Multi-crane collaborative operation laser-assisted high-precision linkage system

Abstract

The invention discloses a multi-crane collaborative operation laser-assisted high-precision linkage system, which is characterized in that actual moving distances of trolleys in the system in the transverse direction and the longitudinal direction are acquired in real time through a laser distance measuring device mounted in the system, actual moving deviation values of the trolleys in the system are calculated, and the synchronous state between the trolleys in the system is evaluated; marking a normal movement time period and an abnormal adjustment time period in a detection period according to an evaluation result, analyzing a displacement path of the trolley in the system, calculating a path similarity value between an actual displacement path of the trolley and a preset path, marking a reference trolley, and re-planning the preset displacement path, speed adjustment is carried out on the reference trolley and other trolleys in the abnormal adjustment time period; and after the detection period is finished, constructing a speed change curve of the trolley in the system, analyzing and marking a main beam abnormal overlapping area and a bearing rail beam abnormal overlapping area in the system, calculating a system abnormal value of the system, and evaluating the overall abnormal state of the system.

Description

Technical Field

[0001] The present invention relates to the technical field of cranes, and in particular to a laser-assisted high-precision linkage system for collaborative operation of multiple cranes. Background Art

[0002] In modern industry, the scenarios of multiple cranes working together are increasing, such as in large logistics warehouses, shipyards, and heavy machinery manufacturing. In traditional operation methods, the coordination between cranes depends on the operator's experience and manual control, which is not only inefficient but also has great safety risks.

[0003] In the prior art, the positioning of cranes mainly relies on equipment such as mechanical limit switches or photoelectric sensors. These devices have limited precision and are easily affected by environmental interference and wear, resulting in inaccurate crane positioning. Especially in complex operating environments, such as large logistics warehouses, shipyards, etc., the accumulation of positioning errors will seriously affect operating efficiency and safety. In addition, the collaborative operation of multiple cranes requires a high degree of synchronization between the cranes to ensure the smoothness and safety of the operation process. However, in actual operations, due to the influence of various external factors, the synchronization between cranes is often difficult to ensure. There is a lack of advanced technical means to ensure the precise linkage of various parts of the crane, resulting in collisions and misalignments between cranes. In severe cases, it may even cause equipment damage and casualties.

[0004] In response to the above problems, the present invention provides a crane system that uses laser technology to achieve high-precision linkage, which achieves precise synchronization of large and small vehicles and efficient linkage between multiple cranes through laser assistance, thereby improving the accuracy, efficiency and safety of crane operations. Summary of the invention

[0005] The object of the present invention is to provide a multi-crane collaborative operation laser-assisted high-precision linkage system to solve at least one of the above-mentioned prior art problems.

[0006] The present invention provides a multi-crane collaborative operation laser-assisted high-precision linkage system, comprising the following modules:

[0007] Displacement deviation analysis module: The actual movement distance of the car in the horizontal and vertical directions is obtained in real time through the laser ranging device installed in the system. According to the actual movement distance, data processing and calculation are performed to obtain the actual movement deviation value of the car in the system during the ranging period.

[0008] Synchronous state judgment module: evaluates the synchronization state between the vehicles in the system based on the actual movement deviation value obtained, and detects the normal movement period and abnormal adjustment period within the cycle according to the evaluation mark;

[0009] Displacement path analysis module: After the marked abnormal adjustment period begins, the displacement path of the trolley in the system is analyzed and the path similarity value between the actual displacement path of the trolley in the normal movement period and the preset path is calculated, and the reference trolley in the system is marked according to the obtained path similarity value;

[0010] Abnormal speed adjustment module: based on the current position and target position of the reference car, re-plan the preset displacement path, adjust the speed of the reference car and other cars during the abnormal adjustment period, monitor the relative distance between the cars to determine whether the relative distance has returned to the initial state;

[0011] Abnormal area detection module: After the detection cycle is completed, the lateral speed change curve and the longitudinal speed change curve of the trolley in the system are constructed and analyzed, the abnormal overlap area of ​​the main beam and the abnormal overlap area of ​​the track beam in the system are marked, and the size of the marked area is processed and calculated to obtain the system abnormal value and evaluate the overall abnormal state of the system. According to the evaluation results, an abnormal maintenance signal or a pre-adjustment signal is generated.

[0012] Beneficial effects of the present invention:

[0013] 1. The present invention can effectively evaluate the synchronization status of the small workshop by installing a laser distance measuring device in the system to obtain the moving distance of the small car in the crane collaborative operation in real time and calculate the actual moving deviation value. This method can accurately distinguish the normal movement period from the abnormal adjustment period, generate normal or abnormal synchronization signals in time, significantly improve the operation efficiency and safety, reduce failures and accidents caused by synchronization problems, and provide strong support for industrial automation.

[0014] 2. The present invention analyzes the displacement path of the trolley in the collaborative operation of the crane and compares the actual path with the preset path when the synchronization of the collaborative operation of the crane is abnormal, accurately calculates the path similarity value and marks the reference trolley, and replans the path and adjusts the speed of the trolley accordingly to ensure that the relative distance of the trolley in the system returns to the initial state. This process can quickly respond to synchronization anomalies, optimize the operation process, reduce deviation accumulation, improve the accuracy and efficiency of collaborative operations, and ensure operation safety and system stability.

[0015] 3. The present invention constructs and analyzes the speed change curve of the crane trolley after the detection cycle, accurately marks the abnormal overlap area between the main beam and the track-bearing beam, calculates the system abnormal value through data processing, and comprehensively evaluates the overall abnormal state, so as to facilitate the timely discovery of potential faults, provide accurate basis for maintenance or pre-adjustment, effectively prevent safety accidents, ensure operation continuity and stability, and improve the overall operation efficiency and reliability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 It is a structural schematic diagram of a multi-crane collaborative operation laser-assisted high-precision linkage system provided by an embodiment of the present invention;

[0018] Figure 2 It is a flowchart of the steps for obtaining the actual movement deviation value in a multi-crane collaborative operation laser-assisted high-precision linkage system provided in the first embodiment of the present invention;

[0019] Figure 3 It is a flow chart of the steps for obtaining path similarity values ​​in a multi-crane collaborative operation laser-assisted high-precision linkage system provided in Embodiment 2 of the present invention. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0021] Embodiment 1

[0022] like Figure 1 As shown, a multi-crane collaborative operation laser-assisted high-precision linkage system provided by an embodiment of the present invention specifically includes the following modules:

[0023] Displacement deviation analysis module: The actual movement distance of the car in the horizontal and vertical directions is obtained in real time through the laser ranging device installed in the system. According to the actual movement distance, data processing and calculation are performed to obtain the actual movement deviation value of the car in the system during the ranging period.

[0024] In some embodiments, the target heavy object is lifted and moved by the collaborative operation of multiple cranes, and a laser distance measuring device is installed on the main beam on the side where the guide wheel is installed on the trolley and on the rail-bearing beam on the side where the guide wheel is installed on the large vehicle, and it is ensured that the laser beam can accurately irradiate the target position to be measured. The trolley is a mobile device installed under the main beam in the crane and moves laterally along the track of the main beam. Two trolleys are installed in each crane, and the large vehicle is a mobile device in the crane that realizes the longitudinal movement of the entire machine along the track on the rail-bearing beam;

[0025] The plane coordinate system is constructed with the initial position of the lower left trolley in the system as the origin, the moving direction of the trolley as the x-axis, and the moving direction of the large vehicle as the y-axis;

[0026] A number of distance measurement time points are uniformly selected within a detection period, and the interval between adjacent distance measurement time points is marked as a distance measurement period. The detection period represents the time required for multiple cranes to complete the lifting and movement of any target heavy object, and the distance measurement periods are all the same in length;

[0027] like Figure 2 As shown, the specific steps for obtaining the actual movement deviation value are:

[0028] Based on any car in the system, the car is measured by the installed laser ranging device at the ranging time point within the detection cycle, and the longitudinal and lateral moving distances of the car in the current ranging period are obtained in real time. The actual displacement distance of the car in the current ranging period is calculated by the Pythagorean theorem, and the tangent value of the actual displacement angle of the car is obtained by ratio processing of the longitudinal and lateral moving distances of the car in the ranging period.

[0029] Obtain the preset moving speed of the trolley in the longitudinal and lateral directions of the system, and calculate the preset displacement distance of the trolley within a distance measurement period by using the Pythagorean theorem;

[0030] Based on any ranging period, the actual displacement distance of any two adjacent trolleys in the system in the longitudinal or transverse direction during the ranging period is obtained, and the difference is processed and the absolute value is taken. The obtained absolute value is processed by ratio with the preset displacement distance to obtain the displacement deviation value of the two trolleys. All the displacement deviation values ​​in the system are summed and averaged to obtain the average displacement deviation of the trolleys in the system during the ranging period, which is marked as CW;

[0031] At the same time, the tangent values ​​of the actual displacement angles of any two adjacent trolleys in the longitudinal or transverse direction in the system during the ranging period are obtained, and the difference is processed and the absolute value is taken to obtain the angle deviation value of the two trolleys. All the angle deviation values ​​in the system are summed and averaged to obtain the average angle deviation of the trolleys in the system during the ranging period, which is marked as CJ.

[0032] The obtained displacement deviation mean CW and angle deviation mean CJ are processed, and the actual movement deviation value SP of the car in the system during the ranging period is calculated by the formula SP=a1*CW+a2*CJ, where a1 and a2 are both preset proportional coefficients, a1=2.431, a2=3.179;

[0033] Synchronous state judgment module: evaluates the synchronization state between the vehicles in the system based on the actual movement deviation value obtained, generates a normal synchronization signal or an abnormal synchronization signal according to the evaluation result, and marks the normal movement period and abnormal adjustment period within the detection cycle based on the generated signal;

[0034] In some embodiments, the actual movement deviation values ​​SP of all vehicles in the system in all ranging periods from the detection cycle to the current time node are obtained and summed to obtain a real-time deviation value, and the obtained real-time deviation value is compared with the deviation threshold;

[0035] If the real-time deviation value is less than or equal to the deviation threshold, it means that the actual movement deviation of the car in the system up to the current time node is small, the synchronization state of the car is good, and a normal synchronization signal is generated;

[0036] If the real-time deviation value is greater than the deviation threshold, it means that the actual movement deviation of the car in the system up to the current time node is large, the synchronization state of the car is poor, and a synchronization abnormality signal is generated;

[0037] Take a flag value fl ag and assign it a value of 0. If a synchronous abnormal signal is generated and the flag value is 0, assign the flag value to 1;

[0038] The period when the fl ag value is continuously 0 is marked as a normal moving period, and the period when the fl ag value is continuously 1 is marked as an abnormal adjustment period;

[0039] The technical solution of the embodiment of the present invention is: through the laser ranging device installed in the system, the actual moving distance of the vehicle in the horizontal and vertical directions is obtained in real time, and data processing is performed according to the actual moving distance to obtain the actual moving deviation value of the vehicle in the system during the ranging period. Based on the actual moving deviation value obtained, the synchronization state between the vehicles in the system is evaluated, and a normal synchronization signal or an abnormal synchronization signal is generated according to the evaluation result, and the normal movement period and the abnormal adjustment period within the detection cycle are marked based on the generated signal.

[0040] Embodiment 2

[0041] like Figure 1 As shown, a multi-crane collaborative operation laser-assisted high-precision linkage system provided by an embodiment of the present invention specifically includes the following modules:

[0042] Displacement path analysis module: Based on the generated synchronous abnormal signal, the displacement path of the trolley in the system is analyzed, the actual displacement path diagram and the preset displacement path diagram of the trolley are constructed, and the path similarity value between the actual displacement path of the trolley and the preset path during the normal movement period is analyzed and calculated, and the reference trolley in the system is marked according to the obtained path similarity value;

[0043] In some embodiments, if the displacement path analysis module receives the generated synchronization anomaly signal, the displacement of the trolley in the system is analyzed;

[0044] Specifically, based on any car in the system;

[0045] like Figure 3 As shown, the specific steps for obtaining the path similarity value are:

[0046] Obtain the position coordinates of the trolley on the plane coordinate system at each ranging time point in the normal moving period before the generation of the synchronous abnormal signal. According to the obtained coordinates, take the position coordinates of the trolley at the ranging time point at the starting point of the normal moving period as the origin, the moving direction of the trolley as the x-axis, and the moving direction of the large vehicle as the y-axis, construct the actual displacement path diagram of the trolley in the normal moving period, and obtain the position coordinates (dxi, dyi) of the trolley in the actual displacement path diagram at each ranging time point, where i represents the sequence number of the ranging time point in the normal moving period according to the time sequence;

[0047] At the same time, the preset moving speed of the trolley in the horizontal and vertical directions during the normal moving period is obtained, and the preset coordinates of the trolley at each ranging time point are calculated based on the preset moving speed and the duration of the ranging period. According to the obtained coordinates, the preset coordinates of the trolley at the ranging time point at the starting point of the normal moving period are taken as the origin, the moving direction of the trolley is the x-axis, and the moving direction of the large vehicle is the y-axis. A preset displacement path diagram of the trolley during the normal moving period is constructed, and the preset coordinates (SX i, SY i) of the trolley in the preset displacement path diagram at each ranging time point are obtained, where i represents the sequential number of the ranging time point in the normal moving period according to the time sequence;

[0048] Based on any ranging time point during the normal moving period, the position coordinates and preset coordinates of the car at the ranging time point are obtained, and the formula Calculate the coordinate deviation distance JP of the car at the distance measurement time point;

[0049] Compare the obtained coordinate deviation distance with the coordinate deviation distance threshold;

[0050] If the coordinate deviation distance of the car at the ranging time point is less than or equal to the coordinate deviation distance threshold, it means that the actual position of the car at the ranging time point has a small deviation from the preset position, and the ranging time point is marked as a normal time point;

[0051] If the coordinate deviation distance of the car at the ranging time point is greater than the coordinate deviation distance threshold, it means that the actual position of the car at the ranging time point deviates greatly from the preset position, and the ranging time point is marked as a deviation time point;

[0052] Get the number of all normal time points in the normal moving period, and perform ratio processing on it with the total number of ranging time points in the normal moving period to obtain the normal number ratio of the car in the normal moving period, marked as ZG;

[0053] Obtain the coordinate deviation distance of the car at any deviation time point during the normal movement period and perform subtraction processing on it with the coordinate deviation distance threshold to obtain the deviation distance difference. Obtain the deviation distance difference of the car at all deviation time points and sum and average them to obtain the mean deviation distance difference. Perform ratio processing on the obtained mean deviation distance difference and the coordinate deviation distance threshold to obtain the deviation degree ratio of the car during the normal movement period, which is marked as PC.

[0054] The obtained deviation number ratio ZG and deviation degree ratio PC are processed and the formula The path similarity value LS between the actual displacement path of the car during the normal movement period and the preset path is calculated, where b1 and b2 are both preset proportional coefficients, where b1 = 4.137, b2 = 1.882;

[0055] Analyze all the cars in the system, obtain the path similarity values ​​of the cars during the normal moving period, sort the cars in the system from large to small according to the path similarity values, obtain the car with the largest path similarity value, and mark it as the reference car;

[0056] Abnormal speed adjustment module: based on the current position and target position of the reference car, re-plan the preset displacement path, and adjust the speed of the reference car and other cars during the abnormal adjustment period, determine whether the relative distance between the cars has returned to the initial state, and generate an adjustment completion signal based on the judgment result;

[0057] In some embodiments, based on the marked reference car, the preset displacement path is re-planned for the reference car according to the position coordinates of the reference car when the synchronous abnormal signal is generated and the target position coordinates of the car, and an acceleration is applied to the reference car in the horizontal and vertical directions respectively during the abnormal adjustment period to adjust the moving speed of the reference car, so that the speed of the reference car reaches the new preset moving speed in the horizontal and vertical directions when the acceleration is stopped at the end of the abnormal period. The preset moving speed can enable the reference car to move to the target position coordinates, and the acceleration can be positive or negative;

[0058] Based on the preset displacement path replanned for the reference car, the lateral and longitudinal speeds of the cars in the system are adjusted during the abnormal adjustment period, and the relative distance between the cars is monitored in real time to determine whether the relative distance has returned to the initial state;

[0059] During the abnormal adjustment period, based on any car in the system, the horizontal and vertical distances between the car and the reference car are obtained in real time, and the difference between the horizontal and vertical distances between the car and the reference car at the starting distance measurement time point of the detection period is processed respectively. The two differences are summed to obtain the horizontal and vertical distance difference between the car and the reference car. The horizontal and vertical distance differences of all cars in the system are summed to obtain the total horizontal and vertical distance difference of the cars in the system.

[0060] Compare the obtained total horizontal and vertical distance difference with the horizontal and vertical distance difference threshold;

[0061] If the total horizontal and vertical distance difference is greater than or equal to the horizontal and vertical distance difference threshold, it means that the relative distance between the cars in the system is far from the initial state;

[0062] If the total horizontal and vertical distance difference is greater than or equal to the horizontal and vertical distance difference threshold, it means that the relative distance between the vehicles in the system has returned to the initial state, and an adjustment completion signal is generated. If the flag value is 1 at this time, the flag value is set to 0;

[0063] The technical solution of the embodiment of the present invention is: based on the generated synchronous abnormal signal, the displacement path of the car in the system is analyzed, the actual displacement path diagram of the car and the preset displacement path diagram are constructed, and the path similarity value between the actual displacement path of the car during the normal movement period and the preset path is analyzed and calculated, and the reference car in the system is marked according to the obtained path similarity value; based on the current position and target position of the reference car, the preset displacement path is replanned, and the speed of the reference car and other cars is adjusted during the abnormal adjustment period, and it is determined whether the relative distance between the cars has returned to the initial state, and an adjustment completion signal is generated according to the determination result.

[0064] Embodiment 3

[0065] like Figure 1 As shown, a multi-crane collaborative operation laser-assisted high-precision linkage system provided by an embodiment of the present invention specifically includes the following modules:

[0066] Abnormal area detection module: After the detection cycle is over, the lateral speed change curve and longitudinal speed change curve of the trolley in the system are constructed and analyzed, the abnormal overlap area of ​​the main beam and the abnormal overlap area of ​​the rail beam in the system are marked, the size of the marked area is processed and calculated to obtain the system abnormal value and evaluate the overall abnormal state of the system, and an abnormal maintenance signal or a pre-adjustment signal is generated according to the evaluation results;

[0067] In some embodiments, after the detection cycle is over, all cranes in the system are marked with serial numbers, and the changes in the speed of the trolleys in the system in the lateral and longitudinal directions during the detection cycle are analyzed respectively;

[0068] Specifically, based on any car in the system, the actual displacement distance of the car in the horizontal and vertical directions in each ranging period is obtained and the ratio is processed with the duration of the ranging period respectively to obtain the actual displacement speed of the car in the horizontal and vertical directions in the ranging period;

[0069] According to the actual displacement speed obtained, the lateral speed change curve and the longitudinal speed change curve of the car are constructed respectively with time as the x-axis and the actual displacement speed as the y-axis;

[0070] Analyze the lateral speed change curve of the car;

[0071] Based on any ranging time point during the normal moving period, the slope value of the lateral speed change curve of the car at the ranging time point is obtained and the absolute value is taken to obtain the absolute value of the lateral slope at the ranging time point;

[0072] The obtained absolute value of the horizontal slope is compared with the slope absolute value threshold;

[0073] If the absolute value of the lateral slope at the ranging time point is less than or equal to the absolute value threshold of the slope, it means that the lateral speed change of the car at the ranging time point is small and within the normal speed fluctuation range;

[0074] If the absolute value of the lateral slope at the ranging time point is greater than the slope absolute value threshold, it means that the lateral speed of the car at the ranging time point has a large change amplitude and is outside the normal speed fluctuation range. The lateral position of the car on the main beam at this time (AH, HJ i) is obtained and marked as the abnormal point of the main beam speed;

[0075] AH represents the sequence number of the crane in the system, and HJi represents the lateral distance between the trolley and the leftmost end of the main beam at the time of distance measurement;

[0076] Compare the lateral slope values ​​at all distance measurement time points during the normal moving period of the trolley to obtain several abnormal main beam speed points, obtain the interval distance between adjacent abnormal main beam speed points and compare it with the interval distance threshold;

[0077] If the interval distance between adjacent main beam velocity anomaly points is greater than or equal to the interval distance threshold, it means that the two main beam velocity anomaly points are far apart and the two main beam velocity anomaly points are discontinuous;

[0078] If the interval distance between adjacent main beam speed anomaly points is less than the interval distance threshold, it means that the two main beam speed anomaly points are close to each other and the two main beam speed anomaly points are continuous, and the two main beam speed anomaly points are classified into the same main beam anomaly area;

[0079] Compare all the abnormal speed points of the adjacent main beams during the normal movement period of the trolley to obtain several abnormal areas of the crane main beam;

[0080] Obtain the overlapped portion between the abnormal regions of the main beam obtained by analyzing the two trolleys under the main beam of the same crane, and mark it as the abnormal overlapped region of the main beam;

[0081] Similarly, the longitudinal velocity variation curve of the car is analyzed;

[0082] Based on any ranging time point during the normal moving period, the slope value of the longitudinal speed change curve of the car at the ranging time point is obtained and the absolute value is taken to obtain the absolute value of the longitudinal slope at the ranging time point;

[0083] The obtained absolute value of the longitudinal slope is compared with the slope absolute value threshold;

[0084] If the absolute value of the longitudinal slope at the ranging time point is less than or equal to the slope absolute value threshold, it means that the longitudinal speed change amplitude of the car at the ranging time point is small and within the normal speed fluctuation range;

[0085] If the absolute value of the longitudinal slope at the ranging time point is greater than the slope absolute value threshold, it means that the longitudinal speed of the trolley at the ranging time point has a large change amplitude and is outside the normal speed fluctuation range. The longitudinal position of the trolley on the rail beam at this time is obtained and marked as the rail beam speed abnormal point;

[0086] The longitudinal position means the longitudinal distance between the front end of the rail beam on which the trolley is located at the time of distance measurement;

[0087] Compare the longitudinal slope values ​​at all distance measurement time points during the normal moving period of the trolley to obtain several abnormal speed points of the track beam, obtain the interval distance between adjacent abnormal speed points of the track beam and compare it with the interval distance threshold;

[0088] If the interval distance between the velocity anomaly points of adjacent rail beams is greater than or equal to the interval distance threshold, it means that the velocity anomaly points of the two rail beams are far apart and the velocity anomaly points of the two rail beams are discontinuous;

[0089] If the interval distance between the adjacent track beam velocity anomaly points is less than the interval distance threshold, it means that the two track beam velocity anomaly points are close to each other and the two track beam velocity anomaly points are continuous, and the two track beam velocity anomaly points are classified into the same track beam anomaly area;

[0090] By comparing all the abnormal speed points of the adjacent rail-bearing beams during the normal movement period of the trolley, several abnormal rail-bearing beam areas of the crane in the system are obtained;

[0091] In each crane in the system, randomly and only one trolley set is selected as a longitudinal analysis group, and the overlapped parts between the abnormal areas of the rail-bearing beams obtained by analyzing the trolleys in the longitudinal analysis group are obtained and marked as the abnormal overlapped areas of the rail-bearing beams;

[0092] The sum of the lengths of the abnormal overlapping areas of the main beams of any crane main beam in the system is obtained and the ratio is processed with the total length of the main beam to obtain the main beam abnormality ratio. The main beam abnormality ratios of all crane main beams in the system are summed and averaged to obtain the average of the main beam abnormality ratios of the system, which is marked as ZY.

[0093] The sum of the lengths of the abnormal overlapped areas of the rail-bearing beams in the system is obtained and ratioed with the total length of the rail-bearing beams to obtain the rail-bearing beam abnormality ratio, which is marked as CY.

[0094] Obtain the total duration of the abnormal adjustment period within the detection cycle, and perform ratio processing on it with the detection cycle duration to obtain the abnormal duration ratio, which is marked as YS;

[0095] The obtained main beam abnormality ratio mean ZY, rail beam abnormality ratio CY and abnormal duration ratio YS are processed and the formula is used to The system abnormal value TY is calculated, where c1, c2 and c3 are preset proportional coefficients, c1 = 3.713, c2 = 2.622, c3 = 0.719;

[0096] Compare the obtained system anomaly value with the system anomaly threshold;

[0097] If the system abnormality value is greater than or equal to the system abnormality threshold, it indicates that the collaborative operation has frequent abnormalities, and an abnormal maintenance signal is generated and staff are arranged to perform maintenance to prevent accidents;

[0098] If the system abnormality value is less than the system abnormality threshold, it means that the frequency of abnormality in collaborative operation is low, and a pre-adjustment signal is generated to record the abnormal overlap area of ​​the main beam and the abnormal overlap area of ​​the rail beam in the detection cycle. When the trolley passes through the recorded area in the next detection cycle, the lateral and longitudinal speeds of the trolley are adjusted in advance so that the trolley can pass through the recorded area normally.

[0099] The technical solution of the embodiment of the present invention is: after the detection cycle ends, the lateral speed change curve and the longitudinal speed change curve of the trolley in the system are constructed and analyzed, the abnormal overlap area of ​​the main beam and the abnormal overlap area of ​​the track beam in the system are marked, the size of the marked area is processed and calculated to obtain the system abnormal value and evaluate the overall abnormal state of the system, and an abnormal maintenance signal or a pre-adjustment signal is generated according to the evaluation result.

[0100] 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.

[0101] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A laser-assisted high-precision linkage system for collaborative operation of multiple cranes, characterized in that: Includes the following modules: Displacement deviation analysis module: The actual movement distance of the car in the horizontal and vertical directions is obtained in real time through the laser ranging device installed in the system. According to the actual movement distance, data processing and calculation are performed to obtain the actual movement deviation value of the car in the system during the ranging period. Synchronous state judgment module: evaluates the synchronization state between the vehicles in the system based on the actual movement deviation value obtained, and detects the normal movement period and abnormal adjustment period within the cycle according to the evaluation mark; Displacement path analysis module: After the marked abnormal adjustment period begins, the displacement path of the trolley in the system is analyzed and the path similarity value between the actual displacement path of the trolley in the normal movement period and the preset path is calculated, and the reference trolley in the system is marked according to the obtained path similarity value; Abnormal speed adjustment module: based on the current position and target position of the reference car, re-plan the preset displacement path, adjust the speed of the reference car and other cars during the abnormal adjustment period, monitor the relative distance between the cars to determine whether the relative distance has returned to the initial state; Abnormal area detection module: After the detection cycle is completed, the lateral speed change curve and the longitudinal speed change curve of the trolley in the system are constructed and analyzed, the abnormal overlap area of ​​the main beam and the abnormal overlap area of ​​the track beam in the system are marked, and the size of the marked area is processed and calculated to obtain the system abnormal value and evaluate the overall abnormal state of the system. According to the evaluation results, an abnormal maintenance signal or a pre-adjustment signal is generated.

2. According to claim 1, a multi-crane collaborative operation laser-assisted high-precision linkage system is characterized in that: The specific method for obtaining the actual movement deviation value is: Based on any ranging period, the actual displacement distance of any two adjacent trolleys in the longitudinal or transverse position in the system during the ranging period is obtained to calculate the average displacement deviation of the trolley in the system during the ranging period, which is marked as CW. At the same time, the tangent value of the actual displacement angle of any two adjacent trolleys in the longitudinal or transverse position in the system during the ranging period is obtained to calculate the average angle deviation of the trolley in the system during the ranging period, which is marked as CJ. The obtained displacement deviation mean CW and angle deviation mean CJ are processed, and the actual movement deviation value SP of the car in the system during the ranging period is calculated by the formula.

3. According to claim 2, a multi-crane collaborative operation laser-assisted high-precision linkage system is characterized in that: The specific method for obtaining the tangent value of the actual displacement distance and the actual displacement angle is: Several ranging time points are evenly selected within the detection cycle, and the interval period between adjacent ranging time points is marked as a ranging period. Based on any car in the system, the car is measured by the installed laser ranging device at the ranging time point within the detection cycle, and the longitudinal and lateral moving distances of the car in the current ranging period are obtained in real time, and the actual displacement distance of the car in the current ranging period and the tangent value of the actual displacement angle of the car are calculated.

4. The multi-crane collaborative operation laser-assisted high-precision linkage system according to claim 1 is characterized in that: The specific method for obtaining the moving normal time period and abnormal adjustment time period is as follows: Obtain the actual movement deviation values ​​SP of all vehicles in the system in all ranging periods from the detection cycle to the current time node and sum them up to obtain the real-time deviation value, and compare the obtained real-time deviation value with the deviation threshold; If the real-time deviation value is less than or equal to the deviation threshold, a synchronization normal signal is generated; if the real-time deviation value is greater than the deviation threshold, a synchronization abnormal signal is generated; Take a flag value flag and assign it a value of 0. If a synchronization exception signal is generated and the flag value is 0, assign the flag value to 1. If an adjustment completion signal is generated and the flag value is 1, assign the flag value to 0. The period when the flag value is continuously 0 is marked as a normal movement period, and the period when the flag value is continuously 1 is marked as an abnormal adjustment period.

5. The multi-crane collaborative operation laser-assisted high-precision linkage system according to claim 4 is characterized in that: The specific method of obtaining the adjustment completion signal is: During the abnormal adjustment period, the horizontal and vertical distances between all the cars in the system and the reference car are obtained in real time, and the data is processed with the horizontal and vertical distance differences between the corresponding cars and the reference car at the starting distance measurement time point of the detection period to obtain the total horizontal and vertical distance difference of the cars in the system; Compare the obtained total horizontal and vertical distance difference with the horizontal and vertical distance difference threshold; If the total horizontal and vertical distance difference is greater than or equal to the horizontal and vertical distance difference threshold, an adjustment completion signal is generated.

6. The multi-crane collaborative operation laser-assisted high-precision linkage system according to claim 5 is characterized in that: The specific method of obtaining the reference car is as follows: Based on any car in the system, obtain the number of all normal time points in the normal moving period, and process it with the total number of ranging time points in the normal moving period to obtain the normal number ratio of the car in the normal moving period, marked as ZG; Obtain the coordinate deviation distance of the car at any deviation time point during the normal movement period and process it with the coordinate deviation distance threshold to obtain the deviation degree ratio of the car during the normal movement period, marked as PC; The obtained deviation number ratio ZG and deviation degree ratio PC are processed, and the path similarity value LS between the actual displacement path of the car during the normal movement period and the preset path is calculated by the formula; Analyze all the cars in the system, obtain the path similarity value of each car during the normal moving period, obtain the car with the largest path similarity value, and mark it as the reference car.

7. The multi-crane collaborative operation laser-assisted high-precision linkage system according to claim 6 is characterized in that: The specific method of obtaining the normal time point is: Based on any car in the system; Obtain the position coordinates of the trolley on the plane coordinate system at each ranging time point in the normal moving period before the generation of the synchronous abnormal signal, construct the actual displacement path diagram of the trolley in the normal moving period according to the obtained coordinates, and obtain the position coordinates of the trolley in the actual displacement path diagram at each ranging time point. Similarly, construct a preset displacement path diagram of the trolley in the normal moving period, and obtain the preset coordinates of the trolley in the preset displacement path diagram at each ranging time point; Based on any ranging time point within the normal moving period, the position coordinates and preset coordinates of the car at the ranging time point are obtained, and the coordinate deviation distance JP of the car at the ranging time point is calculated; Compare the obtained coordinate deviation distance with the coordinate deviation distance threshold; If the coordinate deviation distance of the car at the ranging time point is less than or equal to the coordinate deviation distance threshold, the ranging time point is marked as a normal time point.

8. The multi-crane collaborative operation laser-assisted high-precision linkage system according to claim 1 is characterized in that: The specific method of evaluating the overall abnormal state of the system is: The sum of the lengths of the abnormal overlap areas of the main beams of any crane main beam in the system is obtained and the data is processed with the total length of the main beams to obtain the mean value of the system's main beam abnormality ratio, marked as ZY. The sum of the lengths of the abnormal overlap areas of the rail-bearing beams in the system is obtained and the data is processed with the total length of the rail-bearing beams to obtain the rail-bearing beam abnormality ratio, marked as CY. The total duration of the abnormal adjustment period in the detection cycle is obtained and the data is processed with the detection cycle duration to obtain the abnormal duration ratio, marked as YS. The obtained main beam abnormality ratio mean value ZY, track beam abnormality ratio CY and abnormality duration ratio YS are processed, and the system abnormality value TY is calculated by the formula, and the obtained system abnormality value is compared with the system abnormality threshold; If the system anomaly value is greater than or equal to the system anomaly threshold, the evaluation system collaborative operation has frequent anomalies. If the system anomaly value is less than the system anomaly threshold, the evaluation system collaborative operation has a low frequency of anomalies.

9. The multi-crane collaborative operation laser-assisted high-precision linkage system according to claim 8 is characterized in that: The specific method for obtaining the abnormal overlap area of ​​the main beam and the abnormal overlap area of ​​the track-bearing beam is: Obtain the interval distance between adjacent main beam speed anomaly points and compare it with the interval distance threshold. If the interval distance between adjacent main beam speed anomaly points is less than the interval distance threshold, the two main beam speed anomaly points are classified into the same main beam anomaly area. Similarly, the two adjacent support beam speed anomaly points whose interval distance between support beam speed anomaly points is less than the interval distance threshold are classified into the same support beam anomaly area. Compare all the abnormal speed points of the adjacent main beams and all the abnormal speed points of the adjacent rail-bearing beams during the normal movement period of the trolley, and obtain several abnormal main beam areas and several abnormal rail-bearing beam areas of the crane main beam; The overlapped part between the abnormal areas of the main beam obtained by analyzing the two trolleys under the main beam of the same crane is obtained, and marked as the abnormal overlapped area of ​​the main beam. In each crane in the system, any and only one trolley set is selected as a longitudinal analysis group, and the overlapped part between the abnormal areas of the track-bearing beam obtained by analyzing the trolleys in the longitudinal analysis group is obtained, and marked as the abnormal overlapped area of ​​the track-bearing beam.

10. The laser-assisted high-precision linkage system for collaborative operation of multiple cranes according to claim 9 is characterized in that: The specific method for obtaining the abnormal speed points of the main beam and the track-bearing beam is as follows: Based on any car in the system, the actual displacement distance of the car in the horizontal and vertical directions in each ranging period is obtained and the actual displacement speed of the car in the horizontal and vertical directions in the ranging period is obtained by ratio processing with the duration of the ranging period. According to the actual displacement speed obtained, the horizontal speed change curve and the longitudinal speed change curve of the car are constructed respectively; Based on any ranging time point during the normal moving period, the slope values ​​of the lateral speed change curve and the longitudinal speed change curve of the car at the ranging time point are obtained and the absolute values ​​are taken to obtain the absolute values ​​of the lateral slope and the longitudinal slope; The obtained absolute value of the lateral slope and the absolute value of the longitudinal slope are compared with the absolute value threshold of the slope respectively. If the absolute value of the lateral slope at the distance measurement time point is greater than the absolute value threshold of the slope, the lateral position of the trolley on the main beam at this time is obtained and marked as the abnormal point of the main beam speed. If the absolute value of the longitudinal slope at the distance measurement time point is greater than the absolute value threshold of the slope, the longitudinal position of the trolley on the supporting beam at this time is obtained and marked as the abnormal point of the supporting beam speed.

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