CN104528540B - Hoisting Program Real-time Generation and system in arm derrick crane Vehicle Controller - Google Patents

Abstract

The present invention discloses Hoisting Program Real-time Generation and system in a kind of arm derrick crane Vehicle Controller, adopt the method for arm arm head autonomous exploration study, the profile of accurate acquisition working district obstacle and positional information, accurately store working district environmental data to fan lattice data sheet; Arm arm head is adopted to gather source position and the target location information of hoisting object, according to lifting operation district environmental data table, performance table is lifted again in conjunction with lifting machine, generate in real time in Vehicle Controller and comprise the isoparametric Hoisting Program in the elevation angle under length of boom, sense of rotation and each corner, and the Hoisting Program generated is optimized and emulation. Actual lifting application shows, the environmental data in this system energy accurate acquisition working district, and can optimize the Hoisting Program generated.

Description

Hoisting Program Real-time Generation and system in arm derrick crane Vehicle Controller

Technical field

The present invention relates to automatic control technology field, it is specifically related to Hoisting Program Real-time Generation and system in a kind of arm derrick crane Vehicle Controller.

Background technology

Lifting machine is widely used in building and transport industry, but the security incident relating to lifting machine lifting operation takes place frequently. As China has 76 and 61 respectively with the serious accident relating to hoisting machinery for 2013 in 2012, accounting for 33.3% and the 26.87% of whole special safety equipment accident, death toll accounts for 44.2% and the 29.07% of whole special equipment death tolls. And concerning wheel crane, owing to it had both had the movability of automobile, having again the lifting characteristic of crane, therefore other type lifting machine relatively, more easily causes security incident.

Hoisting Program planning before lifting operation and emulation are the important steps of prevention lifting operation generation security incident. Hoisting Program planning is machine operation hand lifting machine being seen as multiple degree of freedom, in the configurable space of lifting machine of its definition, take ant group algorithm, probability road sign method, explore the searching algorithms such as random tree fast, search the overload free optimization path of the collisionless from hoisting object source position to target location. Hoisting simulation is the physical dimension according to suspended object, obstacle and coordinate data, CAD platform is set up the three-dimensional hoisting simulation environment in corresponding working district, and adopt the virtual model machine of lifting machine, observe whether one or more lifting machine collides in hoisting process, in addition as some business such as LiftPlan, Cranimation and ranXpert lifting planning software is also developed. This kind of mode needs object position and shape in lifting operation district to be surveyed and drawn in advance, sets up its three-dimensional model in computer system. The foundation of three-dimensional model, the search in lifting path and optimization algorithm complexity, usually need by professional software, it is difficult in the Vehicle Controller of resource-constrained and realizes, the early-stage preparations being applicable under the non-real-time condition of the lifting operation district less variation of environment hoisting process, and for the frequent wheel crane changing its lifting environment, be not suitable for.

Summary of the invention

For the problem proposed in above-mentioned prior art, the present invention provides one method and system, adopt wheel crane arm arm head autonomous exploration learning method, accurate acquisition working district obstacle profile and positional information, working district environmental data is accurately stored to fan lattice data sheet mode, arm arm head is adopted to gather source position and the target location information of hoisting object, according to the environmental data gathered and in conjunction with lifting machine lifting performance table, in Vehicle Controller, generate Hoisting Program in real time, and the Hoisting Program generated is optimized and emulation.

In order to realize above-mentioned task, the present invention by the following technical solutions:

Hoisting Program Real-time Generation in a kind of arm derrick crane Vehicle Controller, comprises the following steps:

Step one, sets up heavy-duty machine drum system of coordinates

Being projected as initial point O with crane rotation center on ground, using lifting machine vehicle body axis as X-axis, X-axis is just to sensing lifting machine headstock, Y-axis is vertical with X-axis, Y-axis just to X-axis just to counterclockwise angle 90 ��, Z axle is just to for away from direction, ground, it is perpendicular to XOY plane, sets up XYZ coordinate system; Then 1 P in system of coordinates is represented by coordinate (��, d, h), and wherein �� represents that a P projects D at XOY plane and formed OD line and X just to the counterclockwise angle of axle, and d represents the distance projecting D to true origin O, and h represents that a P is to the height projected between D;

The locus of note crane arm arm head isWherein length of boom is r, and the elevation angle is ��, taking X-axis to the corner as zero position is justThe conversion relation between the locus of arm head and the arm head coordinate in XYZ coordinate system can be obtained according to geometric relationship;

Step 2, fan is formatted and is stored lifting operation district environmental data

Step S20, lifting operation district is divided into multiple sector by the corner that interval is certain, again according to the distance to true origin O, each sector being divided into multiple fan lattice, set up environmental data table, in table, each fan lattice of each sector are for depositing the environmental data of this position; With two groups of data records in each fan lattice, it is illustrated respectively in upper border and the lower boundary in the movable region of arm in this fan grid space;

Step S21, classifies the obstacle in lifting operation district according to its profile;

Step S22, according to dissimilar obstacle, gathers the data information that can represent its spatial shape structure, these data information is filled in corresponding fan lattice;

Step 3, Hoisting Program real-time optimization

Step S30, gathers the source position of hoisting object, the spatial positional information of target location, and the coordinate being converted in XYZ coordinate system;

Step S31, measures, according to the arm rotation from source position to target location, the sense of rotation that minimum method determines arm;

Step S32, calculates the maximum luffing position of arm, according to the performance table of the environmental data in sector, maximum luffing position He this lifting machine, it is determined that the optional brachium scope of arm during lifting;

Step S33, selects preliminary election brachium and calculates the preliminary election elevation angle under luffing position, source, then judge and determine the suitable preliminary election elevation angle and brachium the optional brachium scope calculate the elevation angle scope of arm under luffing position, source, determining from step S32;

Step S34, calculates the lifting preliminary election elevation angle under each corner;

Step 4, generates Hoisting Program

According to the arm sense of rotation determined, taking arm from hoisting object source position to the elevation angle, the target location minimum person of change frequency as preferred embodiment; When change frequency is identical, the shortest person of brachium is selected to be preferred embodiment.

Further, the concrete steps of step S22 are as follows:

For different obstacles, determine to represent the data collection point of this obstacle contour structures, operator arm makes arm head arrive the position of obstacle data collection point, record the brachium of now arm, the elevation angle and corner, and according to the coordinate that the shape data of this obstacle is converted in XYZ coordinate system by the conversion relation described in step one, it is filled in environmental data table; When filling fan lattice data, if lower boundary has value, then get both maximum values, if there is value on upper border, then get both minimum value.

Further, in described step S32, the process calculating the maximum luffing position of arm is:

The coordinate of note hoisting object source position is P_o(��_o,d_o,h_o), the coordinate of target location is P_d(��_d,d_d,h_d), maximum luffing position d_m; If d_o> d_d, then d_m=d_o, otherwise d_m=d_d��

Further, in described step S32, it is determined that during lifting, the detailed process of the optional brachium scope of arm is:

Environmental data according to sector, place, maximum luffing position in environmental data table, it is determined that arm is mobilizable elevation angle scope under maximum luffing position, then calculates the brachium scope of arm; During calculating, the elevation angle to be reserved the security interval of at least 1 ��;

Performance table according to lifting machine, inquiry amplitude is not less than d_mData row, and inquire about specified lifting weight and be not less than all brachium scopes that hoisting object estimates weight; With the common factor of this brachium scope and the aforementioned brachium scope calculated as optional brachium scope.

Further, in described step S33, judge and determine that the detailed process of the suitable preliminary election elevation angle and brachium is as follows:

The elevation angle scope of note arm under luffing position, source is [��_min,��_max], from optional brachium, choose minimum value as preliminary election brachium L_i, then calculate preliminary election elevation angle cos �� under luffing position, source_i=d_o/L_i;

If ��_iAt [��_min,��_max] in scope, then L_iWith ��_iFor preliminary election brachium and the elevation angle; If not within the scope of this, then from optional brachium scope, reselect new preliminary election brachium L_nAnd calculate new elevation angle ��_nIf, ��_nAt [��_min,��_max] in scope, then select L_nWith ��_nFor preliminary election brachium and the elevation angle; If being newly worth ��_nStill not in above-mentioned scope, then again again choose new preliminary election brachium and calculate the elevation angle, until the elevation angle that selected preliminary election brachium calculates is at [��_min,��_max] in scope; If all brachiums all can not meet requirement in optional brachium scope, then cannot generate suitable Hoisting Program.

Further, the detailed process of described step S34 is as follows:

If a front corner is ��_b, the preliminary election elevation angle is ��_b, according to arm sense of rotation and stepping value ��_s, be adjacent when front hook be ��_c, ��_c=��_b+��_s, preliminary election brachium L in hoisting process_iRemain unchanged;

According to as front hook ��_cThe environmental data of sector, place, verifies a front corner ��_bPreliminary election elevation angle ��_bWhether it is suitable for as front hook ��_cPosition, passes through �� during checking_bCalculating current position arm Variable Amplitude is d_c=L_i*cos��_b, by as front hook ��_cSector, place environmental data determine at d_cThe elevation angle scope of position is [��_cmin,��_cmax], if ��_bWithin the scope of this, then select ��_bAs this corner ��_cUnder the lifting elevation angle;

If ��_bNot at [��_cmin,��_cmax] in scope, then arm carries out upper luffing action by stepping 0.5 ��, recalculates the new preliminary election elevation angle whether within the scope of the elevation angle of its correspondence, if, using the new preliminary election elevation angle as the lifting elevation angle; Otherwise stepping 0.5 �� carries out upper luffing action and calculates again, until finding the suitable preliminary election elevation angle or the preliminary election elevation angle to be more than or equal to 85 ��;

If the preliminary election elevation angle is more than or equal to 85 ��, then arm is at ��_bBasis carries out lower luffing action by stepping 0.5 ��, calculate and judge the new preliminary election elevation angle whether within the scope of the elevation angle of its correspondence, if in scope, then inquire about lifting machine performance table and compare, if specified lifting weight is greater than hoisting object and estimates weight, then using the new preliminary election elevation angle as the lifting elevation angle; If not satisfying condition, again carrying out 0.5 �� of lower luffing and calculating, until finding the suitable preliminary election elevation angle or the preliminary election elevation angle to be less than or equal to 5 ��;

If the preliminary election elevation angle is less than or equal to 5 ��, then reselects brachium and calculate the preliminary election elevation angle, hoisting object source position; If alternative brachium does not all meet requirement, then reselect brachium according to the opposite direction of the arm sense of rotation of former setting, recalculate the initial elevation angle of source position and calculate the lifting elevation angle of each corner by opposite direction; If still can not find suitable brachium and the elevation angle, then, under this lifting environment, Hoisting Program can not be generated.

Present invention also offers a kind of system for realizing aforesaid method, this system comprise connect successively set up heavy-duty machine drum system of coordinates module, fan formats and stores lifting operation district environmental data module, Hoisting Program real-time optimization module and generate Hoisting Program module.

Further, described heavy-duty machine drum system of coordinates module of setting up realizes its function according to following step:

Being projected as initial point O with crane rotation center on ground, using lifting machine vehicle body axis as X-axis, X-axis is just to sensing lifting machine headstock, Y-axis is vertical with X-axis, Y-axis just to X-axis just to counterclockwise angle 90 ��, Z axle is just to for away from direction, ground, it is perpendicular to XOY plane, sets up XYZ coordinate system; Then 1 P in system of coordinates is represented by coordinate (��, d, h), and wherein �� represents that a P projects D at XOY plane and formed OD line and X just to the counterclockwise angle of axle, and d represents the distance projecting D to true origin O, and h represents that a P is to the height projected between D;

The locus of note crane arm arm head isWherein length of boom is r, and the elevation angle is ��, taking X-axis to the corner as zero position is justThe conversion between the locus of arm head and the arm head coordinate in XYZ coordinate system can be obtained according to geometric relationship.

Further, described fan is formatted and is stored lifting operation district environmental data module and realize its function in the steps below:

Step S20, lifting operation district is divided into multiple sector by the corner that interval is certain, again according to the distance to true origin O, each sector being divided into multiple fan lattice, set up environmental data table, in table, each fan lattice of each sector are for depositing the environmental data of this position; With two groups of data records in each fan lattice, it is illustrated respectively in upper border and the lower boundary in the movable region of arm in this fan grid space;

Step S21, classifies the obstacle in lifting operation district according to its profile;

Step S22, according to dissimilar obstacle, gathers the data information that can represent its spatial shape structure, these data information is filled in corresponding fan lattice.

Further, Hoisting Program real-time optimization module realizes its function according to following step:

Step S30, gathers the source position of hoisting object, the spatial positional information of target location, and the coordinate being converted in XYZ coordinate system;

Step S31, measures, according to from source position to target location arm rotation, the sense of rotation that minimum method determines arm;

Step S32, calculates the maximum luffing position of arm, according to the performance table of the environmental data in sector, maximum luffing position He this lifting machine, it is determined that the optional brachium scope of arm during lifting;

Step S33, selects preliminary election brachium and calculates the preliminary election elevation angle under luffing position, source, then judge and determine the suitable preliminary election elevation angle and brachium the optional brachium scope calculate the elevation angle scope of arm under luffing position, source, determining from step S32;

Step S34, calculates the lifting preliminary election elevation angle under each corner.

Further, generate Hoisting Program module and realize its function according to following step:

According to the arm sense of rotation determined, taking arm from hoisting object source position to the elevation angle, the target location minimum person of change frequency as preferred embodiment; When change frequency is identical, the shortest person of brachium is selected to be preferred embodiment.

The present invention compared with prior art, has following technology feature:

The generative process of lifting machine Hoisting Program in lifting operation process is conducted in-depth research by the present invention, adopt the method for arm arm head autonomous exploration study, establish obstacle classification model, the profile of accurate acquisition working district obstacle and positional information, working district environmental data is accurately stored to fan lattice data sheet, make the gatherer process of obstacle data more effectively simple, and storage mode integration is better; The present invention can utilize process resource limited in Vehicle Controller, in conjunction with gathering the lifting operation district environmental data stored, with different strategies, generate in real time in Vehicle Controller and comprise the isoparametric Hoisting Program in the elevation angle under length of boom, sense of rotation and each corner, and the Hoisting Program generated is optimized and emulation, thus provide strong safety assurance for follow-up actual hoisting process, effectively prevent the generation of lifting accident in hoisting process;

Show through actual operation test, in the inventive method, obstacle classification model the quantity of Collecting operation district object can account for the 96.8% of total quantity, and obstacle is 3.27% to the average relative error value of the spacing of lifting machine, and relative error average deviation is 1.47%; After the obstacle shape data measured is scaled volume, its relative error is 5.63%, and its relative error average deviation is 3.42%; By the Hoisting Program generated and working district environmental data are compared, and expert please be lift and carry out passing judgment on marking to the Hoisting Program generated, judge score is added up, its mean value is 83.6, the Hoisting Program that native system generates according to working district environmental data is real-time, suitability height, has good reference value to lifting operation.

Accompanying drawing explanation

Fig. 1 is the overall flow figure of the inventive method;

Fig. 2 is the schematic diagram of lifting machine XYZ coordinate system;

Fig. 3 (a) and Fig. 3 (b) gathers for vertical wall volume data and fills schematic diagram;

Fig. 4 (a) and Fig. 4 (b) is the elevation angle range computation schematic diagram under maximum luffing position;

Fig. 5 (a), Fig. 5 (b) and Fig. 5 (c) are source position preliminary election brachium and elevation location schematic diagram;

The computation process schematic diagram that Fig. 6 (a), Fig. 6 (b) and Fig. 6 (c) are the elevation angle under corner;

Fig. 7 is Hoisting Program real-time optimization system hardware topology figure;

Fig. 8 is the structural representation of system of the present invention;

Fig. 9 is the environmental data collecting interface, system job district of the inventive method exploitation;

The system Hoisting Program that Figure 10 is the inventive method exploitation generates and optimizes interface;

Embodiment

Before lifting machine lifting operation, if carry out path optimization and the simulation of hoisting process, can greatly promote the security of follow-up hoisting process undoubtedly. traditional lifting planning software is subject to the hardware limitation of lifting machine Vehicle Controller, it is difficult to be transplanted in Vehicle Controller, in actual procedure and impracticable. for this reason, the present invention is according to the actual hardware condition of data objective in actual operating environment and lifting machine Vehicle Controller, set up environmental data table, by the method independently learnt, obstacle information in crane job district is gathered and stores, the data being converted in subsequent calculations process easily to utilize and read, on this basis, provide optimum Hoisting Program planning, lifting machine can be carried out the work safely and effectively, and the method and system are without the need to setting up complicated model, data processing process is simple, meet the service requirements of Vehicle Controller completely, there is good actual use meaning.

One, Hoisting Program Real-time Generation in arm derrick crane Vehicle Controller

Hoisting Program Real-time Generation in a kind of arm derrick crane Vehicle Controller, as shown in Figure 1, comprises the following steps:

Lifting machine is installed the equipment such as camera, infrared distance measurement instrument, ultrasonic wave and ultra broadband orientator, although lifting operation district environment data can be collected in real time, but add lifting machine cost on the one hand, except video mode, all need in working district, object to be installed respective sensor on the other hand, for the wheel crane in frequent changes lifting operation district, every working district needs again to lay sensor, seems and is not suitable for very much. And concerning video identification mode, Vehicle Controller cannot processing video data, it is necessary to install application specific processor in addition, and accuracy of identification is also not high at present. Therefore, adopt the method for lifting beam autonomous exploration study herein, by arm arm head close to obstacle, obtain obstacle profile and positional information. Therefore, in the present invention, adopt the method for lifting beam autonomous exploration study, by arm head close to obstacle, obtain obstacle profile and positional information.

Step one, sets up heavy-duty machine drum system of coordinates

For the feature that lifting machine lifting operation district is a drum, shown in figure as left in Fig. 2, its radius is arm maximum length, and height is arm maximum length extra bus height again degree.

Being projected as initial point O with crane rotation center on ground, using lifting machine vehicle body axis as X-axis, X-axis is just to sensing lifting machine headstock, Y-axis is vertical with X-axis, Y-axis just to X-axis just to counterclockwise angle 90 ��, Z axle is just to for away from direction, ground, it is perpendicular to XOY plane, sets up XYZ coordinate system; Then 1 P in system of coordinates is represented by coordinate (��, d, h), and wherein �� represents that a P projects D at XOY plane and formed OD line and X just to the counterclockwise angle of axle, and d represents the distance projecting D to true origin O, and h represents that a P is to the height projected between D; And 1 P in system of coordinates can regard as and is in drum system of coordinates;

Taking a P as the arm BP of arm head, note crane arm arm head locus for forWherein length of boom is r, and the elevation angle is ��, taking X-axis to the corner as zero position is justWherein B is jib and hinge point of getting on the bus, and C is derricking cylinder and hinge point of getting on the bus, and A is derricking cylinder and jib hinge point, arm end B is m apart from center of turning circle O distance, and vehicle body height is n, owing to jib pitching hinge point B and upper-part rotation center O is not in same point, then can obtain by geometric relationship, locusConversion relation between the coordinate of arm head in XYZ coordinate system is:

Hereafter described corner is taking X-axis positive dirction as zero position, and arm rotates counterclockwise the angle of formation in XOY plane.

Step 2, fan is formatted and is stored lifting operation district environmental data

Step S20, in order to accurately record lifting operation district obstacle data, lifting operation district is divided into multiple sector by the corner that interval is certain, again each sector is divided into multiple fan lattice according to the distance to true origin O, the environmental data of each fan its inside of lattice record, dividing more thin, the precision of environmental data record is more high; Set up environmental data table as shown in table 1, record each fan lattice environmental data.

Table 1 is to fan lattice record lifting operation district environmental data table

Preferably divide in example at one:

For balancing the registration accuracy of data-storing capacity and working district environmental data in display control unit of getting on the bus, by working district, by going back to, corner degree is divided into 720 sectors every 0.5 ��, each sector is by being that 100m is divided into 500 fan lattice every 0.2m overall length, and whole working district is divided into 720*500=360000 and fans lattice; In table, each fan lattice of each sector are for depositing the environmental data of this position; With two groups of data records in each fan lattice, being illustrated respectively in upper border and the lower boundary in the movable region of arm in this fan grid space, precision is 0.1m, stores by two bytes after often organizing data integer, and this table needs memory space to be about 1.4MB byte.

Environmental data table press successively sector number, fan lattice number storage, to each fan lattice data access can press fan lattice number directly carry out. As the 2nd row first in table 1 arrange to the 2nd row data may be interpreted as: in the sector of corner 0.5 �㡫1.0 ��, from within the scope of center of turning circle 0.4m, the accessible thing in ground, the suspension obstacle that top has overhead 70m high, such as top ceiling, horizontal body of wall etc., the arm amplitude of hoisting can not more than 70m; Within the scope of 0.4��0.8m, there is 10.8m obstacle on ground, and the suspension obstacle apart from ground 70m is arranged at top, and namely the movable amplitude of arm in this interval is between 10.8-70 rice; From center of turning circle 99.6 meters of, arm can not arrive. (supposing that arm maximum length is 100 meters herein).

Step S21, classifies the obstacle in lifting operation district according to its profile, sets up obstacle classification model:

Lifting machine lifting operation circumstance complication, it is possible to run into various obstacle, such as electric wire, trees, buildings etc. Simple and easy for operating when gathering environmental data, according to obstacle profile size, it is divided into body of wall object and plain objects.

Body of wall object refers in crane job district, and profile is bigger, the simple obstacle of structure, such as the body of wall etc. of building, if the body of wall that profile exceedes arm scope of work all can regard unlimited body of wall as, forms lifting operation district Essential Environment. According to walls shape and position, body of wall object is divided into horizontal body of wall, vertical body of wall, outer incline body of wall and tilted body of wall four kinds.

Plain objects refers within the scope of crane arm maximum operation, separate, profile is less and relatively simple obstacle, such as electric wire, trees, shaft, column form object, short object etc. Plain objects is divided into aerial suspension object, columnar object, square objects and band inclined-plane object.

The obstacle of complex contour can be made up of some simple objects.

Step S22, according to dissimilar obstacle, gathers the data information that can represent its spatial shape structure, these data information is filled in corresponding fan lattice;

When gathering lifting operation district obstacle profile and position data when needs, first according to the obstacle profile gathered and size, select suitable obstacle classification model, again according to the number of data collection point and the position of this model defined, such as horizontal body of wall needs to gather a data point, vertical body of wall needs to gather two different data points, columnar object needs to gather left side circle, right margin and high border three points etc., manipulating crane arm, make arm arm head after the corresponding position point of obstacle, press " collection " button, the now corner of the current arm arm head of position point, brachium, three, elevation angle parameter can by the automatic record of system. after obstacle requisite number strong point has gathered, according to the coordinate that the shape data of this obstacle is converted in XYZ coordinate system by the conversion relation described in step one, it is filled in environmental data table.

When filling fan lattice data, if lower boundary has value, then get both maximum values, if there is value on upper border, then get both minimum value. If the corner number of degrees are between two quantification angles, such as 73.8 ��, for ensureing safety to greatest extent, then equal Filling power in 73.5 �� and 74 �� of two sectors, with reason, fans between lattice if the position numerical value obtained is two, such as 25.9m, then fan the equal Filling power of lattice to 25.8m and 26m two.

Illustrate for vertical body of wall obstacle below.

For vertical body of wall, as figure operator arm makes arm head gather two points along metopeAccording to coordinate system transformation formula (1), the barrel-shaped coordinate set occurrence P of two collection points can be obtained_j(��_j, d_j, h_j), as shown in Fig. 3 (a), its 2 is Q in XOY plane vertical projection₁(��₁,d₁, 0) and Q₂(��₂,d₂, 0); Pass through Q₁With Q₂Polar coordinates system equation (2) of straight line L, be respectively Q with the intersection point of maximum operation radius circle₃(��₃, 100,0) and Q₄(��₄, 100,0), calculate �� value:

$\mathrm{\ρ}=\frac{d_1{\mathrm{sin\φ}}_1(d_2{\mathrm{cos\φ}}_2-d_1{\mathrm{sin\φ}}_1)-d_1{\mathrm{cos\φ}}_1(d_2{\mathrm{sin\φ}}_2-d_1{\mathrm{sin\φ}}_1)}{sin\mathrm{\φ}(d_2{\mathrm{cos\φ}}_2-d_1{\mathrm{sin\φ}}_1)-cos\mathrm{\φ}(d_2{\mathrm{sin\φ}}_2-d_1{\mathrm{sin\φ}}_1)}---\left(2\right)$

During filling-in-data-forms, with ��₁For basic point, subtract value taking 0.5 �� as stepping, as shown in Fig. 3 (b), substitute in the �� of formula (2), i.e. ��=��₁-0.5 ��, the �� value under current �� can be calculated, if �ѡ�100, �� is described₃�ܦաܦ�₁, the fan lattice lower border value of the covering of the fan of this �� value from this �� value to 100 is all filled to 100, represents and can not arrive at this region arm, then ��=��-0.5 ��, calculate �� value, filling-in-data-forms, until �� > 100; Again with ��₁For basic point, taking 0.5 �� as stepping increment, i.e. ��₁�ܦաܦ�₄, again calculate as stated above and fill numerical value.

Step 3, Hoisting Program real-time optimization

Adopt arm arm head to gather source position and the target location information of hoisting object, according to the environmental data gathered and in conjunction with lifting machine lifting performance table, in Vehicle Controller, generate Hoisting Program in real time, and the Hoisting Program generated is optimized and emulation.

Step S30, gathers the source position of hoisting object, the spatial positional information of target location, and the coordinate being converted in XYZ coordinate system;

Operator operates arm makes arm head reach the surface of hoisting object source position, after arm head position point is suitable, carries out data gathering, and the data of collection areAfter being converted by formula (1), the value P under barrel-shaped system of coordinates can be obtained_o(��_o,d_o,h_o). With reason, the value P of hoisting object target location under barrel-shaped system of coordinates can be collected_d(��_d,d_d,h_d), and estimate out the weight W of hoisting object_LAnd height H_L; Meanwhile, wheel crane used is lifted performance table and is stored in Vehicle Controller, this table shows this type lifting machine at the different Variable Amplitude of arm and the corresponding maximum rated hoisting weight under brachium.

Step S31, determines the sense of rotation of arm by arm according to the method that the corner from source position to target location is minimum;

(1) initialize Hoisting Program table

Hoisting Program table is 360 by a size, the two-dimensional array composition at the record arm angle of rotation arm elevation angle corresponding thereto, and during beginning, this two-dimensional array is initialized to 0; The angle of rotation that subsequent calculations goes out and the arm elevation angle, be filled in this Hoisting Program table, as the Hoisting Program of planning.

(2) arm sense of rotation when judging lifting

In hoisting process, the arm rotation angle number of degrees are minimum as principle, it is determined that arm is from hoisting object source position (corner ��_o) to target location (corner ��_d) sense of rotation, if ��_d�ݦ�_oAnd ��_d-��_o�� 180 ��, for turning clockwise, rotation angle number of degrees ��_n=��_d-��_o+ 1; If ��_d�ݦ�_oAnd ��_d-��_o> 180 ��, for being rotated counterclockwise, rotation angle number of degrees ��_n=360 ��-(��_d-��_o)+1; If ��_d< ��_oAnd ��_d-��_o�� 180 ��, for being rotated counterclockwise, rotation angle number of degrees ��_n=��_d-��_o+ 1; Otherwise for turning clockwise, rotation angle number of degrees ��_n=360 ��-(��_d-��_o)+1. If turning clockwise, putting and rotating stepping ��_s=0.5 ��, otherwise ��_s=-0.5 ��.

Step S32, calculates the maximum luffing position of arm, and according to the performance table of the environmental data in sector, maximum luffing position He this lifting machine, it is determined that the optional brachium scope of arm during lifting, detailed process is as follows:

The first step, according to hoisting object source position and target location Variable Amplitude, obtains maximum luffing position d_mIf: d_o> d_d, then d_m=d_o, otherwise d_m=d_d��

2nd step, according to the environmental data of sector, place, maximum luffing position in environmental data table, it is determined that arm in this sector maximum can semi-girder long; Such as, in this sector, if there is O on ground₁,O₂And O₃Three obstacles, O is arranged at top₄Obstacle, as shown in Fig. 4 (a), then arm is at amplitude d_mPosition under brachium mobilizable elevation angle scope be [��_min,��_max], then can calculate brachium scope [L by elevation angle scope_min,L_max]; If at d_mThere is obstacle position, also fully to be considered the height H of hoisting object during calculating_L, suspension hook height H_hAnd rigging height H_s, as shown in Fig. 4 (b), the elevation angle to be reserved the security interval of 1 degree simultaneously, i.e. L_min=d_m/cos(��_min+ 1) and L_max=d_m/cos(��_max-1)��

3rd step, according to brachium scope during the inquiry lifting of lifting machine performance table. According to maximum Variable Amplitude d_m, first inquire about lifting machine performance table, find amplitude to be more than or equal to d_mData row, then inquire about specified lifting weight and be more than or equal to hoisting object and estimate weight W_LAll brachium scopes [L '_min,L��_max]��

Finally, according to [the L of above-mentioned calculating_min,L_max] and [L '_min,L��_max], calculate their common factor, be then optional brachium scope; Concerning bolt-type crane arm, the change of its brachium is not continuous print. If occuring simultaneously for empty, illustrating there is no optional brachium, Hoisting Program can not be generated.

Step S33, the optional brachium scope calculate the elevation angle scope of arm under luffing position, source, determining from step S32 is selected preliminary election brachium and calculates the preliminary election elevation angle under luffing position, source, then judging and determine the suitable preliminary election elevation angle and brachium, detailed process is as follows:

The first step, according to hoisting object source position ��_oCorresponding sector environmental data, calculates the elevation angle scope [�� of arm under luffing position, source_min,��_max], as shown in Fig. 5 (a);

2nd step, selects preliminary election brachium: during whole lifting, brachium remains unchanged usually, selects minimum value as alternative brachium L within the scope of optional brachium successively_i;

3rd step, according to preliminary election brachium L_i, calculate the preliminary election elevation angle �� under luffing position, source_i, cos ��_i=d_o/L_i;

4th step, judges whether the preliminary election elevation angle meets and requires: if ��_iAt [��_min,��_max] in scope, as shown in Fig. 5 (a), then select L_iWith ��_iBrachium and the elevation angle is lifted for preliminary election; If not within the scope of this, as shown in Fig. 5 (b), return the 2nd step from optional brachium scope, reselect new brachium L_nAnd calculate new elevation angle ��_n; If ��_nAt [��_min,��_max] in scope, then select L_nWith ��_nFor preliminary election brachium and the elevation angle. If being newly worth ��_nStill not in above-mentioned scope, as shown in Fig. 5 (c), again again choose new brachium L '_nWith the new �� ' of calculating_n, calculate according to method identical above, until they are at [��_min,��_max] in scope or optional without new brachium in optional brachium scope; If optional without new brachium, then illustrate and cannot generate applicable Hoisting Program.

Step S34, calculates the lifting preliminary election elevation angle under each corner;

If a front corner is ��_b, the preliminary election elevation angle is ��_b, according to arm sense of rotation and stepping value ��_s, be adjacent when front hook be ��_c, ��_c=��_b+��_s, preliminary election brachium L in hoisting process_iRemain unchanged;

According to as front hook ��_cSector, place environmental data, first verifies a front corner ��_bPreliminary election elevation angle ��_bWhether it is suitable for as front hook ��_cPosition, first selects �� during checking_b, then current position arm Variable Amplitude d is calculated_c=L_i*cos��_b, by as front hook ��_cSector, place environmental data determine at d_cThe elevation angle scope of position is [��_cmin,��_cmax], if ��_bWithin the scope of this, as shown in Fig. 6 (a), then select ��_bAs this corner ��_cUnder the lifting elevation angle, i.e. ��_c=��_b;

If ��_bNot at [��_cmin,��_cmax] in scope, then arm carries out upper luffing action by stepping 0.5 ��, recalculates the new preliminary election elevation angle whether within the scope of the elevation angle of its correspondence, i.e. ��_n=��_b+ 0.5 ��, by L_iWith ��_nCalculate new Variable Amplitude d_n, calculate corner ��_cCorresponding environmental data is at d_nScope [�� in the elevation angle under position_nmin,��_nmax], if ��_nWithin the scope of this, select ��_nFor corner ��_cUnder the lifting elevation angle, i.e. ��_c=��_n, as shown in Fig. 6 (b). If still not within the scope of this, stepping 0.5 �� carries out upper luffing action and calculates again, repeats above-mentioned calculating, until finding suitable preliminary election elevation angle ��_nOr ��_n>=85 ��, 85 �� is the maximum upper change angle of arm;

If ��_n>=85 ��, illustrate and can not choose the applicable elevation angle by upper luffing, then arm is at ��_bBasis carries out lower luffing action by stepping 0.5 ��, i.e. ��_n=��_b-0.5 ��, as shown in Fig. 6 (c), with reason L_iWith ��_nCalculate new d_nWith elevation angle scope [��_nmin,��_nmax], if ��_nWithin the scope of this and by L_iAnd d_nThe specified lifting weight that inquiry lifting machine performance table obtains is greater than hoisting object and estimates weight W_L, then ��_nAs the lifting elevation angle under this corner; If not meeting above-mentioned condition, again carry out lower luffing action, ��_n=��_n-0.5 ��, repeat above-mentioned calculating, until choosing suitable ��_nOr ��_n�� 5 ��, 5 �� is the minimum angles of luffing under arm.

If ��_n�� 5 ��, then illustrate at this brachium L_iUnder all can not find applicable corner �� by upper and lower luffing_cUnder the lifting elevation angle, it is necessary to select new brachium, then reselect brachium and calculate the preliminary election elevation angle, hoisting object source position; If alternative brachium all meets when requiring, then need the opposite direction by the arm sense of rotation of former setting, reselect brachium, recalculate the initial elevation angle of source position and calculate the lifting elevation angle of each corner by opposite direction. If still can not find suitable brachium and the elevation angle, then illustrate under this lifting environment, Hoisting Program can not be generated.

If at brachium L_iUnder, it is possible to find each corner �� from hoisting object source position to target location_cLower suitable lifting elevation angle ��_c, illustrate at L_iUnder can generate a Hoisting Program, by corner and lifting the elevation angle be stored in aforesaid Hoisting Program table, for simulation and instruct arm to move.

Step 4, generates Hoisting Program

According to Hoisting Program table, if determining under sense of rotation, there is multiple brachium value all can generate Hoisting Program, then add up the number of times that each Hoisting Program changes to the elevation angle, target location from source position, i.e. the number of times of the upper and lower luffing of arm, the minimum person of change frequency is preferred embodiment, if the identical person of change frequency, then the shortest person of brachium is preferred embodiment, after preferred embodiment is selected, according to program brachium value, choose the parameters such as brachium combination, multiplying power, suspension hook type and suspension hook weight that this brachium recommends.

Two, for realizing the system of Hoisting Program Real-time Generation in arm derrick crane Vehicle Controller

The present invention also provides a kind of system for realizing aforementioned Hoisting Program Real-time Generation, as shown in Figure 8, this system comprise connect successively set up heavy-duty machine drum system of coordinates module, fan format and store lifting operation district environmental data module, Hoisting Program real-time optimization module and generate Hoisting Program module, portable uses in the Vehicle Controller of arm derrick crane or in other controllers.

Above-mentioned module realizes its function according to following step respectively:

Set up heavy-duty machine drum system of coordinates module:

Being projected as initial point O with crane rotation center on ground, using lifting machine vehicle body axis as X-axis, X-axis is just to sensing lifting machine headstock, Y-axis is vertical with X-axis, Y-axis just to X-axis just to counterclockwise angle 90 ��, Z axle is just to for away from direction, ground, it is perpendicular to XOY plane, sets up XYZ coordinate system; Then 1 P in system of coordinates is represented by coordinate (��, d, h), and wherein �� represents that a P projects D at XOY plane and formed OD line and X just to the counterclockwise angle of axle, and d represents the distance projecting D to true origin O, and h represents that a P is to the height projected between D;

The locus of note crane arm arm head isWherein length of boom is r, and the elevation angle is ��, taking X-axis to the corner as zero position is justThe conversion between the locus of arm head and the arm head coordinate in XYZ coordinate system can be obtained according to geometric relationship.

Fan is formatted and is stored lifting operation district environmental data module:

Step S20, lifting operation district is divided into multiple sector by the corner that interval is certain, again according to the distance to true origin O, each sector being divided into multiple fan lattice, set up environmental data table, in table, each fan lattice of each sector are for depositing the environmental data of this position; With two groups of data records in each fan lattice, it is illustrated respectively in upper border and the lower boundary in the movable region of arm in this fan grid space;

Step S21, classifies the obstacle in lifting operation district according to its profile;

Step S22, according to dissimilar obstacle, gathers the data information that can represent its spatial shape structure, these data information is filled in corresponding fan lattice.

Hoisting Program real-time optimization module:

Step S30, gathers the source position of hoisting object, the spatial positional information of target location, and the coordinate being converted in XYZ coordinate system;

Step S31, according to measuring, from source position to target location arm rotation, the sense of rotation that minimum method determines arm;

Step S32, calculates the maximum luffing position of arm, according to the performance table of the environmental data in sector, maximum luffing position He this lifting machine, it is determined that the optional brachium scope of arm during lifting;

Step S33, selects preliminary election brachium and calculates the preliminary election elevation angle under luffing position, source, then judge and determine the suitable preliminary election elevation angle and brachium the optional brachium scope calculate the elevation angle scope of arm under luffing position, source, determining from step S32;

Step S34, calculates the lifting preliminary election elevation angle under each corner.

Generate Hoisting Program module:

According to the arm sense of rotation determined, taking arm from hoisting object source position to the elevation angle, the target location minimum person of change frequency as preferred embodiment; When change frequency is identical, the shortest person of brachium is selected to be preferred embodiment.

The system of this scheme can be run on existing wheel crane equipment, it is not necessary to increases other hardware devices, its hardware topology figure as shown in Figure 7:

Hoist controlling device of getting on the bus carries the control of whole hoisting process, task is heavy, inner resource-constrained, therefore by getting on the bus, display control unit runs Hoisting Program real-time optimization system, get on the bus hoist controlling device by hydraulic pressure execution unit transmission control pulses such as rotary pump control valves to the left and right, completes lifting operation control action. Limiter of moment reads center of turning circle angle sensor device, telescopic boom linear transducer and flexible arm angle sensor equivalence in real time and send CAN. Display control unit of getting on the bus reads these values CAN, can determine the accurate position of current arm, and performs working district environmental data collecting task. Read lifting operation environmental data in display control unit of getting on the bus with car computer by CAN, the lifting planning of non-real-time and operation simulation can be carried out.

Three, online emulation, system realize and checking

In order to verify that present method and system are generated the reasonableness of Hoisting Program, on car-mounted display controller, the three-dimensional environment in lifting operation district is shown altogether by side-view and vertical view, observe arm and hoisting object simulated motion process between source position to target location in this lifting environment, judge to be generated the reasonableness of Hoisting Program.

Hoisting Program real-time optimization system has been tested on the full ground lifting machine of certain model, and its car-mounted display controller adopts the eVision210.4T display control unit of TTControl company of Austria production. the environmental data collecting interface, working district of exploitation is as shown in Figure 9, it is gone up a hurdle most and shows arm current position brachium in real time, the elevation angle and corner parameter, display working district, upper left side obstacle classification model, after user chooses certain point of class model, system can show the data acquisition interface of this model automatically in figure right, column that what current figure showed is lands the acquisition interface of object, at the obstacle position that working district, the lower left environment vertical view display of figure has currently collected and outside view, the obstacle information collected can be modified and deletion by " collection is repaiied and deleted " function.

The Hoisting Program Optimization and simulation interface of exploitation is as shown in Figure 10, the Hoisting Program optimizing generation is shown in figure lower section, comprise the parameter such as arm elevation angle under the sense of rotation of arm, arm brachium and each corner, what show on the upper left side of figure is working district environmental side elevation view, what show in the upper right side of figure is working district environment vertical view, carry out the motion conditions of stereo display arm in working district by these two two-dimentional figure, and Hoisting Program is carried out simulation emulation.

In order to verify the function of Hoisting Program real-time optimization system, choose lifting machine and 6 operators that 6 are equipped with this system, installation data registering instrument on every car, test site selects enterprise debugging field and a certain construction site respectively, and three lifting operation districts with different environment are respectively selected in each place. In test process, first each lifting machine sails selected lifting operation district in turn successively into, by manual type measure each working district object profile and and lifting machine between relative position data. Secondly, start up system data collecting module collected lifting operation district environmental data, carries out generation, the Optimization and simulation of Hoisting Program, carries out record with datalogger. Every operator operates each lifting machine respectively and carries out once complete test in each lifting operation district of each test site, adds up to 6*6*2*3=216 group test data.

The data of registering instrument record in each group of test data and the data of manual measurement carry out contrast find, obstacle classification model the quantity of Collecting operation district object can account for the 96.8% of total quantity, obstacle is 3.27% to the average relative error value of the spacing of lifting machine, and relative error average deviation is 1.47%. After the obstacle shape data measured is scaled volume, its relative error is 5.63%, and its relative error average deviation is 3.42%. Can also finding out, the skill level that operator operates native system has influence on the acquisition precision of obstacle simultaneously. By the Hoisting Program generated and working district environmental data are compared, and expert please be lift and carry out passing judgment on marking to the Hoisting Program generated. Judge score being added up, its mean value is 83.6, and the suggestion that expert provides is that the Hoisting Program that Hoisting Program optimization system generates according to working district environmental data is real-time, and suitability height, has good reference value to lifting operation.

Four, conclusion

(1) adopting the method for crane arm arm head autonomous exploration study, energy accurate acquisition working district obstacle profile and positional information, do not increase lifting machine cost.

(2) adopt fan lattice mode accurate recording working district environmental data, and with side-view and vertical view stereo display working district environmental data on car-mounted display controller.

(3) according to the environmental data gathered and in conjunction with lifting machine lifting performance table, in Vehicle Controller, generate Hoisting Program in real time, and the Hoisting Program generated is optimized and emulation.

Claims (9)

1. Hoisting Program Real-time Generation in an arm derrick crane Vehicle Controller, it is characterised in that, comprise the following steps:

Step one, sets up heavy-duty machine drum system of coordinates

Being projected as initial point O with crane rotation center on ground, using lifting machine vehicle body axis as X-axis, X-axis is just to sensing lifting machine headstock, Y-axis is vertical with X-axis, Y-axis just to X-axis just to counterclockwise angle 90 ��, Z axle is just to for away from direction, ground, it is perpendicular to XOY plane, sets up XYZ coordinate system; Then 1 P in system of coordinates is represented by coordinate (��, d, h), and wherein �� represents that a P projects D at XOY plane and formed OD line and X just to the counterclockwise angle of axle, and d represents the distance projecting D to true origin O, and h represents that a P is to the height projected between D;

The locus of note crane arm arm head isWherein length of boom is r, and the elevation angle is ��, taking X-axis to the corner as zero position is justThe conversion relation between the locus of arm head and the arm head coordinate in XYZ coordinate system can be obtained according to geometric relationship;

Step 2, fan is formatted and is stored lifting operation district environmental data

Step S20, lifting operation district is divided into multiple sector by the corner that interval is certain, again according to the distance to true origin O, each sector being divided into multiple fan lattice, set up environmental data table, in table, each fan lattice of each sector are for depositing the environmental data of this position; With two groups of data records in each fan lattice, it is illustrated respectively in upper border and the lower boundary in the movable region of arm in this fan grid space;

Step S21, classifies the obstacle in lifting operation district according to its profile;

Step S22, according to dissimilar obstacle, gathers the data information that can represent its spatial shape structure, these data information is filled in corresponding fan lattice;

Step 3, Hoisting Program real-time optimization

Step S30, gathers the source position of hoisting object, the spatial positional information of target location, and the coordinate being converted in XYZ coordinate system;

Step S31, measures, according to from source position to target location arm rotation, the sense of rotation that minimum method determines arm;

Step S32, calculates the maximum luffing position of arm, according to the performance table of the environmental data in sector, maximum luffing position He this lifting machine, it is determined that the optional brachium scope of arm during lifting;

Step S33, selects preliminary election brachium and calculates the preliminary election elevation angle under luffing position, source, then judge and determine the suitable preliminary election elevation angle and brachium the optional brachium scope calculate the elevation angle scope of arm under luffing position, source, determining from step S32;

Step S34, calculates the lifting preliminary election elevation angle under each corner;

Step 4, generates Hoisting Program

According to the arm sense of rotation determined, taking arm from hoisting object source position to the elevation angle, the target location minimum person of change frequency as preferred embodiment; When change frequency is identical, the shortest person of brachium is selected to be preferred embodiment.

2. Hoisting Program Real-time Generation in arm derrick crane Vehicle Controller as claimed in claim 1, it is characterised in that, in described step S32, the process calculating the maximum luffing position of arm is:

The coordinate of note hoisting object source position is P_o(��_o,d_o,h_o), the coordinate of target location is P_d(��_d,d_d,h_d), maximum luffing position d_m; If d_o> d_d, then d_m=d_o, otherwise d_m=d_d��

3. Hoisting Program Real-time Generation in arm derrick crane Vehicle Controller as claimed in claim 2, it is characterised in that, in described step S32, it is determined that during lifting, the detailed process of the optional brachium scope of arm is:

Environmental data according to sector, place, maximum luffing position in environmental data table, it is determined that arm is mobilizable elevation angle scope under maximum luffing position, then calculates the brachium scope of arm; During calculating, the elevation angle to be reserved the security interval of at least 1 ��;

Performance table according to lifting machine, inquiry amplitude is not less than d_mData row, and inquire about specified lifting weight and be not less than all brachium scopes that hoisting object estimates weight; With the common factor of this brachium scope and the aforementioned brachium scope calculated as optional brachium scope.

4. Hoisting Program Real-time Generation in arm derrick crane Vehicle Controller as claimed in claim 1, it is characterised in that, in described step S33, judge and determine that the detailed process of the suitable preliminary election elevation angle and brachium is as follows:

The elevation angle scope of note arm under luffing position, source is [��_min,��_max], from optional brachium, choose minimum value as preliminary election brachium L_i, then calculate preliminary election elevation angle cos �� under luffing position, source_i=d_o/L_i;

If ��_iAt [��_min,��_max] in scope, then L_iWith ��_iFor preliminary election brachium and the elevation angle; If not within the scope of this, then from optional brachium scope, reselect new preliminary election brachium L_nAnd calculate new elevation angle ��_nIf, ��_nAt [��_min,��_max] in scope, then select L_nWith ��_nFor preliminary election brachium and the elevation angle; If being newly worth ��_nStill not in above-mentioned scope, then again again choose new preliminary election brachium and calculate the elevation angle, until the elevation angle that selected preliminary election brachium calculates is at [��_min,��_max] in scope; If all brachiums all can not meet requirement in optional brachium scope, then cannot generate suitable Hoisting Program.

5. Hoisting Program Real-time Generation in arm derrick crane Vehicle Controller as claimed in claim 1, it is characterised in that, the detailed process of described step S34 is as follows:

If a front corner is ��_b, the preliminary election elevation angle is ��_b, according to arm sense of rotation and stepping value ��_s, be adjacent when front hook be ��_c, ��_c=��_b+��_s, preliminary election brachium L in hoisting process_iRemain unchanged;

According to as front hook ��_cThe environmental data of sector, place, verifies a front corner ��_bPreliminary election elevation angle ��_bWhether it is suitable for as front hook ��_cPosition, passes through �� during checking_bCalculating current position arm Variable Amplitude is d_c=L_i*cos��_b, by as front hook ��_cSector, place environmental data determine at d_cThe elevation angle scope of position is [��_cmin,��_cmax], if ��_bWithin the scope of this, then select ��_bAs this corner ��_cUnder the lifting elevation angle;

If ��_bNot at [��_cmin,��_cmax] in scope, then arm carries out upper luffing action by stepping 0.5 ��, recalculates the new preliminary election elevation angle whether within the scope of the elevation angle of its correspondence, if, using the new preliminary election elevation angle as the lifting elevation angle; Otherwise stepping 0.5 �� carries out upper luffing action and calculates again, until finding the suitable preliminary election elevation angle or the preliminary election elevation angle to be more than or equal to 85 ��;

If the preliminary election elevation angle is more than or equal to 85 ��, then arm is at ��_bBasis carries out lower luffing action by stepping 0.5 ��, calculate and judge the new preliminary election elevation angle whether within the scope of the elevation angle of its correspondence, if in scope, then inquire about lifting machine performance table and compare, if specified lifting weight is greater than hoisting object and estimates weight, then using the new preliminary election elevation angle as the lifting elevation angle; If not satisfying condition, again carrying out 0.5 �� of lower luffing and calculating, until finding the suitable preliminary election elevation angle or the preliminary election elevation angle to be less than or equal to 5 ��;

If the preliminary election elevation angle is less than or equal to 5 ��, then reselects brachium and calculate the preliminary election elevation angle, hoisting object source position; If alternative brachium does not all meet requirement, then reselect brachium according to the opposite direction of the arm sense of rotation of former setting, recalculate the initial elevation angle of source position and calculate the lifting elevation angle of each corner by opposite direction; If still can not find suitable brachium and the elevation angle, then, under this lifting environment, Hoisting Program can not be generated.

6. one kind for realizing the system of method described in claim 1, it is characterized in that, this system comprise connect successively set up heavy-duty machine drum system of coordinates module, fan formats and stores lifting operation district environmental data module, Hoisting Program real-time optimization module and generate Hoisting Program module.

7. system as claimed in claim 6, it is characterised in that, described heavy-duty machine drum system of coordinates module of setting up realizes its function according to following step:

Being projected as initial point O with crane rotation center on ground, using lifting machine vehicle body axis as X-axis, X-axis is just to sensing lifting machine headstock, Y-axis is vertical with X-axis, Y-axis just to X-axis just to counterclockwise angle 90 ��, Z axle is just to for away from direction, ground, it is perpendicular to XOY plane, sets up XYZ coordinate system; Then 1 P in system of coordinates is represented by coordinate (��, d, h), and wherein �� represents that a P projects D at XOY plane and formed OD line and X just to the counterclockwise angle of axle, and d represents the distance projecting D to true origin O, and h represents that a P is to the height projected between D;

The locus of note crane arm arm head isWherein length of boom is r, and the elevation angle is ��, taking X-axis to the corner as zero position is justThe conversion between the locus of arm head and the arm head coordinate in XYZ coordinate system can be obtained according to geometric relationship.

8. system as claimed in claim 6, it is characterised in that, described fan is formatted and is stored lifting operation district environmental data module and realize its function in the steps below:

Step S20, lifting operation district is divided into multiple sector by the corner that interval is certain, again according to the distance to true origin O, each sector being divided into multiple fan lattice, set up environmental data table, in table, each fan lattice of each sector are for depositing the environmental data of this position; With two groups of data records in each fan lattice, it is illustrated respectively in upper border and the lower boundary in the movable region of arm in this fan grid space;

Step S21, classifies the obstacle in lifting operation district according to its profile;

Step S22, according to dissimilar obstacle, gathers the data information that can represent its spatial shape structure, these data information is filled in corresponding fan lattice.

9. system as claimed in claim 6, it is characterised in that, Hoisting Program real-time optimization module realizes its function according to following step:

Step S30, gathers the source position of hoisting object, the spatial positional information of target location, and the coordinate being converted in XYZ coordinate system;

Step S31, determines the sense of rotation of arm by arm according to the method that the corner from source position to target location is minimum;

Step S32, calculates the maximum luffing position of arm, according to the performance table of the environmental data in sector, maximum luffing position He this lifting machine, it is determined that the optional brachium scope of arm during lifting;

Step S33, selects preliminary election brachium and calculates the preliminary election elevation angle under luffing position, source, then judge and determine the suitable preliminary election elevation angle and brachium the optional brachium scope calculate the elevation angle scope of arm under luffing position, source, determining from step S32;

Generate Hoisting Program module and realize its function according to following step:

According to the arm sense of rotation determined, taking arm from hoisting object source position to the elevation angle, the target location minimum person of change frequency as preferred embodiment; When change frequency is identical, the shortest person of brachium is selected to be preferred embodiment.