertex to the origin, and to determine the base vertex coordinates in the three-dimensional coordinate system.

[0163] The boom vertex coordinate module is used to obtain the length, lifting angle and rotation angle of the crane boom, and determine the boom vertex coordinates in a three-dimensional coordinate system by combining the base vertex coordinates.

[0164] The obstacle coordinate module is used to obtain the length of the line connecting the boom apex and the obstacle, the lifting angle, and the rotation angle, and to determine the obstacle coordinates in a three-dimensional coordinate system by combining the boom apex coordinates.

[0165] The Dangerous Spherical Equation Module is used to construct dangerous spherical equations with the obstacle coordinates as the center and the preset danger distance as the radius.

[0166] The dimension calculation module is used to calculate the collision risk of the boom with the equation of the dangerous sphere in the telescopic dimension, lifting dimension, and rotation dimension, as well as the time to enter the dangerous sphere.

[0167] The strategy control module is used to determine the risk state based on the collision risk and the time of entry into the dangerous sphere, and select the corresponding control strategy according to the risk state.

[0168] Example 3:

[0169] Based on Embodiment 1 of the present invention, the present invention provides a mobile crane boom anti-collision control device, including a processor and a storage medium;

[0170] Storage media are used to store instructions;

[0171] The processor is used to perform operations according to instructions to execute the steps according to the method described above.

[0172] Example 4:

[0173] Based on Embodiment 1 of the present invention, the present invention provides a computer-readable storage medium storing a computer program thereon, characterized in that the program, when executed by a processor, implements the steps of the above-described method.

[0174] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0175] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0176] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0177] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0178] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for preventing collisions with the boom of a mobile crane, characterized in that, include: Select any fixed point on the crane as the origin and construct a three-dimensional spatial coordinate system; Obtain the rotation angle of the crane base and the horizontal and vertical distances from the base vertex to the origin, and determine the coordinates of the base vertex in a three-dimensional coordinate system; Obtain the length, lifting angle, and rotation angle of the crane boom, and determine the boom vertex coordinates in a three-dimensional coordinate system by combining the base vertex coordinates; Obtain the length of the line connecting the boom apex and the obstacle, the lifting angle, and the rotation angle, and combine the boom apex coordinates to determine the obstacle coordinates in the three-dimensional coordinate system; Construct the equation of the dangerous sphere with the obstacle coordinates as the center and the preset danger distance as the radius; Calculate the collision risk of the boom with the equation of the dangerous sphere in the telescopic dimension, lifting dimension, and rotation dimension, and the time to enter the dangerous sphere. The risk status is determined based on the collision risk and the time of entry into the dangerous sphere, and the corresponding control strategy is selected according to the risk status.

2. The anti-collision control method for the boom of a mobile crane according to claim 1, characterized in that, The fixed point is the bottom center point of the crane base.

3. The anti-collision control method for the boom of a mobile crane according to claim 1, characterized in that, The coordinates of the base vertex are: ； in, and These represent the horizontal and vertical distances between the base vertex and the origin, respectively. This refers to the rotation angle of the base.

4. The anti-collision control method for the boom of a mobile crane according to claim 1, characterized in that, The coordinates of the top of the boom are: ； in, At the top of the boom The coordinates, ( (The apex of the base) coordinates , and These are the boom length, lifting angle, and rotation angle, respectively.

5. The anti-collision control method for the boom of a mobile crane according to claim 1, characterized in that, The coordinates of the obstacle are: ； in, For obstacles coordinate, At the top of the boom coordinates , and The length of the line connecting the top of the boom to the obstacle, the lifting angle, and the rotation angle are respectively measured.

6. The anti-collision control method for the boom of a mobile crane according to claim 1, characterized in that, The equation for the dangerous sphere is: ； in, To pre-determine a dangerous distance, For obstacles coordinate.

7. The anti-collision control method for the boom of a mobile crane according to claim 6, characterized in that, The calculation of the collision risk of the boom in the telescopic dimension with the equation of the dangerous sphere and the time of entry into the dangerous sphere includes: Based on the coordinates of the boom's apex, construct the parametric equation of the line containing the boom's extension dimension: ； in, At the top of the boom The coordinates, ( (The apex of the base) coordinates For parameters; By simultaneously solving the parametric equations of the line containing the boom's extension dimension and the equations of the critical sphere, we can obtain: = ； In the formula, , and These are the boom length, lifting angle, and rotation angle, respectively. , and The length of the line connecting the top of the boom to the obstacle, the lifting angle, and the rotation angle are respectively measured. To pre-set a danger distance; Solve the above expression: If there is no solution, then the boom has no intersection with the dangerous spherical surface in the telescopic dimension, and there is no risk of collision between the boom and the dangerous spherical surface; If a solution exists, then the boom intersects the dangerous sphere in the extension / retraction dimension, and there is a risk of collision between the boom and the dangerous sphere; obtain the distance from the boom vertex. The nearest intersection and the speed of the boom extension and retraction movement Calculate the top of the boom The time it takes to enter the dangerous sphere in the scaling dimension: ； in, At the top of the boom and intersection distance, Intersection coordinates .

8. The anti-collision control method for the boom of a mobile crane according to claim 6, characterized in that, The calculation of the collision risk of the boom in the lifting dimension with the equation of the dangerous sphere and the time of entry into the dangerous sphere includes: With the apex of the base Centered on the circle, with the boom length as the reference point. Construct the spherical equation for the lifting dimension of the boom with respect to the radius: ； in,( (The apex of the base) The coordinates; Based on the equation of the sphere containing the lifting dimension of the boom, and according to the vertices of the base... top of the boom and origin Build Equation of the tangent circle of the plane: ； in, At the top of the boom The coordinates; Based on the equation of the sphere containing the lifting dimension of the boom, The equations of the tangent circle and the critical sphere can be obtained by simultaneously solving the equations of the plane containing the sphere: ； In the formula, For obstacles coordinate, and These are the boom length and rotation angle, respectively. To pre-set a danger distance; Solve the above expression: If there is no solution, then the boom has no intersection with the dangerous spherical surface in the lifting dimension, and there is no risk of collision between the boom and the dangerous spherical surface; If a solution exists, then the boom intersects with the dangerous sphere in the lifting dimension, and there is a risk of collision between the boom and the dangerous sphere; obtain the distance from the boom vertex. The nearest intersection Calculate the arc using the dot product formula. The central angle is: ； in, and These represent the vertices of the base. To the top of the boom and intersection The vector, and These are the vector lengths; Obtain the angular velocity of the boom lifting motion. Calculate the apex of the boom based on the central angle. The time it takes for the ascending or descending dimension to enter the dangerous sphere: 。 9. A method for preventing collisions with the boom of a mobile crane according to claim 6, characterized in that, The calculation of the collision risk of the boom in the rotational dimension with the equation of the dangerous sphere and the time of entry into the dangerous sphere includes: From the origin Projection point on the boom With the center as the center, Construct the equation of the circle containing the boom's rotational dimension using the projected length as the radius: ； in, At the top of the boom coordinates To distinguish between the boom length and lifting angle, and These represent the horizontal and vertical distances between the base vertex and the origin, respectively. Solve the equations simultaneously using the equations of the circle containing the boom's rotational dimension and the critical sphere: If there is no solution, then the boom has no intersection with the dangerous sphere in the rotational dimension, and there is no risk of collision between the boom and the dangerous sphere; If a solution exists, then the boom intersects the dangerous sphere in the rotational dimension, and there is a risk of collision between the boom and the dangerous sphere; obtain the distance from the boom vertex. The nearest intersection Calculate the arc using the dot product formula. The central angle is: ； in, and Representing the projection points respectively To the top of the boom and intersection The vector, and These are the vector lengths; Obtain the angular velocity of the boom lifting motion. Calculate the apex of the boom based on the central angle. The time it takes for the ascending or descending dimension to enter the dangerous sphere: 。 10. The anti-collision control method for the boom of a mobile crane according to claim 1, characterized in that, The risk status determination based on collision risk and the time of entry into the dangerous spherical surface includes: When the boom has no risk of collision with the dangerous spherical surface in the telescopic, lifting, and rotational dimensions, the boom's movement is in a low-risk state. If the boom is at risk of colliding with the dangerous sphere in any of the telescopic, lifting, or rotating dimensions, and the time it takes to enter the dangerous sphere is less than or equal to the preset warning time, then the boom movement that has not entered the dangerous sphere is in a medium-risk state. If the boom is at risk of colliding with a dangerous sphere in any of the telescopic, lifting, or rotational dimensions, and has already entered the dangerous sphere, then the boom's movement is in a high-risk state.

11. The anti-collision control method for the boom of a mobile crane according to claim 10, characterized in that, The selection of appropriate control strategies based on the risk status includes: When the boom movement is in a low-risk state, do not interfere with the boom movement; When the boom's movement is in a medium-risk state, control the boom to slow down. When the boom's movement is in a high-risk state, control the boom brake.

12. A mobile crane boom anti-collision control system, characterized in that, The system includes: Coordinate system construction module: used to select any fixed point on the crane as the origin and construct a three-dimensional spatial coordinate system; The base vertex coordinate module is used to obtain the rotation angle of the crane base and the horizontal and vertical distances from the base vertex to the origin, and to determine the base vertex coordinates in the three-dimensional coordinate system. The boom vertex coordinate module is used to obtain the length, lifting angle and rotation angle of the crane boom, and determine the boom vertex coordinates in a three-dimensional coordinate system by combining the base vertex coordinates. The obstacle coordinate module is used to obtain the length of the line connecting the boom apex and the obstacle, the lifting angle, and the rotation angle, and to determine the obstacle coordinates in a three-dimensional coordinate system by combining the boom apex coordinates. The Dangerous Spherical Equation Module is used to construct dangerous spherical equations with the obstacle coordinates as the center and the preset danger distance as the radius. The dimension calculation module is used to calculate the collision risk of the boom with the equation of the dangerous sphere in the telescopic dimension, lifting dimension, and rotation dimension, as well as the time to enter the dangerous sphere. The strategy control module is used to determine the risk state based on the collision risk and the time of entry into the dangerous sphere, and select the corresponding control strategy according to the risk state.

13. A mobile crane boom anti-collision control device, characterized in that, Including processor and storage media; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to perform the steps of the method according to any one of claims 1-11.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the steps of the method according to any one of claims 1-11.

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