Multi-objective optimization method for hoisting transportation path of bridge crane

Abstract

The invention provides a multi-objective optimization method for a hoisting transportation path of a bridge crane, and relates to the technical field of multi-objective optimization of transportation paths, and the multi-objective optimization method comprises the following steps: monitoring state data of a hoisting rope and a load in real time, along with the change of EI and SI, dynamically adjusting the speed and direction by a system, and optimizing the hoisting path to ensure safety and efficiency; when a high-swing and high-risk area occurs, the system reduces the risk by greatly reducing the speed and path deviation, and the safety and efficiency in the hoisting process can be remarkably improved; the optimal path is selected under the multi-target constraint condition, and the safety risk and the time cost in the hoisting process are effectively reduced.

Description

Technical Field

[0001] The invention relates to the technical field of multi-objective optimization of transportation paths, and in particular to a multi-objective optimization method for a bridge crane hoisting transportation path. Background Art

[0002] As a heavy equipment widely used in industry, construction and logistics, the optimization of the lifting and transportation path of bridge cranes is crucial to improving operational efficiency and safety. With the development of industrial automation and intelligent technology, the traditional manual operation mode is gradually replaced by intelligent control systems. Existing path planning technologies usually rely on static environment assumptions and use preset paths or simple obstacle avoidance algorithms to perform lifting tasks. However, these methods often show certain limitations in complex environments and have difficulty adapting to dynamic changes in the environment in real time, especially when dealing with load swings caused by external factors such as the temporary appearance of obstacles. In the prior art, the publication number is CN112765733B, and the name is a multi-objective optimization method for a cable crane tank transportation path. First, the spatial exposure risks of the cable crane tank and the dam surface compactor are parameterized, and then the constraints of the cable crane tank transportation path are established. Then, a multi-objective optimization model for the cable crane tank transportation path is established, including three goals: spatial exposure risk, efficiency, and operability. Then, the optimal solution of each sub-goal is calculated, and the inertia weight is introduced to convert the multi-objective optimization problem into a single-objective solution. Finally, the KnEA multi-objective optimization algorithm is used to optimize and solve the cable crane tank transportation path; the static collision risk and dynamic collision risk in the operation of the cable crane are considered to make the transportation path optimization more accurate and reasonable; the safety avoidance range between the cable cranes is considered when calculating the safety critical distance between the cable cranes, and reasonable cable crane operation path planning is performed in advance, so that the cable cranes can better avoid collisions during transportation, making the cable crane tank optimized line safer.

[0003] For monitoring the state of the lifting rope and the swing of the load, traditional technologies often rely on offline analysis and cannot provide timely warnings before breakage or violent swinging occurs, resulting in potential safety hazards. Secondly, although some systems can provide basic swing data collection, they lack in-depth analysis and application of the data and cannot accurately predict the risks that may occur during the lifting process. The above information disclosed in the above Background section is only for enhancement of understanding of the background of the present disclosure and therefore it may contain information that does not form the prior art that is already known to one of ordinary skill in the art. Summary of the invention

[0004] The purpose of the present invention is to provide a multi-objective optimization method for the hoisting and transportation path of a bridge crane to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions: A multi-objective optimization method for a bridge crane hoisting and transportation path, the specific steps comprising: Step S1: real-time monitoring of the state data of the lifting rope at the connection point of the lifting rope on the hook and the swing state data of the object to be lifted, the swing state data including the swing angle, the swing lateral force and the swing amplitude, and storing these monitoring data in a database to generate historical monitoring data; Step S2: obtaining and analyzing the real-time monitored suspension rope state data to generate a first evaluation index for evaluating the risk of fracture at the current suspension rope connection; Step S3: obtaining and analyzing the real-time monitored swing state data, generating a second evaluation index for determining the swing path trend of the object to be hoisted at the current moment, and dividing the swing influence range of the object to be hoisted into regions based on the swing path trend at the current moment, and determining the straight-line distance between the current object to be hoisted and each obstacle within the surrounding M square meters; Step S4: combining and analyzing the first evaluation index and the second evaluation index to generate an adjustment index for providing an adjustment strategy for the current hoisting and transportation path, and taking the minimum value of the adjustment index as the final optimization target; If the hook does not reach the final optimization goal in the current lifting and transportation path, an alarm signal will be sent to the operator through the sound and light alarm equipment and mobile devices. At the same time, the current operation trajectory of the crane hook will be adjusted according to the final optimization goal, and obstacles will be avoided first.

[0006] Compared with the prior art, the beneficial effects of the present invention are as follows: by real-time monitoring of the status data of the lifting rope and the load, the system dynamically adjusts the speed and direction as the EI and SI change, and optimizes the lifting path to ensure safety and efficiency; when high swings and high-risk areas occur, the system reduces risks by significantly reducing speed and path deviation, which can significantly improve the safety and efficiency of the lifting process; the optimal path is selected under multi-objective constraints, effectively reducing the safety risks and time costs in the lifting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 It is a schematic diagram of the overall method flow of the present invention. DETAILED DESCRIPTION

[0008] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments.

[0009] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0010] Embodiment 1: See also Figure 1 , the present invention provides a technical solution: A multi-objective optimization method for the hoisting and transportation path of a bridge crane is applied to the monitoring optimization between the object to be hoisted and the hoisting rope. The specific steps include: Step S1: real-time monitoring of the state data of the lifting rope at the connection point of the lifting rope on the hook and the swing state data of the object to be lifted, the swing state data including the swing angle, the swing lateral force and the swing amplitude, and storing these monitoring data in a database to generate historical monitoring data; Step S2: obtaining and analyzing the real-time monitored suspension rope state data to generate a first evaluation index for evaluating the risk of fracture at the current suspension rope connection; Step S3: obtaining and analyzing the real-time monitored swing state data, generating a second evaluation index for determining the swing path trend of the object to be hoisted at the current moment, and dividing the swing influence range of the object to be hoisted into regions based on the swing path trend at the current moment, and determining the straight-line distance between the current object to be hoisted and each obstacle within the surrounding M square meters; Step S4: combining and analyzing the first evaluation index and the second evaluation index to generate an adjustment index for providing an adjustment strategy for the current hoisting and transportation path, and taking the minimum value of the adjustment index as the final optimization target; Step S5: If the hook does not reach the final optimization target in the current lifting and transportation path, an alarm signal is sent to the operator through the sound and light alarm device and the mobile device. At the same time, the current operation trajectory of the crane hook is adjusted according to the final optimization target, and obstacles are avoided first.

[0011] It is further explained that the rope state data includes rope tension, rope wear degree and impact load, and the rope tension, rope wear degree and impact load are recorded as DSz, DSm and CJn respectively; The degree of wear of the lifting rope is determined by monitoring the wear area of ​​the working force surface of the lifting rope, and the ratio of the actual wear area of ​​the lifting rope to the working area is used as the output value of the degree of wear of the lifting rope; The swing state data including the swing angle, swing lateral force and swing amplitude are recorded as BDj, BDc and BDf respectively; Install tension sensors, wear sensors, and acceleration sensors at the hook's rope connection; these sensors are used to collect rope status data in real time, including rope tension (DSz), rope wear (DSm), and impact load (CJn); Angle sensors and force sensors are installed on the object to be hoisted to monitor the swing state data, including the swing angle (BDj), swing lateral force (BDc) and swing amplitude (BDf); A data processing unit is set up, which is connected to all sensors and is used to receive and process the raw data sent back by the sensors in real time; the data processing unit converts the raw data into indicators with a unified standardized scale (0,1) and stores them in a database; Data filtering and cleaning algorithms are embedded in the data processing unit to remove noise and outliers, ensuring the accuracy and reliability of the recorded data; this step ensures that subsequent calculations are based on high-quality data; The cleaned monitoring data is stored in the database in chronological order to establish a historical monitoring data set; the database is updated in real time to provide reliable historical data support for subsequent optimization algorithms; The storage capacity of historical monitoring data is limited to the most recent R1 monitoring.

[0012] Further, generating a first evaluation index for the risk of fracture at the current suspension rope connection specifically includes: The rope status data are monitored and analyzed, including rope tension, recorded as DSz, rope wear, recorded as DSm and impact load, recorded as CJn. Before real-time monitoring, the rope is simulated by limit experiment, including tension test, wear evaluation and impact load test. The tension, wear and impact load of each test are incremental. When the rope breaks, the rope tension, rope wear and impact load simulated before the break are taken as the limit values, and the limit values ​​are recorded as Specific experiments include: According to the expert group system or the "Standard for the Safe Use of Lifting Ropes for Cranes", the initial reference values ​​of the lifting rope tension, rope wear and impact load are set respectively; and the value increase of each simulation experiment is 5% of the previous simulation value; Under the premise of keeping the rope wear degree and impact load as the initial reference value, gradually increase the rope tension until the rope breaks, and take the rope tension of the previous simulation as the limit value. ; Under the premise of keeping the rope tension and impact load as the initial reference value, gradually increase the rope wear degree until the rope breaks, and take the rope wear degree of the previous simulation as the limit value ; Under the premise of keeping the rope tension and rope wear at the initial reference value, gradually increase the impact load until the rope breaks, and take the previous simulated impact load as the limit value. ; By comparing the current monitoring data with these limit values ​​and comprehensively analyzing the various ratios, the following first evaluation index is generated; It should be noted that the DSz, DSm, and CJn corresponding to this embodiment in the safe use scenario do not reach the corresponding limit values. ; The first evaluation index is defined as EI, and the calculation formula is as follows: ; Among them, the weight coefficient is used The corresponding ratios are weighted averaged to obtain the first evaluation index EI, and are all positive weight coefficients, and The value range is (0,1). ; This embodiment ; Set the value range of the first evaluation index EI to (0,1); When the first evaluation index EI is closer to 0, the risk of breaking at the current suspension rope connection is lower, and it is in a safe state; When the first evaluation index EI is closer to 1, the risk of breaking at the current suspension rope connection is higher, and there is a potential danger of suspension rope breaking.

[0013] When the EI value is in the first interval (0, 0.35), the risk probability of fracture at the suspension rope connection is less than 2%; When the EI value is in the second interval [0.35, 0.65], the risk probability of the rope connection breaking is in the range of (2%, 13%); When the EI value is in the third interval (0.65, 1), the risk probability of breakage at the suspension rope connection is above 13%.

[0014] The experimental contents are as follows: Set a baseline value and gradually increase the rope tension, wear and impact load, and record the limit value of each parameter; the weight coefficient will be adjusted according to different situations to reflect the importance of each parameter to the risk.

[0015] The value increase of each simulation is 5% of the previous simulation value. In the simulation experiment, the rope tension, wear degree and impact load are gradually increased until the rope breaks. The rope tension, wear degree and impact load of the previous simulation before the break are recorded as the limit value; The experimental setting of the limit values ​​of rope tension, rope wear and impact load is as follows: The upper limit of the rope tension is 3000 N; The upper limit of rope wear is 120%; The upper limit of impact load is 1500 N; The following is the experimental data table: Table 1 Experiments on the first evaluation index: ; Based on the probability distribution function and statistical analysis tools provided by the MATLAB statistical toolbox, the table data is deeply analyzed. According to the above table data, when the EI value is in the first interval (0, 0.35), the risk probability of the rope connection breaking is set to be within 2%: When the EI value is in the second interval [0.35, 0.65], the risk probability of the rope connection breaking is set to be in the range of (2%, 13%): In these 20 tests, there was no situation where the EI value was in the third interval, so the risk probability of breakage at the suspension rope connection was below 13%, which met the requirements.

[0016] Further explanation: generating a second evaluation index for determining the swing path trend of the object to be hoisted at the current moment, and dividing the swing influence range of the object to be hoisted into regions based on the swing path trend at the current moment, specifically includes: Determine the straight-line distance between the current object to be hoisted and each obstacle within the surrounding M square meters, including: Each obstacle within the M square meters around the current object to be hoisted is represented as an obstacle sequence set {1, 2, ..., n}. In this embodiment, the value of M is 3. The straight-line distance between the current object to be hoisted and each obstacle is represented by a distance sequence set: , where i represents the i-th obstacle, n represents the total number of obstacles within M square meters around the object to be hoisted, Indicates the straight-line distance between the current object to be hoisted and the i-th obstacle; Indicates the straight-line distance between the current object to be hoisted and the nth obstacle; The second evaluation index of the swing path trend of the object to be hoisted at the current moment is defined as SI, and the calculation formula is as follows: ; Among them, BDj, BDc, and BDf are the swing angle, swing lateral force, and swing amplitude monitored in real time, respectively; are the limit values ​​of the swing angle, swing lateral force and swing amplitude in different swing directions respectively; and the swing angle is the absolute value compared to the vertical downward direction; It should be noted that the BDj, BDc, and BDf corresponding to this embodiment in the safe use scenario do not reach the corresponding limit values. ; Before real-time monitoring, an extreme experiment simulation is performed on the swing of the hanging object, as follows: The swing direction of the object to be hoisted at the current moment is divided into a first swing direction and a second swing direction, the first swing direction and the second swing direction are oppositely arranged, and each swing direction includes all obstacles that can be touched by the corresponding direction; The nearest distances to the objects to be hoisted corresponding to the first swing direction and the second swing direction are selected. ,and , i1 and i2 represent the i1th and i2th obstacles closest to the object to be hoisted in different swing directions respectively; Apply different swing lateral forces to the object to be hoisted to simulate the hook applying different forward thrusts to the object to be hoisted through the rope, and the swing lateral forces are applied in an increasing manner; The initial reference value of the swing lateral force was set by the expert group system, and the value of each simulation experiment increased by 5% of the previous simulation value; If the object to be hoisted collides with the i1th obstacle in the first swing direction, the swing angle, swing lateral force and swing amplitude of the object to be hoisted in the previous simulation are taken as limit values; are respectively the limit values ​​of the swing angle, the swing lateral force and the swing amplitude in the first swing direction; If the object to be hoisted collides with the i2th obstacle in the second swing direction, the swing angle, swing lateral force and swing amplitude of the previous simulation are used as limit values; are respectively the limit values ​​of the swing angle, the swing lateral force and the swing amplitude in the second swing direction; The first swing direction and the second swing direction are uniformly denoted as q1, where q1∈{1,2}; When q1=1, it indicates the first swing direction, which is the same as the transportation direction of the object to be hoisted; when q1=2, it indicates the second swing direction, which is opposite to the transportation direction of the object to be hoisted; The limit values ​​of the swing angle, swing lateral force and swing amplitude in different swing directions are comprehensively expressed as ; b1, b2 and b3 are weight indexes of swing angle, swing lateral force and swing amplitude respectively; b1, b2 and b3 are all positive weight coefficients, and the value ranges of b1, b2 and b3 are all in (0,1), b1+b2+b3=1; in this embodiment, b1=b2=b3; Set the value range of SI to (0,1); When the second evaluation index SI is closer to 0, it means that the swing amplitude of the object to be hoisted is smaller, and the probability of the object to be hoisted colliding with an obstacle in the corresponding swing direction in the swing path is lower; When the second evaluation index SI is closer to 1, it means that the swing amplitude of the object to be hoisted is larger, and the probability that the object to be hoisted collides with an obstacle in the corresponding swing direction in the swing path is higher.

[0017] Further explanation: When the SI value is in the fourth interval (0, 0.36), it means that the swing amplitude of the object to be hoisted is The probability of the object to be hoisted colliding with obstacles in the corresponding swing direction in the swing path is within 4.5%; the swing influence range is within the range between the object to be hoisted and the surrounding Within square meters; When the SI value is in the fifth interval [0.36,0.71], it means that the swing amplitude of the object to be hoisted is The probability of the object to be hoisted colliding with obstacles in the corresponding swing direction in the swing path is between (4.5%, 17%); the swing influence range is between the object to be hoisted and the surrounding Within square meters; When the SI value is in the sixth interval (0.71,1), it means that the swing amplitude of the object to be hoisted is As shown above, the probability of the object to be hoisted colliding with an obstacle in the corresponding swing direction in the swing path is above 17%; the swing influence range is within the range of M square meters between the object to be hoisted and the surrounding area.

[0018] The experimental object is a 500 kg object to be hoisted, which is suspended under a 10-meter-long rope. The experimental site around the object to be hoisted is planned as a 9-square-meter area, and several obstacles are randomly distributed within the area. The purpose of the experiment is to apply different swing lateral forces to simulate the movement of the object to be hoisted in different swing directions, and then determine the second evaluation index (SI), and use this index to evaluate the probability of the object to be hoisted colliding with obstacles in the swing path. Experimental preparation: Placement of objects and obstacles: The objects to be hoisted are located in the center of the site, and obstacles are randomly distributed within a radius of 3 meters. The number and location of obstacles should be recorded in advance so that their linear distance relative to the objects to be hoisted can be considered in data analysis; and expressed in the following way The straight-line distance between the current object to be hoisted and each obstacle is expressed as a distance sequence set: , where i represents the i-th obstacle, n represents the total number of obstacles within M square meters around the object to be hoisted, Indicates the straight-line distance between the current object to be hoisted and the i-th obstacle; Indicates the straight-line distance between the current object to be hoisted and the nth obstacle; Monitoring equipment: A high-precision motion tracking system will be installed around the experimental site to monitor the swing angle, swing lateral force, and swing amplitude in real time; these data will be used to calculate the secondary evaluation index (SI).

[0019] Experimental condition setting: The initial baseline value of the swing lateral force was set to 50 Newtons according to the expert group system, and then the lateral force was increased by 5% increments in each experiment; each experimental group conducted 100 experiments to ensure the reliability and repeatability of the data.

[0020] Initial limit value assessment: Carry out a preliminary limit test on the object to be hoisted to determine the swing limit value of the object to be hoisted in different swing directions; by setting the lateral force to increase gradually, record the limit swing angle, lateral force and swing amplitude of the object to be hoisted in the first and second swing directions.

[0021] Implementation process: At the beginning of the experiment, the object to be hoisted was placed in the center and then subjected to a predetermined lateral force. The initial lateral force was 50 Newtons and increased by 5% after each experiment. During each experiment, the monitoring equipment recorded the swing angle, swing lateral force and swing amplitude of the object to be hoisted in real time. The swing direction of the object to be hoisted was divided into two, of which the first swing direction was consistent with the transportation direction and the second swing direction was opposite to the transportation direction.

[0022] During the experiment, whenever the object to be hoisted collides with an obstacle during the swing process, the swing parameters are recorded, and the parameters of the previous collision-free swing are recorded as the limit values. Then, the SI is calculated using these limit values. The formula includes the ratio of the swing angle, lateral force and swing amplitude, and the corresponding weight coefficients (b1, b2, b3) are applied according to different scenarios; in each swing direction, the SI value is recalculated and the experimental equipment is adjusted to ensure the accuracy of each experiment.

[0023] The SI value range of the object to be hoisted is (0,1). After calculating the SI value, the formula is used to predict the probability of the object to be hoisted colliding with obstacles in the swing path in the next experiment. Compare these predicted values ​​with the actual experimental data and adjust the system parameters to optimize the transportation and swing control of the object to be hoisted; The following are the data recorded during the experiment: Table 2 Experiments on the second evaluation index: ; Based on the probability distribution function and statistical analysis tools provided by the MATLAB statistical toolbox, the table data is deeply analyzed. The analysis of the above table data is as follows. By comparing the different second evaluation index (SI) values ​​and their corresponding collision probabilities in the experimental group, the collision probability in each SI interval can be determined: For the fourth interval (0,0.36); The collision probability of experimental group 1 is 3.5%, and the collision probability of experimental group 2 is 4.55%. In this range, the SI value is below 0.36, indicating that the swing amplitude of the object to be hoisted is small and the collision probability in the actual experiment is kept within 4.5%; this is consistent with the theoretical expectations, indicating that the swing of the object to be hoisted is relatively stable in this range and the risk of collision with obstacles is low.

[0024] The fifth interval is [0.36, 0.71]; The experimental groups involved are: experimental group 3, experimental group 4, experimental group 5, experimental group 6 and experimental group 7; The collision probability of experimental group 3 was 6.5%, experimental group 4 was 8.5%, experimental group 5 was 12.0%, experimental group 6 was 15.5%, and experimental group 7 was 16.9%; In this range, the SI value is between 0.36 and 0.71, reflecting that the swing amplitude of the object to be hoisted is gradually increasing, causing the collision probability to increase to (4.5%, 17%); experimental data show that as the SI value increases, the collision probability increases accordingly, which is in line with theoretical expectations.

[0025] The sixth interval (0.71,1); Involved experimental groups: experimental group 8 to experimental group 15; SI value range: 0.8 to 0.99; Collision probability: Starting from experimental group 8, the collision probability is 17.1% and reaches 39.0% in experimental group 15 The SI value in this range is above 0.71, indicating that the swing amplitude of the object to be hoisted is large, so the collision probability increases significantly and exceeds 17%. This is consistent with theoretical predictions - as the SI value increases, it indicates that the energy and momentum of the object to be hoisted are greater, the reaction to the environment is more sensitive, and the risk of collision increases significantly.

[0026] Further explanation: the first evaluation index and the second evaluation index are combined and analyzed to generate an adjustment index for providing an adjustment strategy for the current hoisting transportation path, and the minimum value of the adjustment index is regarded as the final optimization goal, specifically including: The adjustment index is defined as AI, and the formula is as follows: ; Calculate the second evaluation index SI value of the object to be hoisted at the current moment, and determine the corresponding value interval according to the calculated second evaluation index SI value, the value interval is selected from the fourth interval, the fifth interval and the sixth interval, and obtain the corresponding swing influence range according to the determined value interval; According to the swing influence range, all obstacles that can be covered by the swing influence range are selected from the obstacle sequence set {1,2,…,n} to form an obstacle coverage set {j1,j2,…,ju}, and {j1,j2,…,ju} is included in {1,2,…,n}; ju represents the juth obstacle covered by the swing influence range in the obstacle coverage set; through the human infrared sensor, the human body around the hanging object is marked with jp, jp∈{j1,j2,…,ju}; From the control system of the hook, the hoisting and transportation path of the object to be hoisted at the current moment is obtained, and the swing direction of the object to be hoisted at the current moment is determined, and the swing direction is selected from a first swing direction q1 and a second swing direction q2; If the swing direction of the object to be hoisted at the current moment is the first swing direction q1, the control system of the hook provides an adjustment lateral force toward the second swing direction q2 for the object to be hoisted, thereby reducing the swing amplitude of the object to be hoisted; The numerical calculation formula for adjusting the lateral force is: ; in, is the adjustment factor, To adjust the lateral force, is the basic swing lateral force; , Adjusted based on experimental data by the expert group system, and not limited to the specific values ​​below; If AI value is 1, ; If AI takes the value ∈ {2, 3}, ; If AI takes the value ∈{4, 5, 6}, ; If AI takes the value ∈ {7, 8}, ; If the AI ​​value is 9, ; The minimum value of the adjustment index is when AI takes a value of 1, which is the final optimization target; In the current hoisting transportation path adjustment strategy, the path optimization adopts the path planning algorithm represented by DynamicA*, and the ultimate goal of path optimization is not to contact the obstacle cover set {j1, j2, …, ju}; When the obstacle is a human body mark jp, the hoisting and transportation path of the object to be hoisted shall give priority to avoiding the human body mark jp; When the environment changes, DynamicA* only updates the affected paths. The specific implementation steps are as follows: The main implementation steps of the D* algorithm are: initialization: Starting from the target node, the path cost is initialized to zero, and the cost of other nodes is infinite.

[0027] Insert the target node into the priority queue to start the path search.

[0028] Path search: Take the node with the lowest "cost" from the priority queue and mark it as processed.

[0029] Update the path cost of neighbor nodes and calculate the possible minimum cost from the current node to the neighbor node.

[0030] If the cost of a neighbor node is updated, reinsert it into the priority queue.

[0031] Path Update: When a change in the environment is detected, in this embodiment, a new obstacle appears or the path cost changes, the node cost of the affected area is updated.

[0032] Identify nodes that need to be recomputed and insert them into a priority queue.

[0033] Recalculate the shortest paths from these nodes to the target.

[0034] Path Extraction: When the search reaches the starting node, the path is extracted.

[0035] The path is the minimum cost path from the start node to the target node passing through the updated nodes.

[0036] Dynamic Adjustment: The hook path automation system continuously monitors environmental changes while performing path navigation.

[0037] If the path is blocked or the environment changes again, repeat the path update step.

[0038] 1.1) If the AI ​​output value is 1, it means that the EI value is in the first interval (0, 0.35), the SI value is in the fourth interval (0, 0.36), and the lateral force is applied to the object in the opposite direction of the current movement direction. At the same time, the moving speed of the current object to be hoisted is steadily increased by 10% to improve the hoisting efficiency by more than 10%; 1.2) If the AI ​​output value is 2, it means that the EI value is in the first interval (0, 0.35) and the SI value is in the fifth interval [0.36, 0.71]; the lateral force is applied to the object in the opposite direction of the current movement. At the same time, the moving speed of the current object to be hoisted is steadily reduced by 5% to reduce the swing influence range and reduce the number of obstacles in the obstacle coverage set {j1, j2, …, ju} by 5%; If there is a human body annotation jp in the obstacle coverage set {j1, j2, …, ju}, the path planning will give priority to avoiding the human body annotation jp; 1.3) If the AI ​​output value is 3, it means that the EI value is in the second interval [0.35, 0.65], and the SI value is in the fourth interval (0, 0.36); when there is a human body jp obstacle in the current direction of movement of the object to be hoisted, the lateral force in the opposite direction of the current direction of movement is applied to the object to be hoisted smoothly. At the same time, the moving speed of the object to be hoisted is steadily reduced by 10% to reduce the swing impact range by 5%; When there is a human body jp obstacle in the opposite direction of the current movement of the object to be hoisted, steadily increase the moving speed of the current object to be hoisted by 20% so that the object to be hoisted can avoid the human body jp when swinging in the opposite direction; 1.4) If the AI ​​output value is 4, it means that the EI value is in the second interval [0.35, 0.65], and the SI value is in the fifth interval [0.36, 0.71]; When there is a human body obstacle in the current moving direction of the object to be hoisted, the lateral force in the opposite direction of the current moving direction is applied to the object to be hoisted smoothly. At the same time, the moving speed of the object to be hoisted is steadily reduced by 20% to reduce the swing impact range by 15%; When there is a human body jp obstacle in the opposite direction of the current movement of the object to be hoisted, the moving speed of the current object to be hoisted is steadily increased by 30% so that the object to be hoisted can avoid the human body jp when swinging in the opposite direction; 1.5) If the AI ​​output value is 5, it means that the EI value is in the first interval (0, 0.35) and the SI value is in the sixth interval (0.71, 1); When there is a human body obstacle in the current moving direction of the object to be hoisted, the lateral force in the opposite direction of the current moving direction is applied to the object to be hoisted smoothly. At the same time, the moving speed of the object to be hoisted is steadily reduced by 40% to reduce the swing impact range by 30%; When there is a human body obstacle in the opposite direction of the current movement of the object to be hoisted, the moving speed of the current object to be hoisted is steadily reduced by 22%, reducing the impact range of the swing of the object to be hoisted; 1.6) If the AI ​​output value is 6, it means that the EI value is in the third interval (0.65, 1) and the SI value is in the fourth interval (0, 0.36); When there is a human body obstacle in the current moving direction of the object to be hoisted, the lateral force in the opposite direction of the current moving direction is applied to the object to be hoisted smoothly. At the same time, the movement direction of the lifting and transportation path is offset by 10%; 1.7) If the AI ​​output value is 7, it means that the EI value is in the second interval [0.35, 0.65], and the SI value is in the sixth interval (0.71, 1); When there is a human body obstacle in the swing influence range of the current moving direction of the object to be hoisted, the lateral force in the opposite direction of the current moving direction is applied to the object to be hoisted smoothly. At the same time, the moving speed of the object to be hoisted is steadily reduced by 50% to reduce the swing impact range by 40%; 1.8) If the AI ​​output value is 8, it means that the EI value is in the third interval (0.65, 1) and the SI value is in the fifth interval [0.36, 0.71]; When there is a human body obstacle in the swing influence range of the current moving direction of the object to be hoisted, the lateral force in the opposite direction of the current moving direction is applied to the object to be hoisted smoothly. At the same time, the movement direction of the lifting and transportation path is offset by 20%; 1.9) If the AI ​​output value is 9, it means that the EI value is in the third interval (0.65, 1) and the SI value is in the sixth interval (0.71, 1); When there is a human body obstacle in the swing influence range of the current moving direction of the object to be hoisted, the lateral force in the opposite direction of the current moving direction is applied to the object to be hoisted smoothly. At the same time, the movement direction of the lifting and transportation path is offset by 30%.

[0039] The above formulas are all dimensionless and numerical calculations. The formula is a formula for the most recent real situation obtained by collecting a large amount of data and performing software simulation. The preset parameters in the formula are set by technicians in this field according to actual conditions.

[0040] The above embodiments may be implemented in whole or in part by software, hardware, firmware or any other combination thereof. When implemented by software, the above embodiments may be implemented in whole or in part in the form of a computer program product. Those skilled in the art may appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein may be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed by hardware or software methods depends on the specific application and design constraints of the technical solution.

[0041] 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, and 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.

[0042] The above description is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

Claims

1. A multi-objective optimization method for the hoisting and transportation path of a bridge crane, applied to the monitoring optimization between the object to be hoisted and the hoisting rope, characterized in that: The specific steps include: Step S1: real-time monitoring of the state data of the lifting rope at the connection point of the lifting rope on the hook and the swing state data of the object to be lifted, the swing state data including the swing angle, the swing lateral force and the swing amplitude, and storing these monitoring data in a database to generate historical monitoring data; Step S2: obtaining and analyzing the real-time monitored suspension rope state data to generate a first evaluation index for evaluating the risk of fracture at the current suspension rope connection; Step S3: obtaining and analyzing the real-time monitored swing state data, generating a second evaluation index for determining the swing path trend of the object to be hoisted at the current moment, and dividing the swing influence range of the object to be hoisted into regions based on the swing path trend at the current moment, and determining the straight-line distance between the current object to be hoisted and each obstacle within the surrounding M square meters; Step S4: combining and analyzing the first evaluation index and the second evaluation index to generate an adjustment index for providing an adjustment strategy for the current hoisting and transportation path, and taking the minimum value of the adjustment index as the final optimization target; If the hook does not reach the final optimization goal in the current lifting and transportation path, an alarm signal will be sent to the operator through the sound and light alarm equipment and mobile devices. At the same time, the current operation trajectory of the crane hook will be adjusted according to the final optimization goal, and obstacles will be avoided first.

2. The multi-objective optimization method for the hoisting and transportation path of a bridge crane according to claim 1 is characterized in that: The rope status data includes rope tension, rope wear degree and impact load, and the rope tension, rope wear degree and impact load are recorded as DSz, DSm and CJn respectively; The swing state data including the swing angle, the swing lateral force and the swing amplitude are recorded as BDj, BDc and BDf respectively.

3. The multi-objective optimization method for the hoisting and transportation path of a bridge crane according to claim 2 is characterized in that: Generate a first evaluation index for the risk of fracture at the current suspension rope connection, specifically including: Before real-time monitoring, the rope is simulated by an extreme experiment, including tension test, wear degree assessment and impact load test. The tension, wear degree and impact load of each test are incremental. When the rope breaks, the rope tension, wear degree and impact load simulated before the break are taken as the limit values, and the limit values ​​are recorded as ; The first evaluation index is defined as EI, and the calculation formula is as follows: ； Among them, the weight coefficient is used The corresponding ratios are weighted averaged to obtain the first evaluation index EI, and are all positive weight coefficients, ; Set the value range of the first evaluation index EI to (0,1); When the first evaluation index EI is closer to 0, the risk of breaking at the current suspension rope connection is lower, and it is in a safe state; When the first evaluation index EI is closer to 1, the risk of breaking at the current suspension rope connection is higher, and there is a potential danger of suspension rope breaking.

4. The multi-objective optimization method for the hoisting and transportation path of a bridge crane according to claim 3 is characterized in that: A second evaluation index is generated for determining the swing path trend of the object to be hoisted at the current moment, and based on the swing path trend at the current moment, the swing influence range of the object to be hoisted is divided into regions, specifically including: Determine the straight-line distance between the current object to be hoisted and each obstacle within the M square meters around it: Represent each obstacle within the M square meters around the current object to be hoisted as an obstacle sequence set {1,2,…,n}, and represent the straight-line distance between the current object to be hoisted and each obstacle as a distance sequence set: , where i represents the i-th obstacle, n represents the total number of obstacles within M square meters around the object to be hoisted, Indicates the straight-line distance between the current object to be hoisted and the i-th obstacle; Indicates the straight-line distance between the current object to be hoisted and the nth obstacle; The second evaluation index of the swing path trend of the object to be hoisted at the current moment is defined as SI, and the calculation formula is as follows: ； Among them, BDj, BDc, and BDf are the swing angle, swing lateral force, and swing amplitude monitored in real time, respectively; They are the limit values ​​of the swing angle, swing lateral force and swing amplitude in different swing directions respectively; Before real-time monitoring, an extreme experiment simulation is performed on the swing of the hanging object, as follows: The swing direction of the object to be hoisted at the current moment is divided into a first swing direction and a second swing direction, and the first swing direction and the second swing direction are set oppositely. The nearest distances to the objects to be hoisted corresponding to the first swing direction and the second swing direction are selected. ,and , i1 and i2 represent the i1th and i2th obstacles closest to the object to be hoisted in different swing directions respectively; Apply different swing lateral forces to the object to be hoisted to simulate the hook applying different forward thrusts to the object to be hoisted through the rope, and the swing lateral forces are applied in an increasing manner; The initial reference value of the swing lateral force was set by the expert group system, and the value of each simulation experiment increased by 5% of the previous simulation value; If the object to be hoisted collides with the i1th obstacle in the first swing direction, the swing angle, swing lateral force and swing amplitude of the object to be hoisted in the previous simulation are taken as limit values; are respectively the limit values ​​of the swing angle, the swing lateral force and the swing amplitude in the first swing direction; If the object to be hoisted collides with the i2th obstacle in the second swing direction, the swing angle, swing lateral force and swing amplitude of the previous simulation are used as limit values; are respectively the limit values ​​of the swing angle, the swing lateral force and the swing amplitude in the second swing direction; The first swing direction and the second swing direction are uniformly denoted as q1, where q1∈{1,2}; When q1=1, it indicates the first swing direction, which is the same as the transportation direction of the object to be hoisted; when q1=2, it indicates the second swing direction, which is opposite to the transportation direction of the object to be hoisted; The limit values ​​of the swing angle, swing lateral force and swing amplitude in different swing directions are comprehensively expressed as ; and the swing angle is the absolute value compared to the vertical downward direction; b1, b2 and b3 are weight indexes of swing angle, swing lateral force and swing amplitude respectively; and b1, b2 and b3 are all positive weight coefficients, b1+b2+b3=1; Set the value range of SI to (0,1); When the second evaluation index SI is closer to 0, it means that the swing amplitude of the object to be hoisted is smaller, and the probability of the object to be hoisted colliding with an obstacle in the corresponding swing direction in the swing path is lower; When the second evaluation index SI is closer to 1, it means that the swing amplitude of the object to be hoisted is larger, and the probability that the object to be hoisted collides with an obstacle in the corresponding swing direction in the swing path is higher.

5. The multi-objective optimization method for the hoisting and transportation path of a bridge crane according to claim 4, characterized in that: When the SI value is in the fourth interval (0,0.36), it means that the swing amplitude of the object to be hoisted is The swinging influence range is within the object to be hoisted and the surrounding Within square meters; When the SI value is in the fifth interval [0.36,0.71], it means that the swing amplitude of the object to be hoisted is The swinging influence range is between the object to be hoisted and the surrounding Within square meters; When the SI value is in the sixth interval (0.71,1), it means that the swing amplitude of the object to be hoisted is The above; the swing influence range is within the range of M square meters between the object to be hoisted and the surrounding area.

6. The multi-objective optimization method for the hoisting and transportation path of a bridge crane according to claim 5, characterized in that: The first evaluation index and the second evaluation index are combined and analyzed to generate an adjustment index for providing an adjustment strategy for the current hoisting and transportation path, and the minimum value of the adjustment index is regarded as the final optimization goal, including: The adjustment index is defined as AI, and the formula is as follows: ； Calculate the second evaluation index SI value of the object to be hoisted at the current moment, and determine the corresponding value interval according to the calculated second evaluation index SI value, the value interval is selected from the fourth interval, the fifth interval and the sixth interval, and obtain the corresponding swing influence range according to the determined value interval; According to the swing influence range, all obstacles that can be covered by the swing influence range are selected from the obstacle sequence set {1,2,…,n} to form an obstacle coverage set {j1,j2,…,ju}, and {j1,j2,…,ju} is included in {1,2,…,n}; ju represents the juth obstacle covered by the swing influence range in the obstacle coverage set; through the human infrared sensor, the human body around the hanging object is marked with jp, jp∈{j1,j2,…,ju}; From the control system of the hook, the hoisting and transportation path of the object to be hoisted at the current moment is obtained, and the swing direction of the object to be hoisted at the current moment is determined, and the swing direction is selected from a first swing direction q1 and a second swing direction q2; If the swing direction of the object to be hoisted at the current moment is the first swing direction q1, the control system of the hook provides an adjustment lateral force toward the second swing direction q2 for the object to be hoisted, thereby reducing the swing amplitude of the object to be hoisted; The numerical calculation formula for adjusting the lateral force is: ； in, is the adjustment factor, To adjust the lateral force, is the basic swing lateral force; If AI value is 1, ; If AI takes the value ∈ {2, 3}, ; If AI takes the value ∈{4, 5, 6}, ; If AI takes the value ∈ {7, 8}, ; If the AI ​​value is 9, ; The minimum value of the adjustment index is when AI takes a value of 1, which is the final optimization target; In the current hoisting transportation path adjustment strategy, the path optimization adopts the path planning algorithm represented by DynamicA*, and the ultimate goal of path optimization is not to contact the obstacle cover set {j1, j2, …, ju}; The adjustment strategy includes shifting the moving direction of the hoisting transport path to a corresponding degree, or quantitatively adjusting the moving speed of the object to be hoisted; When the obstacle is a human body marked with jp, the hoisting and transportation path of the object to be hoisted shall give priority to avoiding the human body marked with jp.

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