A static path planning method for unmanned overhead crane

Abstract

The present invention relates to a static path planning method for an unmanned overhead crane, belonging to the technical field of overhead crane control methods. The technical solution of the present invention is to simplify the obstacle model, treat the overhead crane main hook as a particle, calculate the particle motion trajectory, determine whether the overhead crane's automatic operation trajectory passes through an obstacle, and calculate the turning point, so as to enable the overhead crane to avoid obstacles, plan the travel path, and ensure the operating efficiency and safety of the unmanned overhead crane. The beneficial effect of the present invention is that by simplifying the obstacle model and calculating the particle motion trajectory, the unmanned overhead crane can automatically avoid obstacles, plan the travel path, and ensure the operating efficiency and safety of the unmanned overhead crane.

Description

Technical Field

[0001] The invention relates to a static planning method for an unmanned overhead crane path, and belongs to the technical field of overhead crane control methods. Background Art

[0002] As an advanced technology for automatic control of unmanned overhead cranes, the choice of travel path is extremely critical and directly affects the operating efficiency and safety of the unmanned overhead cranes. Summary of the Invention

[0003] The present invention aims to provide a static path planning method for an unmanned overhead crane. By simplifying the obstacle model and calculating the particle motion trajectory, the method can realize automatic obstacle avoidance and path planning for the unmanned overhead crane, thereby ensuring the operating efficiency and safety of the unmanned overhead crane, and effectively solving the above-mentioned problems existing in the background technology.

[0004] The technical solution of the present invention is: a static path planning method for an unmanned overhead crane, comprising the following steps: simplifying the obstacle model, treating the overhead crane main hook as a mass point, calculating the mass point motion trajectory, determining whether the overhead crane's automatic operation trajectory passes through an obstacle, and calculating the turning point, thereby enabling the overhead crane to avoid obstacles, planning the travel path, and ensuring the operating efficiency and safety of the unmanned overhead crane.

[0005] The specific steps are as follows:

[0006] S1: Define the crane motion coordinate system and simplify the obstacle model;

[0007] S11: Establish a plane coordinate system with the vehicle direction as the X-axis and the vehicle direction as the Y-axis, and collect the physical coordinates, size and height information of each obstacle;

[0008] S12: Simplify the irregular obstacle shape into a rectangular shape. The rectangle is projected onto the ground, with four sides parallel to the X and Y axes of the coordinate system. The rectangle completely contains the obstacle and leaves a certain safety distance as a safety buffer zone.

[0009] S13: The motion of the crane's trolley and trolley can be considered a translational motion process. Based on the acceleration composition theorem, the crane's main hook is treated as a point mass. Before a work order is issued, static path planning is performed. Obstacles are not considered in the initial calculation. The trajectory of the point mass is calculated using the starting point, target point, maximum trolley speed, trolley acceleration, and maximum trolley speed and acceleration as known quantities.

[0010] S2: Determine whether the automatic running track of the overhead crane passes through an obstacle;

[0011] S21: Introduce the coordinates of the obstacle rectangle and determine whether the particle motion trajectory passes through the obstacle rectangle according to the particle motion trajectory equation;

[0012] S22: If the obstacle does not pass, the obstacle attribute is set to not affect the passage, which is equivalent to no obstacle. The overhead crane can run according to the particle motion trajectory.

[0013] S23: If the obstacle passes through, the intersection of the obstacle rectangle closest to the passing point is used as the turning point based on the distance between the obstacle and the starting point and the end point.

[0014] S3: When there is an inflection point, the overhead crane will first move with the inflection point as the target point. When it reaches the inflection point, the crane and the trolley will stop, and then the automatic movement trajectory of the overhead crane will be re-determined with the current inflection point as the starting point;

[0015] S4: Repeat steps S2 to S3 until the work order destination is reached.

[0016] In step S13, the particle motion trajectory is a straight line segment-curve segment-straight line segment.

[0017] The beneficial effects of the present invention are: by simplifying the obstacle model and calculating the particle motion trajectory, the unmanned overhead crane can automatically avoid obstacles, plan the walking path, and ensure the operating efficiency and safety of the unmanned overhead crane. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a control flow chart of the present invention. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the invention implementation cases clearer, the technical solutions in the invention implementation cases will be clearly and completely described below in conjunction with the drawings in the implementation cases. Obviously, the implementation cases described are only a small part of the implementation cases of the present invention, rather than all the implementation cases. Based on the implementation cases in the present invention, all other implementation cases obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0020] A static path planning method for an unmanned overhead crane includes the following steps: simplifying the obstacle model, treating the crane's main hook as a particle, calculating the particle's motion trajectory, determining whether the crane's automatic operating trajectory passes through an obstacle, and calculating the turning point to enable the crane to avoid obstacles. The method then plans the travel path to ensure the crane's operating efficiency and safety.

[0021] The specific steps are as follows:

[0022] S1: Define the crane motion coordinate system and simplify the obstacle model;

[0023] S11: Establish a plane coordinate system with the vehicle direction as the X-axis and the vehicle direction as the Y-axis, and collect the physical coordinates, size and height information of each obstacle;

[0024] S12: Simplify the irregular obstacle shape into a rectangular shape. The rectangle is projected onto the ground, with four sides parallel to the X and Y axes of the coordinate system. The rectangle completely contains the obstacle and leaves a certain safety distance as a safety buffer zone.

[0025] S13: The motion of the crane's trolley and trolley can be considered a translational motion process. Based on the acceleration composition theorem, the crane's main hook is treated as a point mass. Before a work order is issued, static path planning is performed. Obstacles are not considered in the initial calculation. The trajectory of the point mass is calculated using the starting point, target point, maximum trolley speed, trolley acceleration, and maximum trolley speed and acceleration as known quantities.

[0026] S2: Determine whether the automatic running track of the overhead crane passes through an obstacle;

[0027] S21: Introduce the coordinates of the obstacle rectangle and determine whether the particle motion trajectory passes through the obstacle rectangle according to the particle motion trajectory equation;

[0028] S22: If the obstacle does not pass, the obstacle attribute is set to not affect the passage, which is equivalent to no obstacle. The overhead crane can run according to the particle motion trajectory.

[0029] S23: If the obstacle passes through, the intersection of the obstacle rectangle closest to the passing point is used as the turning point based on the distance between the obstacle and the starting point and the end point.

[0030] S3: When there is an inflection point, the overhead crane will first move with the inflection point as the target point. When it reaches the inflection point, the crane and the trolley will stop, and then the automatic movement trajectory of the overhead crane will be re-determined with the current inflection point as the starting point;

[0031] S4: Repeat steps S2 to S3 until the work order destination is reached.

[0032] In step S13, the particle motion trajectory is a straight line segment-curve segment-straight line segment.

Claims

1. A static path planning method for an unmanned overhead crane, characterized in that The process involves simplifying the obstacle model, treating the crane's main hook as a point mass, calculating the point mass's trajectory, determining whether the crane's automatic trajectory passes through an obstacle, and calculating the turning point to enable the crane to avoid obstacles. This process also involves planning the travel path and ensuring the crane's operating efficiency and safety. The specific steps are as follows: S1: Define the crane motion coordinate system and simplify the obstacle model; S11: Establish a plane coordinate system with the vehicle direction as the X-axis and the vehicle direction as the Y-axis, and collect the physical coordinates, size and height information of each obstacle; S12: Simplify the irregular obstacle shape into a rectangular shape. The rectangle is projected onto the ground, with four sides parallel to the X and Y axes of the coordinate system. The rectangle completely contains the obstacle and leaves a certain safety distance as a safety buffer zone. S13: The motion of the overhead crane's trolley and trolley is considered a translational motion process. Based on the acceleration composition theorem, the overhead crane's main hook is treated as a point mass. Before the work order is issued, static path planning is performed. Obstacles are not considered in the initial calculation. The starting point, target point, maximum trolley speed, trolley acceleration, maximum trolley speed, and trolley acceleration are used as known quantities to calculate the point mass motion trajectory. S2: Determine whether the automatic running track of the overhead crane passes through an obstacle; S21: Introduce the coordinates of the obstacle rectangle and determine whether the particle motion trajectory passes through the obstacle rectangle according to the particle motion trajectory equation; S22: If the obstacle does not pass, the obstacle attribute is set to not affect the passage, and the overhead crane can move according to the particle motion trajectory; S23: If the obstacle passes through, the intersection of the obstacle rectangle closest to the passing point is used as the turning point based on the distance between the obstacle and the starting point and the end point. S3: When there is an inflection point, the overhead crane will first move with the inflection point as the target point. When it reaches the inflection point, the crane and the trolley will stop, and then the automatic movement trajectory of the overhead crane will be re-determined with the current inflection point as the starting point; S4: Repeat steps S2 to S3 until the work order destination is reached.

2. The static path planning method for an unmanned overhead crane according to claim 1, characterized in that: In step S13, the particle motion trajectory is a straight line segment-curve segment-straight line segment.

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