Anti-collision method for gantry crane boom

Abstract

The present application discloses a method for preventing the gantry crane boom from collision, comprising: setting a data acquisition terminal on the gantry crane; constructing a gantry crane group model to obtain the gantry crane boom amplitude, boom rotation angle, the absolute position of the gantry crane rotation center from the coordinate origin, boom height, and the absolute distance from the boom vertex projection point to the coordinate origin; presetting a collision prevention deceleration distance threshold, a stop distance threshold, and a height distance threshold, and setting a height verification program and a position verification program that match the thresholds; exchanging data with adjacent gantry cranes to obtain the absolute distance difference and boom height difference between adjacent gantry cranes; calling a verification program to verify the boom height difference and the absolute distance difference, respectively, and controlling the gantry crane boom to operate normally, decelerate, or stop according to the verification results. The gantry crane boom prevention method disclosed in the present application can identify dangerous operations that may cause crane boom collisions, automatically prevent boom collisions, and improve the safety of crane group operations.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery detection, and more specifically, to a gantry crane boom anti-collision method. Background Art

[0002] With the development of water transportation and the logistics industry, boom-type rotating equipment has become widely used in China. For the frontier of docks, gantry cranes shoulder the heavy responsibility of logistics transportation. During the operation of gantry cranes, many work sites require multiple devices to operate simultaneously. However, due to the long boom, multiple postures, and limited working range of gantry cranes, there is a risk of collision when multiple devices are operating simultaneously.

[0003] Currently, when multiple gantry cranes are operating simultaneously, operators often rely on their own experience to visually estimate the location of obstacles and targets to avoid boom collisions. Alternatively, they can use walkie-talkies to communicate with the operator and follow the instructions of a commander. However, due to limited visual range, operators cannot fully observe obstacles around the entire boom. To address human observation errors, existing technologies have designed sensors installed on the cranes to determine the safe distance between the boom and the surrounding environment. However, during crane operation, the sensors are easily blocked by the equipment itself, and collision detection between the boom and obstacles may be inaccurate. Therefore, there is a lack of a collision avoidance method to automatically prevent boom collisions during gantry crane operation.

[0004] Therefore, how to provide a gantry crane boom anti-collision method that can identify dangerous operations of crane boom collision, automatically prevent boom collision, and improve the safety of crane group operations has become a technical problem that needs to be urgently solved by technical personnel in this field. Summary of the Invention

[0005] In order to solve the above technical problems, the present application provides a gantry crane boom anti-collision method, which can identify dangerous operations of crane boom collision, automatically prevent boom collision, and improve the safety of crane group operations.

[0006] A technical solution provided by this application is as follows:

[0007] The present application provides a gantry crane boom anti-collision method, comprising the following steps: S1, equipment preprocessing: determining the number n of gantry crane group operations, and setting a collection terminal for detecting equipment motion information on the gantry crane; S2, establishing a gantry crane model: determining the regional plane of the gantry crane group operation, combining the regional plane with the vertical operation direction of the gantry crane to establish a three-dimensional coordinate system, then obtaining the spatial position coordinates of the gantry crane group, and constructing a gantry crane group model based on the spatial position coordinates; S3, data acquisition: using the collection terminal and combining it with the gantry crane group model to obtain the amplitude F of each gantry crane boom x (x∈1,2,3...n), arm rotation angle θ x (x∈1,2,3...n), the absolute position S of the door machine's rotation center from the coordinate origin x (x∈1,2,3...n) and boom height H x (x∈1,2,3...n), and then determine the absolute distance L of the projection of the boom vertex on the gantry crane track x ; S4, configuration parameters: preset the boom anti-collision deceleration distance threshold J, stop distance threshold T and height distance threshold H, and set the height verification program and position verification program that match the threshold; S5, data extraction: exchange data with adjacent door cranes to obtain the absolute distance difference L between adjacent door cranes x,x+1 And the boom height difference H x，x+1 ; S6, anti-collision control: call the verification program to verify the arm height difference and absolute distance difference respectively, and then control the gantry crane arm to operate normally, slow down or stop according to the verification results.

[0008] Furthermore, in a preferred embodiment of the present invention, in step S1, the specific process of the device preprocessing includes:

[0009] S101. According to the number n of gantry cranes operating in a group, configure a gantry absolute value encoder, a rotary absolute value encoder, and an amplitude sensing mechanism;

[0010] S102, determining the operating area of ​​the gantry crane group, setting the gantry crane absolute encoder at the anchoring position of the crane gantry crane, and recording the initial value of the gantry crane absolute encoder;

[0011] S103, then setting the amplitude sensing mechanism at the root of the crane boom to rotate along with the boom fixed axis, and setting the rotary absolute value encoder on the rotary gear at the crane rotation center.

[0012] Furthermore, in a preferred embodiment of the present invention, in step S2, the specific process of establishing the door crane model includes:

[0013] S201, determining a coordinate origin O in the operating area of ​​the gantry crane group, wherein the coordinate origin is located on a straight line of the track on which the gantry crane trolley moves;

[0014] S202, with the direction of the gantry crane trolley moving along the track as the positive direction of the X-axis, the Y-axis being perpendicular to the X-axis, and the positive direction of the Y-axis and the positive direction of the X-axis being at an angle of 90° counterclockwise, an XOY plane is obtained, and then the area plane of the gantry crane group operation is determined from the XOY plane;

[0015] S203. Then, the vertical operating direction of the gantry crane is determined, and the vertical operating direction is combined with the regional plane to establish a three-dimensional coordinate system. Then, feature points of the key structures of the gantry crane are selected in the three-dimensional coordinate system, and the spatial coordinates of the feature points are obtained. A gantry crane group model is constructed based on the spatial coordinates.

[0016] Furthermore, in a preferred embodiment of the present invention, in step S3, the specific process of obtaining the boom amplitude of the gantry crane includes:

[0017] Determine the boom length r of the gantry crane boom x (x∈1,2,3...n);

[0018] Then, the amplitude sensing mechanism is used to collect the posture information of the gantry crane boom, and then the elevation angle β of the boom is extracted based on the posture information. x (x∈1,2,3...n);

[0019] Finally, call the trigonometric function conversion relationship F x =r x cosβ x (x∈1,2,3...n), get the gantry crane boom amplitude set F x (x∈1,2,3...n).

[0020] Furthermore, in a preferred embodiment of the present invention, in step S3, the absolute distance L from the projection point to the coordinate origin is obtained. x The conversion relationship is:

[0021] L x =S x +F x cosθ x (x∈1,2,3...n).

[0022] Furthermore, in a preferred embodiment of the present invention, in step S5, the boom height difference H between adjacent gantry cranes is obtained. x，x+1 The specific process includes:

[0023] Data exchange is performed between adjacent gantry cranes, with two gantry cranes as a group. The data obtained through each group exchange is merged to form multiple data sets;

[0024] In each of the data sets, the coordinate height value of the lowest point at the base of the boom of the first gantry crane is extracted, and then the coordinate height value of the highest point at the top of the boom of the second gantry crane is extracted;

[0025] Then calculate the difference between the two coordinate height values ​​to obtain the arm height difference H between adjacent gantry cranes. x，x+1 , where H x，x+1 Represents the difference in boom height between the xth gantry crane and the x+1th gantry crane.

[0026] Furthermore, in a preferred embodiment of the present invention, in step S6, the criteria for verifying the boom height difference and the absolute distance difference are specifically:

[0027] First, call the height verification program to verify the boom height difference H x，x+1 If the anti-collision height distance threshold H is met, the verification is terminated and the verification result is output;

[0028] If not, the position verification program is subsequently called, and the absolute distance difference is verified in combination with the anti-collision deceleration distance J and the stopping distance threshold T, and the verification result is output after completion.

[0029] Furthermore, in a preferred embodiment of the present invention, in step S6, the specific process of verifying the boom height difference includes:

[0030] The boom height difference is used as a first initial value and input into the height verification program, and the height distance threshold is called to perform a comparative analysis with the first initial value, wherein the height distance threshold is a range value, and the range value is between the maximum amplitude and the minimum amplitude of the gantry crane boom;

[0031] If the boom height difference is within the range of the height distance threshold, the boom height difference does not meet the requirement and enters the subsequent difference verification;

[0032] If the boom height difference exceeds the upper critical value of the height distance threshold or is lower than the lower critical value thereof, the boom height difference meets the requirement, indicating that there is no collision risk between adjacent gantry cranes, and the gantry cranes are controlled to operate normally.

[0033] Furthermore, in a preferred embodiment of the present invention, in step S5, the absolute distance difference L between adjacent door machines is obtained. x,x+1 The specific process includes:

[0034] Use the constraint conditions to determine the absolute position S of the gantry crane's rotation center from the coordinate origin. x The absolute distance L from the projection point of the boom vertex to the coordinate origin x The size relationship;

[0035] If the absolute distance difference F x Greater than the absolute position S of the door machine's rotation center from the coordinate origin x , and F x+1 Greater than S x+1 , then F x+1 Assign to the first algebra D2, and L x Assigned to the second algebra D1;

[0036] If the absolute distance difference F x Greater than the absolute position S of the door machine's rotation center from the coordinate origin x , and F x+1 Less than S x+1 , then L x+1 Assign to the first algebra D2, and L x Assigned to the second algebra D1;

[0037] If the absolute distance difference F x Less than the absolute position S of the door machine's rotation center from the coordinate origin x , then L x+1 Assign to the first algebra D2, and S x Assigned to the second algebra D1;

[0038] Then calculate the difference between the first algebra D2 and the second algebra D1 to get the absolute distance difference L x,x+1 , where L x,x+1 Represents the difference in absolute distance between the xth door operator and the x+1th door operator.

[0039] Furthermore, in a preferred embodiment of the present invention, in step S6, the specific process of verifying the absolute distance difference includes:

[0040] The absolute distance difference is used as a second initial value and input into the height verification program, and the deceleration distance threshold J and the stopping distance threshold T are called to perform comparative analysis with the second initial value;

[0041] If the absolute distance difference is less than or equal to the deceleration distance threshold, it indicates that there is a collision risk between adjacent door cranes, and then deceleration control is performed on the walking and rotating movements between the adjacent door cranes;

[0042] If the absolute distance difference is less than or equal to the stopping distance threshold, it indicates that there is an immediate collision risk between adjacent door cranes, and then the walking and rotating actions between the adjacent door cranes are stopped.

[0043] The present invention provides a gantry crane boom anti-collision method, comprising the following steps: S1, equipment pre-processing: determining the number n of gantry crane group operations, and setting a collection terminal for detecting equipment motion information on the gantry crane; S2, establishing a gantry crane model: determining a regional plane for gantry crane group operations, combining the regional plane with the vertical operation direction of the gantry crane to establish a three-dimensional coordinate system, then obtaining the spatial position coordinates of the gantry crane group, and constructing a gantry crane group model based on the spatial position coordinates; S3, data acquisition: using the collection terminal and combining it with the gantry crane group model to obtain the amplitude F of each gantry crane boom. x (x∈1,2,3...n), arm rotation angle θ x (x∈1,2,3...n), the absolute position S of the door machine's rotation center from the coordinate origin x (x∈1,2,3...n) and boom height H x (x∈1,2,3...n), and then determine the absolute distance L of the projection of the boom vertex on the gantry crane track x ; S4, configuration parameters: preset the boom anti-collision deceleration distance threshold J, stop distance threshold T and height distance threshold H, and set the height verification program and position verification program that match the threshold; S5, data extraction: exchange data with adjacent door cranes to obtain the absolute distance difference L between adjacent door cranes x,x+1 And the boom height difference H x，x+1 ; S6, anti-collision control: call the verification program to verify the arm height difference and absolute distance difference respectively, and then control the gantry crane arm to operate normally, slow down or stop according to the verification results. The invention discloses a gantry crane boom anti-collision method. The essence of the boom anti-collision method is to obtain the spatial position relationship of adjacent gantry crane booms, quantify the position relationship with a numerical value, and compare and analyze the quantified value with a preset threshold value through a program, thereby automatically identifying dangerous boom collision operations and controlling the boom movement. In the method, the gantry cranes need to be pre-processed first, that is, a collection terminal is installed on the gantry cranes in group operation, which can obtain motion information such as gantry crane boom rotation and trolley travel for data collection from the gantry crane movement; then, the motion parameters are obtained by constructing a gantry crane boom model; then, after the threshold value is preset, data is exchanged between each two adjacent gantry cranes to obtain verification data: the absolute distance difference between adjacent gantry cranes and the boom height difference. The difference is automatically verified with the threshold value using a verification program. The gantry cranes judge whether there is a collision risk between adjacent booms during movement based on the verification result, and thus control the booms and trolleys of the adjacent gantry cranes to decelerate or stop, thereby achieving the technical effect of automatically identifying and controlling dangerous boom collision operations. It can be seen that, compared with the prior art, the technical solution involved in the present invention can identify dangerous operations of crane boom collision, automatically prevent boom collision, and improve the safety of crane group operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0045] Figure 1 This is a flowchart of the steps of the portal crane boom anti-collision method according to an embodiment of the present invention;

[0046] Figure 2 This is a schematic diagram of the installation position of the acquisition terminal involved in an embodiment of the present invention;

[0047] Figure 3 This is a schematic diagram of the door crane position calculation involved in an embodiment of the present invention;

[0048] Figure 4 The figure is a schematic diagram of data exchange between adjacent door cranes involved in an embodiment of the present invention. DETAILED DESCRIPTION

[0049] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of this application.

[0050] It should be noted that when an element is referred to as being “fixed on” or “set on” another element, it can be directly on the other element or indirectly set on the other element; when an element is referred to as being “connected to” another element, it can be directly connected to the other element or indirectly connected to the other element.

[0051] It should be understood that the terms "length", "width", "up", "down", "front", "back", "first", "second", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0052] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" or "several" means two or more, unless otherwise specifically defined.

[0053] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the conditions under which this application can be implemented. Therefore, they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed in this application without affecting the efficacy and purpose that can be achieved by this application.

[0054] Please Figures 1 to 4 As shown, the present application provides a gantry crane boom anti-collision method, which can automatically prevent a gantry crane from colliding with surrounding gantry crane booms during operation. The method includes the following steps: S1, equipment preprocessing: determining the number n of gantry crane group operations, and setting an acquisition terminal for detecting equipment motion information on the gantry crane; S2, establishing a gantry crane model: determining the regional plane of the gantry crane group operation, combining the regional plane with the vertical operation direction of the gantry crane to establish a three-dimensional coordinate system, and then obtaining the spatial position coordinates of the gantry crane group, and constructing a gantry crane group model with the spatial position coordinates; S3, data acquisition: using the acquisition terminal and combining it with the gantry crane group model to obtain the amplitude F of each gantry crane boom x (x∈1,2,3...n), arm rotation angle θ x (x∈1,2,3...n), the absolute position S of the door machine's rotation center from the coordinate origin x (x∈1,2,3...n) and boom height H x (x∈1,2,3...n), and then determine the absolute distance L of the projection of the boom vertex on the gantry crane track x ; S4, configuration parameters: preset the boom anti-collision deceleration distance threshold J, stop distance threshold T and height distance threshold H, and set the height verification program and position verification program that match the threshold; S5, data extraction: exchange data with adjacent door cranes to obtain the absolute distance difference L between adjacent door cranes x,x+1 And the boom height difference H x，x+1S6, Anti-collision Control: Invokes a verification program to verify the boom height difference and absolute distance difference, respectively. Based on the verification results, the gantry crane boom is controlled to operate normally, decelerate, or stop. Compared to existing technologies, the technical solution of the present invention can identify dangerous crane boom collision operations, automatically prevent boom collisions, and improve safety during group crane operations.

[0055] The following is a detailed description of the portal crane boom anti-collision method disclosed in the present invention in conjunction with a specific embodiment. The method is mainly divided into six steps, specifically including:

[0056] S1. Equipment preprocessing: Determine the number n of gantry crane group operations, and set a collection terminal for detecting equipment motion information on the gantry crane.

[0057] Among them, in the embodiment of the present invention, step S1 is mainly divided into two sub-steps. Sub-step one is to determine the number of gantry cranes participating in the group operation in the operation scene, such as the dock, that is, the number n of gantry cranes; sub-step two is to configure the collection terminal according to the number n, which is used to obtain the gantry crane boom rotation information, the boom arm amplitude information and the gantry crane trolley travel information, etc.

[0058] Specifically, in a specific embodiment of the present invention, in step S1, the specific process of the equipment preprocessing includes: S101, configuring a trolley absolute encoder, a rotary absolute encoder and an amplitude sensing mechanism according to the number n of gantry crane group operations; S102, determining the operating area of ​​the gantry crane group, setting the trolley absolute encoder at the anchoring point of the crane gantry crane, and recording the initial value of the trolley absolute encoder; S103, then setting the amplitude sensing mechanism at the root of the crane boom, rotating with the boom fixed axis, and setting the rotary absolute encoder on the rotary gear of the crane rotation center.

[0059] Among them, such as Figure 2 As shown, in an embodiment of the present invention, the acquisition terminal adopts two types of absolute encoders and amplitude sensors. The absolute encoders are divided into trolley absolute encoders and rotary absolute encoders; an absolute encoder is set on the gantry trolley wheel to obtain the real-time position of the trolley; an absolute encoder is set at the rotary position of the gantry crane to obtain the real-time position of the boom along the horizontal direction of the track; an amplitude sensor is set at the root of the boom to obtain the real-time angle between the boom and the horizontal direction.

[0060] S2. Establishing a gantry crane model: Determine the regional plane of the gantry crane group operation, combine the regional plane with the vertical operation direction of the gantry crane to establish a three-dimensional coordinate system, then obtain the spatial position coordinates of the gantry crane group, and construct the gantry crane group model based on the spatial position coordinates.

[0061] Among them, in an embodiment of the present invention, step S3 establishes a gantry crane model, which is mainly used to assist in obtaining data extraction during the operation of the gantry crane. The gantry crane model is a group model, which includes all gantry cranes performing group operations. The establishment of the model first requires the establishment of a three-dimensional coordinate system, and the gantry crane group is placed in the three-dimensional coordinate system. The position of each structural point of the gantry crane during operation can be quantified, and then the establishment of the gantry crane model is completed with specific position data.

[0062] Specifically, in a specific embodiment of the present invention, in step S2, the specific process of establishing the gantry crane model includes: S201, determining the coordinate origin O in the operating area of ​​the gantry crane group, and the coordinate origin is located on the straight line of the track for the movement of the gantry crane trolley; S202, taking the direction of the gantry crane trolley moving along the track as the positive direction of the X-axis, the Y-axis perpendicular to the X-axis, and the positive direction of the Y-axis and the positive direction of the X-axis at an angle of 90° counterclockwise, to obtain the XOY plane, and then determine the regional plane of the gantry crane group operation from the XOY plane; S203, then determine the vertical operating direction of the gantry crane, combine it with the regional plane to establish a three-dimensional coordinate system, and then select the feature points of the key structure of the gantry crane in the three-dimensional coordinate system, and obtain the spatial coordinates of the feature points, and construct the gantry crane group model according to the spatial coordinates.

[0063] Among them, the establishment of the three-dimensional coordinate system first requires determining the coordinate origin, and then finding the positive XOY plane, that is, the plane determined by the coordinate axis X axis and the coordinate axis Y axis. Since the movement of the gantry crane relies on the base trolley to perform linear repeated movements on the predetermined track, the coordinate origin is set on the track straight line, which can be used as the X-axis gantry crane trolley walking direction; Figure 3 As shown, in this embodiment of the present invention, the number n of gantry crane group operations is selected as 3, corresponding to gantry crane 1#, gantry crane 2# and gantry crane 3# respectively. The leftmost section of gantry crane 1# is the trolley origin, that is, the coordinate origin; then, according to the number of gantry cranes, the overall operation area is circled, and the XOY plane is determined in this operation area. Combined with the vertical operation direction of the gantry crane, that is, the Z-axis direction, the conditions for establishing a three-dimensional coordinate system can be determined; secondly, after the three-dimensional coordinate system is established, in order to model the gantry crane, the coordinates of key structural feature points need to be extracted. The key construction feature points include the trolley wheel movement point, the rotation center point, the lowest point of the boom root, the highest point of the boom top, etc.

[0064] S3. Data collection: Use the acquisition terminal and combine it with the gantry crane group model to obtain the boom amplitude F of each gantry crane x (x∈1,2,3...n), arm rotation angle θ x (x∈1,2,3...n), the absolute position S of the door machine's rotation center from the coordinate origin x (x∈1,2,3...n) and boom height H x(x∈1,2,3...n), and then determine the absolute distance L of the projection of the boom vertex on the gantry crane track x .

[0065] Among them, step S3 is mainly used to obtain the data information required for the subsequent anti-collision detection of the gantry crane boom according to the established gantry crane model. The data information includes the boom amplitude, boom installation angle, absolute position of the rotation center from the coordinate origin, boom height and absolute distance from the projection point of the boom vertex on the X-axis to the coordinate origin of each gantry crane. Since the objects for data collection are multiple gantry cranes, the acquired data are classified in the form of a collection to facilitate subsequent calculation and analysis of various types of data. In this embodiment of the present invention, if Figure 3 As shown, the leftmost section of the 1# gantry crane is the coordinate origin O. When obtaining the absolute position of the rotation center from the coordinate origin, the initial value of the trolley absolute encoder of the 1# gantry crane, the 2# gantry crane and the 3# gantry crane is obtained in step S1, and then the absolute position of the trolley is obtained in real time according to the operation status of the trolley as S1, S2, and S3; secondly, the horizontal right direction of the arm along the track is 0°, and the rotation angles of the 1# gantry crane, the 2# gantry crane and the 3# gantry crane are θ1, θ2, and θ3, which are obtained by the absolute encoder set on the rotating gear.

[0066] Specifically, in a specific embodiment of the present invention, in step S3, the specific process of obtaining the boom amplitude of the gantry crane includes: determining the boom length r of the gantry crane boom x (x∈1,2,3...n); then use the amplitude sensing mechanism to collect the posture information of the gantry boom, and then extract the elevation angle β of the boom according to the posture information x (x∈1,2,3...n); finally call the trigonometric function conversion relationship F x =r x cosβ x (x∈1,2,3...n), get the gantry crane boom amplitude set F x (x∈1,2,3...n).

[0067] Specifically, in a specific embodiment of the present invention, in step S3, the absolute distance L from the projection point to the coordinate origin is obtained. x The conversion relationship is: L x =S x +F x cosθ x (x∈1,2,3...n).

[0068] In the embodiment of the present invention, since the boom amplitude is constantly changing during the operation of the gantry crane, the absolute distance is different when the boom is in different positions, and needs to be calculated and obtained in real time; the boom amplitude is within a range, when the boom elevation angle is the smallest, the boom amplitude is reduced, and when the boom elevation angle is the smallest, the boom amplitude is the largest. The boom amplitude can be obtained based on the elevation angle information combined with the specific length parameters of the boom; therefore, in step S3, the boom amplitude F of each gantry crane is obtained. x (x∈1,2,3...n), first of all, it is necessary to determine the specific length parameters of the gantry crane boom, and then obtain the elevation angle information through the amplitude sensing mechanism set at the root of the boom, and combine the conversion relationship to obtain the boom amplitude. Then, based on the boom amplitude and the information collected by other absolute value encoders, the absolute distance can be determined for data preprocessing for subsequent collision detection.

[0069] S4. Configuration parameters: preset the boom anti-collision deceleration distance threshold J, stop distance threshold T and height distance threshold H, and set the height verification program and position verification program that match the thresholds.

[0070] S5. Data extraction: exchange data with adjacent door machines to obtain the absolute distance difference L between adjacent door machines. x,x+1 And the boom height difference H x，x+1

[0071] Specifically, in a specific embodiment of the present invention, the forms of data exchange between adjacent door machines include: wired data exchange and wireless data exchange.

[0072] Among them, step S5 is mainly used to configure the initial values ​​input into the height verification program and the position verification program, and provide basic data conditions for verification for subsequent anti-collision control steps.

[0073] Specifically, in a specific embodiment of the present invention, in step S5, the boom height difference H between adjacent gantry cranes is obtained. x，x+1 The specific process includes: exchanging data between adjacent gantry cranes, with two gantry cranes as a group, and combining the data obtained from each exchange to form multiple data sets; in each data set, extracting the coordinate height value of the lowest point of the boom root of the first gantry crane, and then extracting the coordinate height value of the highest point of the boom top of the second gantry crane; then calculating the difference between the two coordinate height values ​​to obtain the boom height difference H between the adjacent gantry cranes. x，x+1 , where H x，x+1 Represents the difference in boom height between the xth gantry crane and the x+1th gantry crane.

[0074] Wherein, the boom height difference H is obtained x，x+1The key lies in obtaining the height data between adjacent gantry cranes, that is, obtaining the coordinate height values ​​of the feature points on the adjacent gantry cranes. In the embodiment of the present invention, the feature points for extracting the coordinate height values ​​are selected from the lowest point of the boom root and the highest point of the boom top on the adjacent gantry cranes, and the difference between the two is used to obtain the boom height difference H. x，x+1 ,With this method of feature point selection, when the difference meets the threshold ,requirements, the elevation angles of adjacent gantry crane booms change, that is, when the boom amplitude changes, there is no ,collision risk for adjacent gantry cranes during operation.

[0075] S6. Anti-collision control: calling the verification program to verify the boom height difference and the absolute distance difference respectively, and then controlling the gantry crane boom to operate normally, decelerate or stop according to the verification results.

[0076] Specifically, in a specific embodiment of the present invention, in step S6, the criteria for verifying the boom height difference and the absolute distance difference are as follows: first, the height verification program is called to verify the boom height difference H x，x+1 If the anti-collision height distance threshold H is met, the verification is terminated and the verification result is output; if not, the position verification program is subsequently called, and the absolute distance difference is verified in combination with the anti-collision deceleration distance J and the stopping distance threshold T, and the verification result is output after completion.

[0077] Among them, in an embodiment of the present invention, verification of the boom height difference and the absolute distance difference follows the principle of a priori boom height difference and a posteriori absolute distance difference; during the operation of a gantry crane, there may be a scenario where adjacent gantry crane booms operate at different vertical heights. At this time, anti-collision detection is performed on the booms between adjacent gantry cranes. First, the heights of the booms of the two need to be verified and analyzed. This is because if the difference in vertical height between adjacent booms meets the threshold requirement, there is no risk of mutual collision between the booms of the two adjacent gantry cranes during any operation and rotation operation on the horizontal plane.

[0078] Specifically, in a specific embodiment of the present invention, in step S6, the specific process of verifying the boom height difference includes: taking the boom height difference as the first initial value, inputting it into the height verification program, calling the height distance threshold and the first initial value for comparative analysis, wherein the height distance threshold is a range value, and the range value is between the maximum amplitude and the minimum amplitude of the gantry crane boom; if the boom height difference is within the range of the height distance threshold, the boom height difference does not meet the requirements, and enters the subsequent difference verification; if the boom height difference exceeds the upper limit critical value of the height distance threshold or is lower than the lower limit critical value, the boom height difference meets the requirements, indicating that there is no collision risk between adjacent gantry cranes, and the gantry cranes are controlled to operate normally.

[0079] Specifically, in a specific embodiment of the present invention, in step S5, the absolute distance difference L between adjacent door machines is obtained. x,x+1 The specific process includes: using the constraint conditions to determine the absolute position S of the door crane's rotation center from the coordinate origin x The absolute distance L from the projection point of the boom vertex to the coordinate origin x If the absolute distance difference F x Greater than the absolute position S of the door machine's rotation center from the coordinate origin x , and F x+1 Greater than S x+1 , then F x+1 Assign to the first algebra D2, and L x Assigned to the second algebra D1; if the absolute distance difference F x Greater than the absolute position S of the door machine's rotation center from the coordinate origin x , and F x+1 Less than S x+1 , then L x+1 Assign to the first algebra D2, and L x Assigned to the second algebra D1; if the absolute distance difference F x Less than the absolute position S of the door machine's rotation center from the coordinate origin x , then L x+1 Assign to the first algebra D2, and S x Assign the value to the second algebra D1; then calculate the difference between the first algebra D2 and the second algebra D1 to obtain the absolute distance difference L x,x+1 , where L x,x+1 Represents the difference in absolute distance between the xth door operator and the x+1th door operator.

[0080] Specifically, in a specific embodiment of the present invention, in step S6, the specific process of verifying the absolute distance difference includes: taking the absolute distance difference as the second initial value, inputting it into the height verification program, calling the deceleration distance threshold J, the stopping distance threshold T and the second initial value for comparative analysis; if the absolute distance difference is less than or equal to the deceleration distance threshold, it means that there is a collision risk between adjacent door machines, and then the walking and rotation movements between adjacent door machines are decelerated; if the absolute distance difference is less than or equal to the stopping distance threshold, it means that there is an immediate collision risk between adjacent door machines, and then the walking and rotation movements between adjacent door machines are stopped.

[0081] In step S6, if the boom height difference between adjacent door cranes is not satisfied after verification, the absolute distance difference between the adjacent door cranes needs to be verified and anti-collision control is performed. In this embodiment of the present invention, taking door cranes 1#, 2#, and 3# as examples, and in combination with the figure, the three door cranes are shown in the following table for obtaining the absolute distance difference and boom anti-collision control:

[0082]

[0083] As shown in the table above, combined Figure 3 , Figure 31#, 2#, 3# door machine position calculation diagram, for the 1# door machine anti-collision control, where the absolute distance difference L 1,2 After verifying the constraint conditions 1 and 2, the values ​​are assigned and finally obtained by D2-D1 calculation. Then, the deceleration distance threshold J and the stopping distance threshold T are used for verification and the anti-collision control action is implemented. The specific process includes:

[0084] If L1>S1 and L2>S2, assign S2 to D2 and L1 to D1. If D2-D1≤J, control the 1# door machine to rotate clockwise and slow down, and move right. If D2-D1≤T, control the 1# door machine to rotate clockwise and stop, and move right.

[0085] If L1>S1 and L2<S2, assign L2 to D2 and L1 to D1. If D2-D1≤J, control the 1# door machine to rotate clockwise and slow down, and move right. If D2-D1≤T, control the 1# door machine to rotate clockwise and stop, and move right.

[0086] If L1<S1, assign L2 to D2 and S1 to D1. If D2-D1≤J, control the 1# door machine to rotate clockwise and slow down, and move right to slow down. If D2-D1≤T, control the 1# door machine to rotate clockwise and stop, and move right to stop.

[0087] Similarly, the anti-collision control of 2# door crane and 3# door crane is also shown in the above table.

[0088] As described above, an embodiment of the present invention relates to a gantry crane boom anti-collision method, which enables the gantry crane to automatically prevent collisions with surrounding gantry crane booms during operation through a program. The essence of this method is to obtain the spatial position relationship of adjacent gantry crane booms, quantify the position relationship with a numerical value, and compare and analyze the quantified value with a preset threshold through a program, thereby automatically identifying dangerous operations of boom collisions and controlling the boom movement; in the method, the gantry crane needs to be pre-processed first, that is, a collection terminal is installed on the gantry crane for group operation, which can obtain The movement information of the gantry crane boom rotation, trolley travel, etc. is used to collect data from the gantry crane movement; then the movement parameters are obtained by constructing a gantry crane boom model; then after the threshold is preset, data is exchanged between each two adjacent gantry cranes to obtain verification data: the absolute distance difference between adjacent gantry cranes and the boom height difference, and the difference is automatically verified with the threshold using a verification program. The gantry crane judges whether there is a collision risk between adjacent booms during movement based on the verification result, thereby controlling the booms and trolleys of adjacent gantry cranes to decelerate and stop, achieving the technical effect of automatically identifying and controlling dangerous boom collision operations. It can be seen that the technical solution involved in the present invention, compared with the existing technology, can identify dangerous operations of crane boom collisions, automatically prevent boom collisions, and improve the safety of crane group operations.

[0089] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A portal crane boom anti-collision method, characterized in that: The following steps are involved: S1. Equipment pre-processing: Determine the number of gantry crane group operations , a collection terminal for detecting equipment motion information is provided on the door machine; S2. Establishing a gantry crane model: Determine a regional plane for the gantry crane group's operation, combine the regional plane with the gantry crane's vertical operation direction to establish a three-dimensional coordinate system; obtain the spatial position coordinates of the gantry crane group, and construct a gantry crane group model based on the spatial position coordinates; S3. Data collection: Use the acquisition terminal and combine it with the gantry crane group model to obtain the boom amplitude of each gantry crane , boom rotation angle , the absolute position of the door crane's rotation center from the coordinate origin and boom height , then determine the absolute distance of the projection of the boom vertex on the gantry crane track ; S4. Configuration parameters: Preset boom anti-collision deceleration distance threshold , stopping distance threshold and height distance threshold , and set up altitude verification procedures and position verification procedures that match the thresholds; S5. Data extraction: exchange data with adjacent door machines to obtain the absolute distance difference between adjacent door machines and the boom height difference ; Get the height difference between the adjacent gantry cranes The specific process includes: exchanging data between adjacent gantry cranes, taking two gantry cranes as a group, merging the data obtained from each exchange to form multiple data sets; extracting the coordinate height value of the lowest point of the boom root of the first gantry crane in each data set, and extracting the coordinate height value of the highest point of the boom top of the second gantry crane; calculating the difference between the two coordinate height values ​​to obtain the boom height difference between adjacent gantry cranes. ,in Representative The first door machine and the The difference in boom height between the gantry cranes; Get the absolute distance difference between adjacent door machines The specific process includes: using the constraint conditions to determine the absolute position of the door crane's rotation center from the coordinate origin The absolute distance from the projection point of the boom vertex to the coordinate origin If the absolute distance difference Greater than the absolute position of the door machine's rotation center from the coordinate origin ,and Greater than , then Assignment to the first algebra , and Assignment to the second algebra ; If the absolute distance difference Greater than the absolute position of the door machine's rotation center from the coordinate origin ,and Less than , then Assignment to the first algebra , and Assignment to the second algebra ; If the absolute distance difference Less than the absolute position of the door machine's rotation center from the coordinate origin , then Assignment to the first algebra , and Assignment to the second algebra ; Then calculate the first algebra and second algebra The difference between the absolute distances is obtained. ,in Representative The first door machine and the The difference in the absolute distance between the door cranes; S6. Anti-collision control: calling the verification program to verify the boom height difference and the absolute distance difference respectively, and controlling the gantry crane boom to operate normally, decelerate or stop according to the verification results.

2. The portal crane boom anti-collision method according to claim 1, characterized in that: In step S1, the specific process of the device preprocessing includes: S101, according to the number of the group operations of the portal crane , equipped with a trolley absolute encoder, a rotary absolute encoder and an amplitude sensing mechanism; S102, determining the operating area of ​​the gantry crane group, setting the gantry crane absolute encoder at the anchoring position of the crane gantry crane, and recording the initial value of the gantry crane absolute encoder; S103, setting the amplitude sensing mechanism at the root of the crane boom to rotate along with the boom fixed axis, and setting the rotary absolute value encoder on the rotary gear at the crane rotation center.

3. The portal crane boom anti-collision method according to claim 1, characterized in that: In step S2, the specific process of establishing the door crane model includes: S201. Determine the coordinate origin within the operating area of ​​the gantry crane group , the coordinate origin is located on the straight line of the track on which the gantry crane trolley moves; S202, the direction of the gantry crane trolley moving along the track Axis positive direction, Axis vertical axis, Axis positive direction and The axis is 90° counterclockwise, get plane, then from the Determine the area plane of the gantry crane group operation in the plane; S203. Then, the vertical operating direction of the gantry crane is determined, and the vertical operating direction is combined with the regional plane to establish a three-dimensional coordinate system. Then, feature points of the key structures of the gantry crane are selected in the three-dimensional coordinate system, and the spatial coordinates of the feature points are obtained. A gantry crane group model is constructed based on the spatial coordinates.

4. The portal crane boom anti-collision method according to claim 2, characterized in that: In step S3, the specific process of obtaining the gantry crane boom amplitude includes: Determine the boom length of the gantry crane boom ; The amplitude sensing mechanism is used to collect the posture information of the gantry crane boom, and the elevation angle of the boom is extracted based on the posture information. ; Calling trigonometric function conversion relationship , get the gantry crane boom amplitude set .

5. The portal crane boom anti-collision method according to claim 4, characterized in that: In step S3, the absolute distance from the projection point to the coordinate origin is obtained The conversion relationship is: 。 6. The portal crane boom anti-collision method according to claim 1, characterized in that: In step S6, the criteria for verifying the boom height difference and the absolute distance difference are specifically: Call the height verification program to verify the boom height difference Whether the height distance threshold is met , if satisfied, then end the verification and output the verification result; If not, then call the position verification program and combine the anti-collision deceleration distance and stopping distance threshold , verify the absolute distance difference, and output the verification result after completion.

7. The portal crane boom anti-collision method according to claim 1, characterized in that: In step S6, the specific process of verifying the boom height difference includes: The boom height difference is used as a first initial value and input into the height verification program, and the height distance threshold is called to perform a comparative analysis with the first initial value, wherein the height distance threshold is a range value, and the range value is between the maximum amplitude and the minimum amplitude of the gantry crane boom; If the boom height difference is within the range of the height distance threshold, the boom height difference does not meet the requirement and enters the subsequent difference verification; If the boom height difference exceeds the upper critical value of the height distance threshold or is lower than the lower critical value thereof, the boom height difference meets the requirement, indicating that there is no collision risk between adjacent gantry cranes, and the gantry cranes are controlled to operate normally.

8. The portal crane boom anti-collision method according to claim 1, characterized in that: In step S6, the specific process of verifying the absolute distance difference includes: The absolute distance difference is used as the second initial value and input into the position verification program to call the deceleration distance threshold. , stopping distance threshold Perform comparative analysis with the second initial value; If the absolute distance difference is less than or equal to the deceleration distance threshold, it indicates that there is a collision risk between adjacent door cranes, and then deceleration control is performed on the walking and rotating movements between the adjacent door cranes; If the absolute distance difference is less than or equal to the stopping distance threshold, it indicates that there is an immediate collision risk between adjacent door cranes, and then the walking and rotating actions between the adjacent door cranes are stopped.

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