CN110989603A - Crane carrying operation path planning method - Google Patents
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Abstract
The invention discloses a method for planning a handling operation path of a crane, which comprises the following steps: importing environment data, wherein the environment data comprises a hoisting object loading position, a hoisting object unloading position, obstacle information and the like; establishing a space plane equation of a vertical plane passing through an initial position point and a destination position point of the carrying operation; calculating and determining an obstacle space area according to the shape data of the lifted object and the obstacle information; and optimizing the carrying path of the crane according to the relation between the obstacle area and the vertical plane. The invention aims at the automatic operation of the crane, realizes the swing control of the crane, avoids obstacles and optimizes the path planning of the lifting object from the original position to the target position.
Description
Technical Field
The invention relates to the field of hoisting and transporting machinery, in particular to a method for planning a carrying operation path of a crane.
Background
At present, the global port industry is developing from a mechanical age to an artificial intelligence age, the development trend of large-scale ships and the construction of 5G intelligent ports can promote a new round of product innovation and technology upgrade of port container hoisting and handling equipment. On the other hand, at present, ports generally face the problems that skilled operation drivers are insufficient, the loading and unloading operation efficiency of port hoisting and handling equipment cannot meet the requirements of large ships and intelligent port construction, and the like, and the development of automatic operation hoisting equipment which is automatic, intelligent and capable of continuously operating for 24 hours becomes an important research field which is commonly concerned by the whole industry.
The operation efficiency of the crane directly influences the production capacity of the handling system, the intelligent crane has remarkable advantages in the aspects of improving the operation efficiency, reducing labor input and realizing large-scale, continuous, high-strength and high-pollution environment operation, and the intelligentization of the crane operation needs to be realized, so that the crane can independently perform operation path planning and path optimization like a person to become one of key core technologies needing key attack.
In addition, aiming at the crane automation operation, in order to realize the crane efficient transportation operation, the crane swing control and obstacle avoidance are essential key technologies for realizing the path planning of the lifted object from the original position to the target position.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a method for planning a handling operation path of a crane, which adopts the following technical scheme:
the invention provides a method for planning a handling operation path of a crane, which comprises the following steps:
s1, establishing a vertical plane according to the starting position point and the destination position point of the carrying operation, and enabling the vertical plane to pass through the starting position point and the destination position point;
s2, judging whether the vertical plane and the obstacle space area have intersection, if so, executing S3, and if not, setting a straight line path from the starting position point to the destination position point as an optimal path;
s3, judging whether the height of the obstacle space region exceeds a lifting operation height limit value of the crane, if so, executing S6-S8, and if not, executing S4-S5;
s4, determining the intersecting track of the obstacle space area and the vertical plane;
s5, determining an optimal path according to the starting position point, the intersection track and the destination position point;
s6, carrying out horizontal plane projection on the vertical plane to obtain a projection straight line, and carrying out horizontal plane projection on the obstacle space area to obtain a projection area;
s7, comparing the distances between the points in the projection area and the projection straight line, and determining that the carrying operation is carried out on one side of the projection straight line where the point which is not the farthest distance is;
and S8, determining the optimal path according to the starting position point, the outer contour line of the projection area on the conveying operation side and the destination position point.
Further, before step S7, the method further includes:
regularizing the projection region to obtain a regularized polygon, and enabling the projection region to fall into the regularized polygon;
step S7 includes: calculating the distance from each vertex of the regularized polygon to the projection straight line, and taking the other side of the projection straight line side where the vertex with the farthest distance is positioned as a conveying operation side;
the process of determining the optimal path in step S8 includes: the vertex having the largest deviation rate from the projection straight line among the one or more vertices of the regularized polygon on the side of the transport operation is determined, and the optimal path in step S8 is moved horizontally from the start position point to the vertex along a straight line and then from the vertex to the destination position point at a predetermined swing angle.
Furthermore, the vertex corresponding to the maximum included angle between the straight line on the carrying operation side and the initial position point and the projection straight line is taken as the vertex with the maximum deviation rate from the projection straight line.
Further, the intersecting trajectory in step S5 includes a first end point closer to the start position point and a second end point farther from the start position point;
the optimal path in step S5 includes a path from the start point to the first end point, passing through the intersecting trajectory, and then from the second end point to the destination point.
Further, the vertical plane established in step S1 is a spatial plane parallel to the Z axis in the three-dimensional spatial coordinates, and establishing the vertical plane includes the following operations:
establishing a three-dimensional space coordinate system, taking limit position points of a crane loaded with a hoisting object in three motion directions of large and small car running and vertical descending as an original point of the three-dimensional space coordinate system, taking the running directions of a small car, a large car and a hoisting mechanism of the crane as X, Y, Z directions of the three-dimensional space coordinate system respectively, and determining the coordinates of an initial position point and a destination position point;
the plane normal is calculated by the following formula:
the plane normal is calculated by the following formula:
The vertical plane is calculated by the following formula:
(yuj-ypi)(x-xpi)-(xuj-xpi)(y-ypi) 0, wherein xpi,ypiRespectively, the coordinates in the direction of the start position X, Y, xuj,yujRespectively, the coordinates of the direction of the destination location X, Y.
Further, the step S3 of determining whether the height of the obstacle space region exceeds the lifting operation height limit value of the crane includes the following operations:
calculated according to the following formula
The definition domain of (1):
{(x,y)|(yuj-ypi)(x-xpi)-(xuj-xpi)(y-ypi) 0} where x ispi,ypiRespectively, the coordinates in the direction of the start position X, Y, xuj,yujCoordinates in the direction of destination location X, Y, respectively;
if the lifting operation height limit value of the crane falls into the definition domain range, the height of the obstacle space region is judged to exceed the lifting operation height limit value of the crane, otherwise, the height of the obstacle space region is judged to not exceed the lifting operation height limit value of the crane.
Further, in the transporting operation in step S8, it is necessary to perform the swing control of the hoisted object, the crane swing control parameter is obtained by calculation in advance before the transporting operation in step S8, and the swing control parameter calculating step includes:
determining the motion parameters of the running directions of the large trolley and the small trolley of the crane by the following formula:
x＝X10+0.5αx1t2+VX10t (1)
y＝Y10+0.5αy1t2+VY10t (2), wherein X and y are respectively the position coordinates of the crane trolley on the X, Y axis10,Y10Initial position coordinates of the trolley on axis X, Y, α respectivelyx1,αy1Respectively the moving acceleration of the crane in the direction of X, Y axes, αx1,αy1At the same time, respectively, the swing control parameter V of the crane in the direction X, YX10,VY10Respectively the initial moving speed of the crane in the direction of X, Y axes;
wherein, the swing control parameter α of the crane in the direction of X, Y axisx1,αy1Respectively calculated by the following formula:
Furthermore, the obstacle space area is a protection area which is arranged according to the shape and the size of a lifting object of the crane and a preset safety distance between the lifting object and the obstacle body and is enlarged on the basis of the actual appearance size of the obstacle body.
Furthermore, the hoisted object of the crane is a mass point in the three-dimensional space coordinate.
Further, the regularizing the projection region is to plan a rectangle containing the projection region in a projection plane.
The technical scheme provided by the invention has the following beneficial effects: on the basis of researches such as analysis of a crane conveying system, solution of swing control parameters, a swing control method and the like, a conveying path planning and optimizing method is provided, and the effectiveness of the method is confirmed by verifying the provided method through a crane three-dimensional simulation analysis system.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flow chart of a planning strategy for a handling operation path of a crane according to an embodiment of the present invention;
fig. 2 is a specific flowchart of a crane handling operation path planning provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of a path plan for carrying over an obstacle according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a path bypassing a side of an obstacle according to an embodiment of the present invention;
FIG. 5 is a three-dimensional perspective view of a first simulation test result of a crane handling operation provided by an embodiment of the invention;
FIG. 6 is a view in the X direction of the first simulation test results of FIG. 5;
FIG. 7 is a view in the Z-direction of the first simulation test results of FIG. 5;
FIG. 8 is a three-dimensional perspective view of a second simulation test result of the handling operation of the crane provided by the embodiment of the invention;
FIG. 9 is a view in the X direction of the second simulation test results of FIG. 8;
FIG. 10 is a view in the Z direction of the second simulation test results of FIG. 8;
FIG. 11 is a three-dimensional perspective view of a third simulation test result of the crane handling operation provided by the embodiment of the invention;
FIG. 12 is a view in the X direction of the third simulation test results of FIG. 11;
FIG. 13 is a view in the Y direction of the third simulation test results of FIG. 11;
FIG. 14 is a view in the Z direction of the third simulation test results of FIG. 11;
FIG. 15 is a graph showing a simulation curve of the moving speed of the hoisted object carried by the crane in the third simulation test result of FIG. 11;
fig. 16 is a simulation curve diagram of a swing angle of a wire rope of the crane according to the third simulation test result in fig. 11.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or device.
In one embodiment of the present invention, a crane capable of safely avoiding obstacles and having a minimum vertical lift is provided, as shown in fig. 1, which substantially comprises the following steps:
the method comprises the following steps of firstly, importing environment data, wherein the environment data comprises a hoisting object loading position (namely a starting position point of carrying operation), a hoisting object unloading position (namely a destination position point), obstacle information and the like;
secondly, establishing a space plane equation of a vertical plane passing through the starting position point and the destination position point of the carrying operation, wherein the vertical plane is parallel to a Z axis in a three-dimensional space;
thirdly, calculating and determining an obstacle space area according to the shape data of the lifted object and the obstacle information, specifically, in order to enable the conveyed object to effectively avoid the obstacle, setting a lifting object inaccessible area in a certain distance range around the obstacle by the system, and defining the area as the obstacle space area, wherein the shape and the size of the lifting object and a safe distance which should be kept when the lifting object is close to the obstacle are considered in the obstacle space area, so that the obstacle space area is a protection area which is expanded on the basis of the actual shape size of the obstacle, and the lifting object can be considered as a mass point on the basis;
and fourthly, optimizing the carrying path of the crane according to the relation between the obstacle area and the vertical plane.
Wherein, the step of optimizing the carrying path of the crane in the fourth step is as shown in fig. 2:
and S1, establishing a vertical plane according to the starting position point and the destination position point of the conveying operation, and enabling the vertical plane to pass through the starting position point and the destination position point.
Specifically, the vertical plane is a spatial plane parallel to the Z axis in the three-dimensional spatial coordinate, and establishing a spatial plane equation of the vertical plane W plane includes the following operations:
establishing a three-dimensional space coordinate system, taking an extreme position point of a crane carrying a hoisted object in three motion directions of large and small vehicle running and vertical descending as an origin of the three-dimensional space coordinate system, taking the running directions of a small vehicle, a large vehicle and a hoisting mechanism of the crane as X, Y, Z directions of the three-dimensional space coordinate system respectively, and determining the coordinates of the starting position point and the destination position point, such as: the loading position of the object to be conveyed, i.e., the home position point, is represented by Pi(xpi,ypi,zpi) The unloading position, i.e. the destination location point, is denoted as Uj(xuj,yuj,zuj)。
The plane normal is calculated by the following formula:
The vertical plane is calculated by the following formula:
(yuj-ypi)(x-xpi)-(xuj-xpi)(y-ypi) 0, wherein xpi,ypiRespectively, the coordinates in the direction of the start position X, Y, xuj,yujRespectively, the coordinates of the direction of the destination location X, Y.
And S2, judging whether the vertical plane has an intersection with the obstacle space area, if so, executing S3, and if not, setting a straight line path from the starting position point to the destination position point as an optimal path.
Specifically, the obstacle space area is a protection area which is arranged according to the shape and size of a lifting object of the crane and a preset safety distance between the lifting object and the obstacle body and is enlarged on the basis of the actual appearance size of the obstacle body. On the basis, the hoisted object of the crane can be considered as a mass point in the three-dimensional space coordinate. In addition, performance parameters such as the maximum lifting height and the maximum operation speed of the crane are preset in the system.
Crane loading lifting article from starting position point PiHoisting the point to a destination position point UjPoint transport with W plane passing through PiAnd UjTwo points are perpendicular to the spatial plane of the ground. If there is no obstacle in the linear region for loading and unloading the hoisted object, the path of the hoisted object linearly conveyed to the destination position by the crane becomes the optimal conveying path because the distance is shortest.
And S3, judging whether the height of the obstacle space region exceeds the lifting operation height limit value of the crane, if so, executing S6-S8, and if not, executing S4-S5.
The specific judgment operation is as follows:
calculated according to the following formula
The definition domain of (1):
{(x,y)|(yuj-ypi)(x-xpi)-(xuj-xpi)(y-ypi) 0} where x ispi,ypiRespectively, the coordinates in the direction of the start position X, Y, xuj,yujCoordinates in the direction of destination location X, Y, respectively;
if the lifting operation height limit value of the crane falls into the definition domain range, the height of the obstacle space region is judged to exceed the lifting operation height limit value of the crane, otherwise, the height of the obstacle space region is judged to not exceed the lifting operation height limit value of the crane.
And S4, determining the intersecting track of the obstacle space area and the vertical plane.
The height of the space area of the obstacle does not exceed the lifting operation height limit value of the crane, namely, the height indicates that the crane can safely pass a lifted object through the highest point of the obstacle within the range of the maximum lifting height, under the condition, the system automatically selects a conveying path which is in the space plane W and passes through the top of the space area of the obstacle, the number of top point searches is only two under the condition that only one obstacle is provided, the number of top point searches can be 4 under the condition that two obstacles are provided, namely, under the condition that the appearance of the obstacle is regular, the number of top point searches is only 2 times of the number of the obstacles, compared with a conventional searching method, the searching calculation amount is exponentially reduced, the system can quickly calculate and provide control instructions for the crane in real time, and the conveying operation of optimizing the conveying path and safe and efficient is completed.
And S5, determining an optimal path according to the starting position point, the intersecting track and the destination position point.
If there is an obstacle in the linear region for loading and unloading the hoisted object, the hoist transports the hoisted object to make the transportation path moving in the plane W of space be the path with least energy consumption, so that the hoisted object moves in the plane W to be one of the effective paths for obtaining the optimal transportation path, as shown in fig. 3, specifically, the intersecting track includes a first end point closer to the starting position point and a second end point farther from the starting position point, the optimal path in step S5 includes that after the hoist vertically lifts the hoisted object from the starting position point to a certain safe distance from the ground, the hoisting mechanism and the horizontal moving mechanism simultaneously operate, the hoisted object bypasses the first end point, passes through the intersecting track, moves from the second end point to a certain safe distance directly above the destination position point, and finally vertically descends to the destination position point, wherein the hoisting mechanism is vertically lifted to a certain safe distance from the ground and the hoisting mechanism is vertically above the destination position point The distance between one ends is set according to the operation characteristics and the safe operation requirements of the crane, and the specific safe distance value is determined according to the type of the crane and the handling operation process. And S6, performing horizontal plane projection on the vertical plane to obtain a projection straight line, and performing horizontal plane projection on the obstacle space area to obtain a projection area.
The height of the space area of the obstacle exceeds the lifting operation height limit value of the crane, namely the height indicates that the crane cannot safely pass the lifted object through the highest point of the obstacle within the maximum lifting height range, in this case, the crane carrying operation path cannot obtain an optimization result from the space plane W, the system selects a carrying operation path which avoids the obstacle from the outer side, in this case, the horizontal control quantity of the large trolley and the small trolley needs to be corrected and adjusted, at the moment, the system can search the shortest carrying distance and correct and adjust the horizontal carrying operation control quantity of the crane in real time according to the search result, and obstacle bypassing carrying path planning and operation are completed.
S7, comparing the distances between the points in the projection area and the projection straight line, and determining that the carrying operation is carried out on one side of the projection straight line where the point which is not the farthest distance is;
further, before step S7, the method further includes:
and regularizing the projection region to obtain a regularized polygon, and enabling the projection region to fall in the regularized polygon.
Step S7 includes: and calculating the distance between each vertex of the regularized polygon and the projection straight line, and setting the other side of the projection straight line side where the vertex with the farthest distance is positioned as the conveying operation side.
Preferably, the projection area is normalized to be rectangular, as shown in fig. 4: the system will automatically calculate and compare the perpendicular distances L of the point of the obstacle area OP3 and the point of OP4 to the spatial plane W01And L02And determining the bypassing direction of the crane obstacle according to the comparison result and finally searching to complete the optimal carrying path planning. L is01≥L02In this case, the system adds an appropriate speed correction amount to the moving direction of the crane X shown in fig. 4, and the crane moves around the obstacle OP4 point side at the corrected horizontal moving speed, and its carrying path is shown in fig. 4. Likewise, L01<L02In this case, the system adds an appropriate speed correction amount to the movement direction of the crane Y shown in fig. 4, and the crane moves around the obstacle OP3 at the corrected horizontal movement speed, thereby completing the hoisted object conveying operation.
And S8, determining the optimal path according to the starting position point, the outer contour line of the projection area on the conveying operation side and the destination position point.
Specifically, the process of determining the optimal path in step S8 includes: the vertex having the largest deviation rate from the projected straight line among the one or more vertices of the regularized polygon on the side of the transport operation is determined, and the optimal path in step S8 is such that the crane transports the hoisted object starting from the start position point, the hoisted object swing control is performed by the swing control parameter calculated in advance by the system, and the crane is horizontally moved to the vertex along the straight line, and the hoisted object is transported to the destination position point by performing the hoisted object swing control from the vertex by the swing control parameter calculated in advance.
Further, the method for determining the vertex with the largest offset rate from the projection straight line in the one or more vertices of the regularized polygon is as follows: and taking the vertex corresponding to the maximum included angle between the straight line on the carrying operation side and the initial position point and the projection straight line as the vertex with the maximum deviation rate from the projection straight line.
Further, the calculation formulas of the motion parameters and the swing control parameters of the large and small trolley running directions of the crane are as follows:
determining the motion parameters of the running directions of the large trolley and the small trolley of the crane by the following formula:
x＝X10+0.5αx1t2+VX10t (1)
y＝Y10+0.5αy1t2+VY10t (2), wherein X and y are respectively the position coordinates (m) of the crane trolley on the X, Y axis, and X10,Y10Initial position coordinates (in m) of the trolley on axis X, Y, αx1,αy1Respectively the moving acceleration (in m/s) of the crane in the direction of X, Y axes2)，αx1,αy1At the same time, respectively, the swing control parameter V of the crane in the direction X, YX10,VY10Respectively the initial moving speed (in m/s) of the crane in the direction of X, Y axes;
wherein, the swing control parameter α of the crane in the direction of X, Y axisx1,αy1Respectively calculated by the following formula:
The optimized carrying operation path obtained by the method and the control quantity and correction quantity output by the optimized result can calculate and obtain swing control and target path tracking control quantity of different carrying intervals, and the crane executes the optimized path and the command to safely and efficiently complete the carrying operation of the hoisted object. The optimized searching method for the crane carrying path greatly reduces the searching quantity and the calculated amount, has good performability, and specifically comprises the following simulation tests and results:
by adopting the method for optimizing and searching the crane carrying path, the actual operation environment conditions are simulated, the simulation test of crane path planning and three-dimensional carrying operation is carried out, the path planning and carrying operation of three different position states of the obstacle relative to the space plane W are mainly verified, the effectiveness of the path planning method is verified through the test, and the specific verification result is as follows.
Carrying operation environment, crane main performance parameter setting and crane path planning simulation test result
In order to fully verify the effectiveness of the method by a digital simulation means, main performance parameters such as the lifting height of the crane, the operation speed and the like are specially amplified compared with the actual main parameters of the crane when a simulation model is established.
1) Simulation environment condition one: the obstacle region is out of the W plane and does not interfere with normal conveying operation
Initial position coordinates (m) of the hoisted object: (6,6,1.5)
Hoisting object target position coordinates (m): (28, 28,1.5)
Hoist outer shape size (m): 2.5X 3
Obstacle center position coordinates (m): (20, 10,3.5)
Obstacle outer size (m): 3.5X 8X 7
Three-directional running speed (m/s) of crane X, Y, Z: 0.7,0.7,0.2
The results of the crane handling operation simulation test are shown in fig. 5-7.
2) Simulation environment condition two: the barrier is in the W plane area, the height of the barrier exceeds the lifting operation range of the crane, and the crane cannot safely pass the lifted lifting object through the highest point of the barrier within the maximum lifting height range
Initial position coordinates (m) of the hoisted object: (4,6,1.5)
Hoisting object target position coordinates (m): (28, 35,1.5)
Hoist outer shape size (m): 2.5X 3
Obstacle center position coordinates (m): (20, 25, 12)
Obstacle outer size (m): 4X 9X 24
Three-directional running speed (m/s) of crane X, Y, Z: 0.7,1.5,0.2
The results of the crane handling operation simulation test are shown in fig. 8-10.
3) Simulation environment condition three: the hoisting object has a primary pendulum, and the number of obstacles on the carrying site is four
Initial swing angle of the steel wire rope: theta0＝0.014π；β0＝0.01π
Initial position coordinates (m) of the hoisted object: (1.9,8.5, 10.25)
Hoisting object target position coordinates (m): (31, 81,0.75)
Hoist outer shape size (m): 1.6X 3.2X 1.5
Center position coordinates (m) of obstacle 1: (1.5,8,4.75)
External dimension (m) of obstacle 1: 3X 8X 9.5
Outer dimension (m) of obstacle 2: 4X 8X 20
Center position coordinates (m) of obstacle 3: (23.5, 65, 22.5)
Center position coordinates (m) of obstacle 4: (35.25, 91, 17.5)
Outer dimension (m) of obstacle 4: 3.5X 12X 35
Three-directional running speed (m/s) of crane X, Y, Z: 0.6,1.3,1
The results of the crane path planning and handling operation simulation tests are shown in fig. 11-16.
The invention discloses a method for planning a handling operation path of a crane, which comprises the following steps: importing environment data, wherein the environment data comprises a hoisting object loading position, a hoisting object unloading position, obstacle information and the like; establishing a space plane equation of a vertical plane passing through an initial position point and a destination position point of the carrying operation; calculating and determining an obstacle space area according to the shape data of the lifted object and the obstacle information; and optimizing the carrying path of the crane according to the relation between the obstacle area and the vertical plane. The invention aims at the automatic operation of the crane, realizes the swing control of the crane, avoids obstacles and optimizes the path planning of the lifting object from the original position to the target position.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A method for planning a handling operation path of a crane is characterized by comprising the following steps:
s1, establishing a vertical plane according to the starting position point and the destination position point of the carrying operation, and enabling the vertical plane to pass through the starting position point and the destination position point;
s2, judging whether the vertical plane and the obstacle space area have intersection, if so, executing S3, and if not, setting a straight line path from the starting position point to the destination position point as an optimal path;
s3, judging whether the height of the obstacle space region exceeds a lifting operation height limit value of the crane, if so, executing S6-S8, and if not, executing S4-S5;
s4, determining the intersecting track of the obstacle space area and the vertical plane;
s5, determining an optimal path according to the starting position point, the intersection track and the destination position point;
s6, carrying out horizontal plane projection on the vertical plane to obtain a projection straight line, and carrying out horizontal plane projection on the obstacle space area to obtain a projection area;
s7, comparing the distances between the points in the projection area and the projection straight line, and determining that the carrying operation is carried out on one side of the projection straight line where the point which is not the farthest distance is;
and S8, determining the optimal path according to the starting position point, the outer contour line of the projection area on the conveying operation side and the destination position point.
2. The method for planning a handling operation path of a crane according to claim 1, further comprising, before step S7:
regularizing the projection region to obtain a regularized polygon, and enabling the projection region to fall into the regularized polygon;
step S7 includes: calculating the distance from each vertex of the regularized polygon to the projection straight line, and taking the other side of the projection straight line side where the vertex with the farthest distance is positioned as a conveying operation side;
the process of determining the optimal path in step S8 includes: the vertex having the largest deviation rate from the projection straight line among the one or more vertices of the regularized polygon on the side of the transport operation is determined, and the optimal path in step S8 is moved horizontally from the start position point to the vertex along a straight line and then from the vertex to the destination position point at a predetermined swing angle.
3. The method for planning a crane carrying operation path according to claim 2, wherein a vertex corresponding to a maximum included angle between a straight line on the carrying operation side and the start position point and the projection straight line is taken as the vertex having the maximum deviation rate from the projection straight line.
4. The method for planning a crane transferring operation path according to claim 1, wherein the intersecting trajectory in step S5 includes a first end point closer to the starting position point and a second end point farther from the starting position point;
the optimal path in step S5 includes a path from the start point to the first end point, passing through the intersecting trajectory, and then from the second end point to the destination point.
5. The method for planning a path for a crane transporting operation according to claim 1, wherein the vertical plane established in step S1 is a spatial plane parallel to the Z-axis in the three-dimensional spatial coordinates, and the establishing of the vertical plane includes the following operations:
establishing a three-dimensional space coordinate system, taking limit position points of a crane loaded with a hoisting object in three motion directions of large and small car running and vertical descending as an original point of the three-dimensional space coordinate system, taking the running directions of a small car, a large car and a hoisting mechanism of the crane as X, Y, Z directions of the three-dimensional space coordinate system respectively, and determining the coordinates of an initial position point and a destination position point;
the plane normal is calculated by the following formula:
The vertical plane is calculated by the following formula:
(yuj-ypi)(x-xpi)-(xuj-xpi)(y-ypi) 0, wherein xpi,ypiRespectively, the coordinates, x, of the starting point X, Yuj,yujRespectively, the coordinates of the direction of the destination location point X, Y.
6. The method for planning a crane carrying operation path according to claim 5, wherein the step S3 of determining whether the height of the obstacle space region exceeds the lifting operation height limit value of the crane comprises the following operations:
calculated according to the following formula
The definition domain of (1):
{(x,y)|(yuj-ypi)(x-xpi)-(xuj-xpi)(y-ypi) 0} where x ispi,ypiRespectively, the coordinates in the direction of the start position X, Y, xuj,yujCoordinates in the direction of destination location X, Y, respectively;
if the lifting operation height limit value of the crane falls into the definition domain range, the height of the obstacle space region is judged to exceed the lifting operation height limit value of the crane, otherwise, the height of the obstacle space region is judged to not exceed the lifting operation height limit value of the crane.
7. The method for planning a route for crane transfer work according to claim 2, wherein the transfer work of step S8 requires swing control of the hoisted object, the crane swing control parameter is obtained by calculation in advance before the transfer work of step S8, and the swing control parameter calculation step includes: determining the motion parameters of the running directions of the large trolley and the small trolley of the crane by the following formula:
x＝X10+0.5αx1t2+VX10t (1)
y＝Y10+0.5αy1t2+VY10t (2), wherein X and y are respectively the position coordinates of the crane trolley on the X, Y axis10,Y10Initial position coordinates of the trolley on axis X, Y, α respectivelyx1,αy1Respectively the moving acceleration of the crane in the direction of X, Y axes, αx1,αy1At the same time, respectively, the swing control parameter V of the crane in the direction X, YX10,VY10Respectively the initial moving speed of the crane in the direction of X, Y axes;
wherein, the swing control parameter α of the crane in the direction of X, Y axisx1,αy1Respectively calculated by the following formula:
8. The method for planning a crane carrying operation path according to any one of claims 1 to 7, wherein the obstacle space region is a protection region which is enlarged based on an actual outer dimension of the obstacle body and is set according to a shape and a size of a lifting object of the crane and a preset safety distance between the lifting object and the obstacle body.
9. The method for planning a transportation work path of a crane according to claim 8, wherein a hoisted object of the crane is a mass point in the three-dimensional space coordinate.
10. The method for planning a transportation operation path of a crane according to claim 2, wherein the regularizing the projection area is to plan a rectangle containing the projection area in a projection plane.
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