Anti-collision control method and device for portal crane boom

Abstract

The invention relates to an anti-collision control method for a portal crane boom. The anti-collision control method comprises the following steps: acquiring position data of an obstacle through a sensor; calculating the relative instantaneous speed of the portal crane boom relative to the obstacle at the current moment according to the position data of the obstacle; dynamically calculating a minimum safe rotation stop position according to the relative instantaneous speed; and judging whether the current position reaches the minimum safe rotation stop position or not, and if the conditions are met, decelerating and parking at the maximum acceleration. The invention further provides a corresponding anti-collision control device for the portal crane boom. According to the method, under the condition that few sensors are used, the position of the obstacle can be dynamically detected, the latest parking position is calculated, and the use efficiency of the portal crane is improved.

Description

Technical Field

[0001] The present application relates to a technical field related to automatic control of a gantry crane, and in particular to an anti-collision control method and device for a gantry crane boom. Background Art

[0002] With the rapid development of my country's economy, the port industry is growing stronger and stronger, and the requirements for the degree of port intelligence are getting higher and higher. Among the many lifting equipment, portal cranes or gantry cranes are widely used because of their wide range of loading and unloading of goods and flexible operation. The traditional gantry crane operation method relies on the driver to operate in the cab, which requires high operating skills, high labor intensity, and high safety risks. Through the intelligent transformation of gantry cranes, safer and more intelligent operation modes have become the future development trend. In existing intelligent operations, the anti-collision system between two gantry cranes usually uses laser radar detection. If an obstacle invades the set parking range, it will immediately trigger a stop command and slow down to stop. Therefore, there may be the following disadvantages:

[0003] On the one hand, when the gantry crane enters this range at a speed lower than the maximum speed, premature deceleration will occur, resulting in early limitation of the slewing speed at certain positions and low operating efficiency.

[0004] On the other hand, since the detection method is not real-time, the anti-collision system lacks foresight for changes in the relative speed of obstacles, posing operational risks.

[0005] On the other hand, some detection methods require the installation of a large number of sensors to perform complex calculations to determine the position and posture of the gantry crane, but the marginal effect brought about by the increase in sensor costs is not high, resulting in unnecessary increase in costs.

[0006] Therefore, in this context, in view of the low operating efficiency caused by premature deceleration of gantry cranes, insufficient foresight of relative speed changes of obstacles, and sensor redundancy, how to prevent gantry cranes from slowing down prematurely, dynamically judge the possibility of gantry crane collision, and achieve the purpose of anti-collision control through a small number of sensors are technical problems that need to be solved. Summary of the invention

[0007] In view of the above problems in the prior art, the present application provides a collision avoidance control method and device for a gantry crane boom, so as to prevent the gantry crane from slowing down too early, dynamically judge the possibility of collision between gantry cranes, and achieve the purpose of collision avoidance control through a small number of sensors.

[0008] To achieve the above-mentioned object, the first aspect of the present application provides an anti-collision control method for a gantry crane boom, comprising the following steps:

[0009] Collect obstacle location data through sensors;

[0010] Calculate the relative instantaneous speed of the gantry crane boom relative to the obstacle at the current moment according to the position data of the obstacle;

[0011] dynamically calculating a minimum safe rotary stop position according to the relative instantaneous speed;

[0012] Determine whether the current position has reached the minimum safe rotation stop position. If the condition is met, decelerate and stop at the maximum acceleration.

[0013] From the above, the anti-collision control method of the gantry crane arm described in the present application dynamically monitors the relative position of the gantry crane and the obstacle and its own speed, and calculates in real time the latest stop position of the gantry crane when the maximum acceleration is used for deceleration. Since the monitoring of the relative position of the obstacle and its own speed does not require the use of multi-angle sensors to detect the posture of the gantry crane, the number of sensors is reduced, saving resources; in the case of dynamic real-time calculation, if there is an unexpected change in the speed of the obstacle, the latest minimum safe rotation stop position can also be calculated in real time, with good maneuverability; in particular, since the goal of the method described in the present application is to find the latest stop position of the gantry crane, premature deceleration is avoided, and the efficiency of the gantry crane operation is improved.

[0014] As a possible implementation of the first aspect, the position data of the obstacle includes at least one of the following: a Euclidean distance R of the obstacle from the sensor detection center point and a polar coordinate angle α of the obstacle relative to the sensor detection center point, a coordinate (x r ,y r ), the coordinates of the obstacle in the horizontal plane projection coordinate system (x 平 ,y 平 ).

[0015] From the above, the obstacle position data can be located on the detection plane. Since the acquired coordinate data is easy to process and has good compatibility, the calculation can be simplified. In further processing, combined with the position, normal, coordinates and other information of the detection plane, the exact position of the obstacle in the real space can be obtained.

[0016] As a possible implementation manner of the first aspect, the relative coordinates of the projection of the obstacle on the horizontal plane are obtained by coordinate conversion of the coordinates of the obstacle in the coordinate system of the sensor scanning plane;

[0017] The coordinate transformation is calculated based on the angle between the scanning plane where the sensor is located and the horizontal plane:

[0018]

[0019] Among them, C max is the maximum angle between the scanning plane where the sensor is located and the horizontal plane, C minis the minimum angle between the scanning plane where the sensor is located and the horizontal plane;

[0020] L is the luffing length of the gantry crane, L max is the maximum length, L min The minimum width.

[0021] As shown above, the obstacle coordinates of the detection plane are converted to horizontal plane coordinates, which is more intuitive for the operator and easier to understand the location of the obstacle, while not losing important azimuth and distance information; since the angle of the scanning plane is simplified, the calculation speed is faster.

[0022] As a possible implementation manner of the first aspect, the relative instantaneous velocity includes a relative instantaneous linear velocity and a relative instantaneous angular velocity; and the relative instantaneous angular velocity is calculated based on the relative instantaneous linear velocity.

[0023] From the above, the relative instantaneous speed is used as the calculation standard, which has better real-time performance, facilitates the judgment of the current operating conditions, and provides mobility for the anti-collision control of the gantry crane.

[0024] As a possible implementation manner of the first aspect, obtaining the relative instantaneous speed at the current moment includes:

[0025] At the current moment, obtain the position coordinates of the obstacle twice with a time interval of t, where t is small enough;

[0026] The relative instantaneous angular velocity at the current moment is calculated according to the following formula:

[0027]

[0028] Among them, v α is the relative instantaneous angular velocity at the current moment, v L相对 is the relative instantaneous linear velocity at the current moment;

[0029] L r1 , L r1 They are the horizontal projection radius of the obstacle during the first and second acquisitions, respectively, and are calculated according to the following formula:

[0030] L r1 =Lx 平1

[0031] L r2 =Lx 平2

[0032] Among them, L is the variable length of the gantry crane, x 平1 is the relative coordinate of the obstacle projected on the horizontal plane obtained by the first acquisition, x 平2 The relative coordinates of the obstacle projected on the horizontal plane obtained by the second acquisition;

[0033] The relative instantaneous linear velocity at the current moment is calculated according to the following formula:

[0034]

[0035] Among them, y 平1 is the relative coordinate of the obstacle projected on the horizontal plane obtained by the first acquisition, y 平2 is the relative coordinates of the obstacle projected on the horizontal plane obtained by the second acquisition.

[0036] From the above, the relative instantaneous speed of the gantry crane arm at the current moment is obtained through two acquisitions, with a small amount of data and high accuracy.

[0037] As a possible implementation manner of the first aspect, the dynamically calculating the minimum safe rotation stop position includes:

[0038] The parking slide angle is calculated according to the following formula:

[0039]

[0040] Where x is the parking slide angle, v α相对 is the relative instantaneous angular velocity at the current moment, a is the maximum acceleration of the gantry crane rotation;

[0041] The safe rotation stop position is x+x 安 ; where x 安 is the safety angle, and x 安 >0.

[0042] From the above, the minimum safe rotary stop position leaves safety redundancy, which provides a guarantee for preventing collision while delaying the parking action as much as possible.

[0043] As a possible implementation manner of the first aspect, determining whether the current position reaches the minimum safe rotation stop position includes:

[0044] The current position is obtained by calculating the angle b between the current gantry arm and the obstacle according to the following formula:

[0045]

[0046] Among them, y 平 is the relative coordinate of the obstacle projected on the horizontal plane, L r is the projection radius of the obstacle in the horizontal direction;

[0047] For example, b>x+x 安 , the current position has not reached the minimum safe rotation stop position and the condition is not met; if b=x+x 安, the current position reaches the minimum safe rotation stop position, and the door machine starts to decelerate and stop at the maximum acceleration.

[0048] From the above, the angle between the current position of the gantry crane arm and the obstacle is dynamically calculated until the minimum safe rotation stop position is reached, which prevents the gantry crane arm from slowing down too early and improves the efficiency of the gantry crane.

[0049] The second aspect of the present application provides an anti-collision control device for a gantry crane boom, comprising:

[0050] A sensor acquisition module is used to collect the position data of obstacles; the sensor acquisition module includes a 2D laser radar, which is installed on the left and right sides of the trunk of the gantry crane, and the scanning plane is parallel to the upper surface of the trunk;

[0051] The data processing module is used to calculate the relative instantaneous speed of the gantry crane arm relative to the obstacle and the current safe rotation stop position of the gantry crane arm;

[0052] The judgment processing module is used to judge whether the current position reaches the safe rotation stop position. If the condition is met, the vehicle is decelerated and stopped at the maximum acceleration.

[0053] The third aspect of the present application provides a computing device, comprising: a communication interface, and at least one processor; wherein the at least one processor is used to execute program instructions, and when the program instructions are executed by the at least one processor, the computing device implements any of the methods described in the first aspect above, or, when the program instructions are executed by the at least one processor, the computing device implements any of the methods described in the first aspect above.

[0054] The fourth aspect of the present application provides a computer-readable storage medium having program instructions stored thereon, wherein the program instructions, when executed by a computer, enable the computer to implement any of the methods described in the first aspect above, or, when executed by the computer, enable the computer to implement any of the methods described in the first aspect above. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 is a flow chart of the gantry crane arm anti-collision control method provided in the first embodiment of the present application;

[0056] Figure 2 is a flow chart of a gantry crane arm anti-collision control method provided in the second embodiment of the present application;

[0057] Figure 3a is a schematic diagram of the radar detection range involved in the second embodiment of the present application;

[0058] Figure 3bis a schematic diagram of obstacles detected by the radar involved in the second embodiment of the present application;

[0059] Figure 3c This is a schematic diagram of the door crane radar installation involved in the second embodiment of the present application;

[0060] Figure 3d It is a schematic diagram of the scanning plane and horizontal plane of the gantry crane radar involved in the second embodiment of the present application;

[0061] Figure 3e is a front view of a gantry crane arm involved in the second embodiment of the present application;

[0062] Figure 3f Schematic diagram of two obstacle detections involved in the second embodiment of the present application;

[0063] Figure 3g is a schematic diagram of the angle between the gantry crane arm and the obstacle involved in the second embodiment of the present application;

[0064] Figure 4 is a schematic diagram of a gantry crane arm anti-collision control device provided in an embodiment of the present application;

[0065] Figure 5 It is a structural schematic diagram of a computing device provided in an embodiment of the present application.

[0066] It should be understood that the size and shape of each block diagram in the above structural diagram are for reference only and should not constitute an exclusive interpretation of the embodiment of the present invention. The relative position and inclusion relationship between the blocks presented in the structural diagram are only schematic representations of the structural association between the blocks, and do not limit the physical connection method of the embodiment of the present invention. DETAILED DESCRIPTION

[0067] The technical solution provided by the present application is further described below with reference to the accompanying drawings and examples. It should be understood that the system structure and business scenarios provided in the examples of the present application are mainly to illustrate the possible implementation methods of the technical solution of the present application and should not be interpreted as the only limitation on the technical solution of the present application. It is known to those of ordinary skill in the art that with the evolution of the system structure and the emergence of new business scenarios, the technical solution provided by the present application is also applicable to similar technical problems.

[0068] It should be understood that the anti-collision control solution for the gantry boom provided in the embodiment of the present application includes an anti-collision control method for the gantry boom, an anti-collision control device, a computing device, and a computer-readable storage medium. Since the principles of solving the problems in these technical solutions are the same or similar, some repetitions may not be repeated in the introduction of the following specific embodiments, but it should be regarded that these specific embodiments have been referenced to each other and can be combined with each other.

[0069] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of this application. In the event of any inconsistency, the meaning described in this specification or the meaning derived from the contents recorded in this specification shall prevail. In addition, the terms used herein are only for the purpose of describing the embodiments of the present application and are not intended to limit the present application. In order to accurately describe the technical content in this application and to accurately understand the present invention, the following explanations or definitions are given to the terms used in this specification before describing the specific embodiments:

[0070] 1) Programmable Logic Controller (PLC): A digital electronic computer used in industrial environments. It uses programmable memory to store instructions such as logic operations, sequential control, timing, counting and arithmetic operations, and controls various types of machinery or production processes through digital or analog input / output.

[0071] The anti-collision control scheme for the gantry boom provided in the embodiment of the present application can obtain the minimum safe rotary stop position by dynamically calculating the relative speed between the gantry crane and the obstacle, and decelerate and stop the vehicle at this position with the maximum acceleration. This scheme can ensure that the latest parking position is dynamically calculated using fewer sensors, prevent low operating efficiency caused by premature deceleration, and also ensure safety redundancy. The embodiment of the present application can be applied to various types of cranes or mechanical automatic control systems with anti-collision requirements. The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0072] The first embodiment of the present application provides an anti-collision control method for a gantry crane boom. Figure 1 , specifically describing the implementation of each step of the method, including steps S10-S40:

[0073] In some embodiments, the calculation algorithms involved in the following steps S10-S40 can be integrated in a computing device such as a programmable logic controller or a real-time system; the programming language can be a dedicated programming language such as a ladder diagram, a function block diagram, a structured text, etc., or a general programming language such as C / C++, java, python, etc.; in some embodiments, communication modules, security modules, motion processing modules, etc. can also be integrated to provide more upstream and downstream functions to achieve closed-loop feedback and optimization of the entire control system.

[0074] S10: Collecting obstacle location data through sensors.

[0075] In some embodiments, the type of sensor or ranging sensor may include any of the following sensors: laser ranging sensor (such as 2D lidar), ultrasonic ranging sensor, infrared ranging sensor, 3D laser scanner; if other position sensors can achieve the same effect of obtaining obstacle position data, they can also be used in the collection step of this application.

[0076] In some embodiments, a 2D lidar sensor may be used, and the sensor should be installed on both sides of the trunk of the gantry crane arm. The monitoring angles of the two radars are 180° to ensure that a complete monitoring plane can be formed. The scanning plane of the sensor should be parallel to the upper surface of the trunk to match the movement posture of the gantry crane arm. The x-axis of the scanning plane coordinate system is parallel to the trunk, pointing positively to the free end of the gantry crane arm, and the y-axis is perpendicular to the trunk. In some embodiments, other ranging sensors may be used, and the installation position of the sensor should be able to measure obstacles within the movement range of the gantry crane arm, and there should be no measurement blind spots. In some embodiments, if the sensor has no scanning plane or the scanning plane cannot match the upper surface of the trunk, the relative position of the obstacle and the gantry crane arm, as well as the movement posture of the gantry crane arm can also be calculated by geometry.

[0077] In some embodiments, the location data of the obstacle is collected by measuring the relative position of the obstacle and the gantry boom, which may include any of the following data: the Euclidean distance R of the obstacle from the sensor detection center point and the polar coordinate angle α of the obstacle relative to the sensor detection center point, the coordinates of the obstacle in the sensor scanning plane coordinate system (x r ,y r ), the coordinates of the obstacle in the horizontal plane projection coordinate system (x 平 ,y 平 ); In addition, it may also include any collected data that can accurately describe the relative position of the obstacle and the gantry boom;

[0078] In some embodiments, the data collected by the sensor is a point cloud, and the obstacle coordinates should be selected from the point cloud. r |minimum and|x r | point; In some embodiments, when there is a large obstacle or an irregular shape, the point in the obstacle point cloud with the smallest distance R to the radar center point should be considered first.

[0079] In some embodiments, x r ,y r It can be calculated based on R and α, for example:

[0080] x r =R·cosα

[0081] y r =R·sinα

[0082] In some embodiments, x 平 ,y 平 The x can be adjusted according to the angle C between the scanning plane and the horizontal plane. r ,y r In some embodiments, the calculation of the angle C can be simplified by taking it as a variable that changes with the amplitude length L. During the movement, it decreases proportionally with the increase of the amplitude length. It can be calculated according to the following formula:

[0083]

[0084] Among them, C max is the maximum angle between the scanning plane where the sensor is located and the horizontal plane, C min is the minimum angle between the scanning plane where the sensor is located and the horizontal plane; L is the variable length of the gantry crane, L max is the maximum length, L min The minimum width.

[0085] In some embodiments, the angle C can also be calculated based on the gantry crane mechanical parameters such as the gantry crane arm length, the movement amplitude of each part of the beam components, etc., which is not limited here.

[0086] S20: Calculate the relative instantaneous speed of the gantry crane boom relative to the obstacle at the current moment according to the position data of the obstacle.

[0087] In some embodiments, the relative instantaneous speed of the gantry crane boom relative to the obstacle can be obtained by a speed sensor or indirectly; in some embodiments, the relative instantaneous speed can also be obtained by calculating the average relative speed between two sufficiently short time intervals; wherein, the time interval can be selected according to the reaction time of the measuring instrument, for example, a radar gun with a reaction time of 0.01 seconds is used as a measuring instrument. In order to more accurately simulate the instantaneous speed, a time interval close to the reaction time but shorter, such as 0.001 seconds, can be selected.

[0088] In some embodiments, the relative instantaneous speed can also be obtained by measuring the position of the obstacle multiple times to obtain a function of the obstacle displacement with respect to time, and by deriving the function; on the premise that the calculation time meets the reaction speed requirements of the gantry crane power module, the calculation method of the relative instantaneous speed is not limited here.

[0089] In some embodiments, the instantaneous linear velocity can be calculated by calculating the obstacle's horizontal coordinate y at two sufficiently short intervals. 平 The instantaneous angular velocity can be calculated by the ratio of the change in the horizontal plane angular coordinate of the obstacle to the time; the instantaneous angular velocity can be obtained by the formula describing the relationship between the angular velocity and the linear velocity in the rotational motion; in some embodiments, the instantaneous angular velocity can also be calculated by calculating the ratio of the change in the horizontal plane angular coordinate of the obstacle to the time twice with a sufficiently short interval.

[0090] S30: Dynamically calculating the minimum safe rotation stop position according to the relative instantaneous speed.

[0091] In some embodiments, the minimum safe swing stop position is when the door machine starts to decelerate and stop at the maximum acceleration, and when it stops completely, it can also ensure a certain safety distance from obstacles; in some embodiments, the angular coordinates of the minimum safe swing stop position can be calculated by adding a safety angle to the parking slide angle of the door machine in the deceleration state of the maximum swing acceleration; wherein, the safety angle should be greater than 0, and the specific value of the safety angle should be determined according to the shape of the door machine and the site conditions; in some embodiments, the coordinates of the minimum safe swing stop position can be calculated by adding a safety distance to the parking slide distance of the door machine in the deceleration state of the maximum swing acceleration.

[0092] In some embodiments, the parking slide angle x can be calculated according to the uniform acceleration formula v of the rotational motion: 2 =2ax, where v is the relative instantaneous angular velocity and a is the maximum rotational acceleration of the door crane; in some embodiments, the parking slide angle is related to external parameters such as friction, wind speed and direction, and therefore can be calculated and adjusted according to specific circumstances; in some embodiments, the parking slide angle can also be calculated based on the relative instantaneous linear velocity and the relative distance to obtain the parking slide distance, which can be further converted through trigonometric functions.

[0093] In some embodiments, when calculating the parking slide angle or distance, the maximum rotation acceleration may not be used for calculation, and a value smaller than the maximum rotation acceleration may be used to ensure a certain system redundancy.

[0094] S40: Determine whether the current position reaches the minimum safe rotation stop position. If the condition is met, decelerate and stop at the maximum acceleration.

[0095] In some embodiments, the angle b between the current gantry crane boom and the obstacle is used to determine whether the current position has reached the minimum safe rotation stop position, such as b>x+x 安 , the current position has not reached the minimum safe rotation stop position and the condition is not met; if b=x+x 安 , the current position reaches the minimum safe rotation stop position, and the gantry crane starts to decelerate and stop at the maximum acceleration; the gantry crane can also decelerate in advance before reaching the minimum safe rotation stop position, and dynamically calculate the new minimum safe rotation stop position until the gantry crane boom stops completely.

[0096] In some embodiments, the system can also give prompts and warnings on the distance to the obstacle and the possibility of collision based on the judgment results, and can provide reminders by displaying images and texts on the terminal, issuing alarm prompts, etc.

[0097] The second embodiment of the present application provides a gantry crane arm anti-collision control method based on 2D laser radar. The following will take the gantry crane dynamic anti-collision system composed of PLC, inverter and 2D laser radar as an example to specifically explain the implementation method of each step of the method. The step flow chart is as follows: Figure 2 As shown, steps S200-S250 are included:

[0098] S200: Collecting location data of obstacles through sensors and processing the location data.

[0099] In the embodiment of the present application, two 2D laser radars with a monitoring angle of 180 degrees are installed on both sides of the trunk to form a complete detection plane. Figure 3a As shown, the shaded part in the figure is the radar monitoring range.

[0100] According to the measurement results of 2D laser radar, the distance and azimuth of the obstacle from the center of the radar on a specific plane can be obtained, such as Figure 3b As shown. Among them, the distance from the obstacle to the y axis is x r , the distance from the x-axis is y r , O is the radar detection center point, R is the distance from the radar center to the obstacle, and α is the polar coordinate angle. r |minimum and|x r The smallest point is recorded as the obstacle's position coordinate (x r ,y r ), then (x r ,y r ) can be expressed by R,α as follows:

[0101] x r =R·cosα

[0102] y r =R·sinα

[0103] S210: Calculate the angle between the scanning plane and the horizontal plane, and convert the obstacle position coordinate data into horizontal plane coordinates.

[0104] like Figure 3c As shown in the figure, the scanning plane formed by the 2D laser radars installed on the left and right sides of the trunk is parallel to the upper surface of the trunk, and the plane forms an angle C with the horizontal plane. In order to facilitate analysis and calculation, the coordinates of the scanning plane need to be projected vertically downward and converted into horizontal plane position coordinates.

[0105] like Figure 3d As shown, the obstacle coordinates (x 平 ,y 平 ) can be calculated by the following formula:

[0106] x平 =x r cosC=R·cosα·cosC

[0107] y 平 =y r =R·sinα

[0108] Among them, the angle C is a variable, and its size changes with the amplitude length L. The amplitude length L is the horizontal projection distance from the farthest free end of each part of the gantry crane boom to the gantry crane rotation center P during the mechanical movement (which can be read from the gantry crane master control PLC), such as Figure 3e As shown. Where L r It is the horizontal projection distance from the obstacle to the gantry crane's rotation center P.

[0109] Since the angle C and the variable amplitude length L are not in a linear relationship, and the calculation of the angle C is relatively complicated, in order to simplify the operation, the angle C is approximated as a linear relationship for calculation. Since the larger the variable amplitude length, the smaller the angle C, and the smaller the variable amplitude length, the larger the angle C, the angle C can be approximately expressed by the following formula:

[0110]

[0111] Among them, C max is the maximum angle between the scanning plane where the sensor is located and the horizontal plane, C min L is the minimum angle between the scanning plane where the sensor is located and the horizontal plane; max is the maximum length, L min The minimum width.

[0112] Then L r It can be expressed as:

[0113]

[0114] S220: Calculate the relative instantaneous angular velocity of the gantry crane boom relative to the obstacle at the current moment according to the horizontal plane projection coordinates of the obstacle.

[0115] Assume that the current radar detects the obstacle at position 1, and after a time interval t, the obstacle is measured at position 2, and the straight-line distances from the gantry crane boom are y and 平1 and 平2 ,like Figure 3f As shown, the relative instantaneous linear velocity v between the gantry crane boom and the obstacle is L相对 It can be obtained according to the following formula:

[0116]

[0117] According to the differential principle, as long as the time interval t is small enough, v L相对 The relative instantaneous linear velocity at the current moment. The relative instantaneous angular velocity v between the obstacle and the gantry crane armα相对 According to v L相对 The radius of the obstacle in the horizontal direction (i.e. the radius of the circular motion) L at two moments is obtained. r1 ,L r2 The change is very small, so the average value of the two can be taken for calculation, as follows:

[0118]

[0119] S230: Calculate the parking slide angle and the minimum safe rotation stop position according to the relative instantaneous angular velocity of the door crane.

[0120] The parking slide angle x can be calculated by the following formula:

[0121]

[0122] Among them, a is the maximum acceleration of the gantry crane rotation, which is a known variable and is determined by the gantry crane performance.

[0123] S240: Calculate the angle between the current gantry crane boom and the obstacle.

[0124] like Figure 3g As shown in the figure, the angle b between the straight line where the current gantry crane boom is located and the obstacle can be calculated according to the following formula:

[0125]

[0126] S250: Determine whether the current position has reached the minimum safe rotation stop position. If the condition is met, decelerate and stop at the maximum acceleration.

[0127] The rear door operator should maintain a certain safety angle with the obstacle. Assume that the safety angle is x 安 , then the minimum safe rotation stop position of the door crane is the parking sliding angle x and x 安 sum.

[0128] When the current position b has not reached the minimum safe return stop position of the door crane, that is, b>x+x 安 , the gantry crane can continue to move; when b=x+x 安 At this time, the door machine starts to decelerate and stop at the maximum acceleration a. If it starts to decelerate at this time, when it stops completely, it can still ensure that the angle x between it and the obstacle is 安 .

[0129] The third embodiment of the present application provides an anti-collision control device for a gantry crane arm, such as Figure 4 As shown, including:

[0130] The sensor acquisition module is used to collect the position data of the obstacle; the sensor acquisition module includes a 2D laser radar, which is installed on the left and right sides of the trunk of the gantry crane, and the scanning plane is parallel to the upper surface of the trunk. Specifically, the sensor acquisition module can be used to implement step S10 in the first embodiment and its optional embodiments.

[0131] The data processing module is used to calculate the relative instantaneous speed of the gantry crane arm relative to the obstacle and the current safe rotation stop position of the gantry crane arm. Specifically, the data processing module can be used to implement steps S20-S30 in the first embodiment and its optional embodiments.

[0132] The judgment processing module is used to judge whether the current position reaches the safe rotation stop position, and if the condition is met, the vehicle is stopped by decelerating at the maximum acceleration. Specifically, the judgment processing module can be used to implement step S40 in the first embodiment and its optional embodiments.

[0133] Figure 5 900 is a schematic structural diagram of a computing device 900 provided in an embodiment of the present application. The computing device can execute each optional embodiment of the above method, and the computing device can be a terminal, or a chip or chip system inside the terminal. Figure 5 As shown, the computing device 900 includes: a processor 910 , a memory 920 , and a communication interface 930 .

[0134] It should be understood that Figure 5 The communication interface 930 in the computing device 900 shown may be used to communicate with other devices, and may specifically include one or more transceiver circuits or interface circuits.

[0135] The processor 910 may be connected to a memory 920. The memory 920 may be used to store the program code and data. Therefore, the memory 920 may be a storage unit inside the processor 910, or an external storage unit independent of the processor 910, or a component including a storage unit inside the processor 910 and an external storage unit independent of the processor 910.

[0136] Optionally, the computing device 900 may further include a bus. The memory 920 and the communication interface 930 may be connected to the processor 910 via the bus. The bus may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5A line without an arrow is used to represent the bus, but this does not mean that there is only one bus or one type of bus.

[0137] It should be understood that in the embodiment of the present application, the processor 910 may adopt a central processing unit (CPU). The processor may also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. Alternatively, the processor 910 may adopt one or more integrated circuits to execute relevant programs to implement the technical solutions provided in the embodiment of the present application.

[0138] The memory 920 may include a read-only memory and a random access memory, and provides instructions and data to the processor 910. A portion of the processor 910 may also include a nonvolatile random access memory. For example, the processor 910 may also store information on the device type.

[0139] When the computing device 900 is running, the processor 910 executes the computer-executable instructions in the memory 920 to perform any operation step of the above method and any optional embodiment thereof.

[0140] It should be understood that the computing device 900 according to the embodiment of the present application can correspond to the corresponding subjects in the methods according to the embodiments of the present application, and the above-mentioned and other operations and / or functions of each module in the computing device 900 are respectively for implementing the corresponding processes of each method of the present embodiment. For the sake of brevity, they will not be repeated here.

[0141] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0142] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0143] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0144] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0145] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0146] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0147] An embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, it is used to execute the above method, which includes at least one of the solutions described in the above embodiments.

[0148] The computer storage medium of the embodiment of the present application can adopt any combination of one or more computer-readable media. Computer-readable media can be computer-readable signal media or computer-readable storage media. Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples (non-exhaustive lists) of computer-readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this document, computer-readable storage media can be any tangible medium containing or storing programs, which can be used by instruction execution systems, devices or devices or used in combination with them.

[0149] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0150] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0151] Computer program code for performing the operation of the present application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., using an Internet service provider to connect through the Internet).

[0152] In addition, the words "first, second, third, etc." or module A, module B, module C and other similar terms in the specification and claims are only used to distinguish similar objects and do not represent a specific ordering of the objects. It can be understood that the specific order or sequence can be interchanged where permitted so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0153] In the above description, the numbers representing the steps, such as S110, S120, etc., do not necessarily mean that the steps will be executed in this manner. If permitted, the order of the steps can be interchanged or they can be executed simultaneously.

[0154] The term "comprising" as used in the description and claims should not be interpreted as being limited to what is listed thereafter; it does not exclude other elements or steps. Therefore, it should be interpreted as specifying the presence of the features, integers, steps or components mentioned, but does not exclude the presence or addition of one or more other features, integers, steps or components and groups thereof. Therefore, the expression "a device comprising means A and B" should not be limited to a device consisting of components A and B only.

[0155] References to "one embodiment" or "an embodiment" in this specification mean that a particular feature, structure, or characteristic described in conjunction with the embodiment is included in at least one embodiment of the present application. Therefore, the phrases "in one embodiment" or "in an embodiment" appearing in various places in this specification do not necessarily refer to the same embodiment, but may refer to the same embodiment. In addition, in one or more embodiments, the particular features, structures, or characteristics can be combined in any appropriate manner, as would be apparent to one of ordinary skill in the art from this disclosure.

[0156] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may also include more other equivalent embodiments without departing from the concept of the present application, all of which belong to the scope of protection of the present application.

Claims

1. A method for preventing collision of a gantry crane boom, characterized in that: include: Collect obstacle location data through sensors; Calculate the relative instantaneous speed of the gantry crane boom relative to the obstacle at the current moment according to the position data of the obstacle; dynamically calculating a minimum safe rotary stop position according to the relative instantaneous speed; Determine whether the current position has reached the minimum safe rotation stop position. If the condition is met, decelerate and stop at the maximum acceleration.

2. The method according to claim 1, characterized in that: The obstacle position data includes at least one of the following: the Euclidean distance R of the obstacle from the sensor detection center point, the polar coordinate angle α of the obstacle relative to the sensor detection center point, the coordinates (x r ,y r ), the coordinates of the obstacle in the horizontal plane projection coordinate system (x 平 ,y 平 ).

3. The method according to claim 2, characterized in that The relative coordinates of the obstacle projection on the horizontal plane are obtained by coordinate conversion of the obstacle coordinates in the sensor scanning plane coordinate system; The coordinate transformation is calculated based on the angle between the scanning plane where the sensor is located and the horizontal plane: and 平 =and r Among them, C max is the maximum angle between the scanning plane where the sensor is located and the horizontal plane, C min is the minimum angle between the scanning plane where the sensor is located and the horizontal plane; L is the luffing length of the gantry crane, L max is the maximum length, L min The minimum width.

4. The method according to any one of claims 1 to 3, characterized in that: The relative instantaneous velocity includes a relative instantaneous linear velocity and a relative instantaneous angular velocity; the relative instantaneous angular velocity is calculated based on the relative instantaneous linear velocity.

5. The method according to claim 4, characterized in that Obtaining the relative instantaneous speed at the current moment includes: At the current moment, obtain the position coordinates of the obstacle twice with a time interval of t, where t is small enough; The relative instantaneous angular velocity at the current moment is calculated according to the following formula: Among them, v α is the relative instantaneous angular velocity at the current moment, v L相对 is the relative instantaneous linear velocity at the current moment; L r1 , L r1 They are the horizontal projection radius of the obstacle during the first and second acquisitions, respectively, and are calculated according to the following formula: L r1 =L-x 平1 L r2 =L-x 平2 Among them, L is the variable length of the gantry crane, x 平1 is the relative coordinate of the obstacle projected on the horizontal plane obtained by the first acquisition, x 平2 The relative coordinates of the obstacle projected on the horizontal plane obtained by the second acquisition; The relative instantaneous linear velocity at the current moment is calculated according to the following formula: Among them, y 平1 is the relative coordinate of the obstacle projected on the horizontal plane obtained by the first acquisition, y 平2 is the relative coordinates of the obstacle projected on the horizontal plane obtained by the second acquisition.

6. The method according to claim 4, characterized in that The dynamic calculation of the minimum safe rotary stop position includes: The parking slide angle is calculated according to the following formula: Where x is the parking slide angle, v α相对 is the relative instantaneous angular velocity at the current moment, a is the maximum acceleration of the gantry crane rotation; The safe rotation stop position is x+x 安 ; where x 安 is the safety angle, and x 安 >0.

7. The method according to claim 5, characterized in that The determination of whether the current position has reached the minimum safe rotation stop position comprises: The current position is obtained by calculating the angle b between the current gantry arm and the obstacle according to the following formula: Among them, y 平 is the relative coordinate of the obstacle projected on the horizontal plane, L r is the projection radius of the obstacle in the horizontal direction; For example, b>x+x 安 , the current position has not reached the minimum safe rotation stop position and the condition is not met; if b=x+x 安 , the current position reaches the minimum safe rotation stop position, and the door machine starts to decelerate and stop at the maximum acceleration.

8. An anti-collision control device for a gantry crane boom, characterized in that: include: A sensor acquisition module is used to collect the position data of obstacles; the sensor acquisition module includes a 2D laser radar, which is installed on the left and right sides of the trunk of the gantry crane, and the scanning plane is parallel to the upper surface of the trunk; The data processing module is used to calculate the relative instantaneous speed of the gantry crane arm relative to the obstacle and the current safe rotation stop position of the gantry crane arm; The judgment processing module is used to judge whether the current position reaches the safe rotation stop position. If the condition is met, the vehicle is decelerated and stopped at the maximum acceleration.

9. A computing device, characterized in that include: processor, and A memory having program instructions stored thereon, wherein when the program instructions are executed by the processor, the processor executes the anti-collision control method for a gantry crane boom as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: Program instructions are stored thereon, and when the program instructions are executed by a computer, the computer executes the anti-collision control method for a gantry crane boom as described in any one of claims 1 to 7.

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