CN114014161B - Method for realizing multi-dimensional linkage of unmanned crown block - Google Patents

Method for realizing multi-dimensional linkage of unmanned crown block Download PDF

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Publication number
CN114014161B
CN114014161B CN202111128733.XA CN202111128733A CN114014161B CN 114014161 B CN114014161 B CN 114014161B CN 202111128733 A CN202111128733 A CN 202111128733A CN 114014161 B CN114014161 B CN 114014161B
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China
Prior art keywords
main hook
cart
trolley
coil
crown block
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CN202111128733.XA
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CN114014161A (en
Inventor
李志亮
佟明飞
周志栋
韩谦
安乐新
卢武阳
部伟利
赵晓曦
侯建明
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Tangshan Iron And Steel Group Weier Automation Co ltd
Tangshan Iron and Steel Group Co Ltd
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Tangshan Iron And Steel Group Weier Automation Co ltd
Tangshan Iron and Steel Group Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/22—Control systems or devices for electric drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
    • B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

The invention relates to a method for realizing multi-dimensional linkage of an unmanned crown block, and belongs to the technical field of crown block control. The technical scheme of the invention is as follows: the method comprises the steps of marking the current position, the coil taking position, the coil releasing position and the key two-layer coil position on the travelling path of the unmanned crown block, comparing the running time and the distance of a cart, a trolley and a main hook in a coil taking and releasing key interval, dynamically adjusting the running height and the starting time of the main hook, dynamically adjusting the starting time and the starting speed of the cart and the trolley, and generating the three-dimensional linkage internal connection of the cart, the trolley and the main hook. The beneficial effects of the invention are as follows: the three-dimensional linkage of the main hook and the cart and the trolley under different situations and different conditions can be realized; the starting time nodes of the cart, the trolley and the main hook are controllable, and the running speed is controllable; the safe operation height of the main hook is controllable, so that the independent operation time of the main hook and the single-pass operation time of the main hook for taking and unreeling are reduced; the comprehensive operation efficiency of the cart, the trolley and the main hook is improved, steel coils before and after the coil taking position and the coil releasing position are avoided safely, and coil collision accidents are prevented.

Description

Method for realizing multi-dimensional linkage of unmanned crown block
Technical Field
The invention relates to a method for realizing multi-dimensional linkage of an unmanned crown block, and belongs to the technical field of crown block control.
Background
In recent years, unmanned crown block systems are rapidly developed in China, and many steelworks are in a state of looking at a plurality of enterprises to get on horses and unmanned crown blocks to reform or newly build projects. For the reason, in order to obtain a more stable running state and a safer operation posture, the unmanned overhead travelling crane gives up a part of flexible operation actions, so that the operation flow of the unmanned overhead travelling crane is dull, and the operation efficiency of the single travelling crane is lower than that of a manually operated overhead travelling crane. According to the specific action analysis of the operation of the unmanned overhead travelling crane, the movement process of the unmanned overhead travelling crane in the process of the picking and unreeling operation is divided into the movement of the large trolley, the movement of the small trolley and the lifting of the main hook. The lifting efficiency of the main hook is limited by the rotating speed of the hoisting motor, the movement speed is the lowest among the three, meanwhile, according to actual measurement and calculation, the time occupation ratio of the lifting of the main hook in the whole overhead travelling crane in the process of taking and unreeling is very high, and the lifting efficiency of the main hook restricts the efficiency of the whole process of taking and unreeling, so that how to realize efficient three-dimensional linkage of the trolley, the trolley and the main hook is very important for improving the whole operation efficiency of the unmanned overhead travelling crane.
Disclosure of Invention
The invention aims to provide a method for realizing multi-dimensional linkage of an unmanned crown block, which can realize three-dimensional linkage of a main hook and a cart and a trolley under different situations and different conditions; the starting time nodes of the cart, the trolley and the main hook are controllable, and the running speed is controllable; the safe operation height of the main hook is controllable, so that the independent operation time of the main hook and the single-pass operation time of the main hook for taking and unreeling are reduced; the comprehensive operation efficiency of the cart, the trolley and the main hook is improved, steel coils before and after the coil taking position and the coil releasing position are avoided safely, coil collision accidents are prevented, and the problems in the background art are effectively solved.
The technical scheme of the invention is as follows: a method for realizing multi-dimensional linkage of an unmanned crown block comprises the following steps: the method comprises the steps of marking the current position, the coil taking position, the coil releasing position and the key two-layer coil position on the travelling path of the unmanned crown block, comparing the running time and the distance of a cart, a trolley and a main hook in a coil taking and releasing key interval, dynamically adjusting the running height and the starting time of the main hook, dynamically adjusting the starting time and the starting speed of the cart and the trolley, and generating three-dimensional linkage internal connection of the cart, the trolley and the main hook;
s1: setting the running height of an overhead crane according to the steel coil parameters in the reservoir area, the reservoir diagram information, the unmanned overhead crane equipment parameters and the overhead crane work order, and setting various parameters;
s2: according to the known parameters in the step S1, the acceleration time and the distance of the cart are calculated respectively, and the operation time of the main hook from the high-grade height to the low-grade height is calculated;
s3: judging whether the three-dimensional linkage has starting conditions or not when the unmanned crown block is rolled and descends, and executing starting steps under different conditions;
s4: judging whether the three-dimensional linkage has starting conditions or not when the unmanned crown block is lifted, and executing starting steps under different conditions;
s5: judging whether the three-dimensional linkage has starting conditions or not when the unmanned crown block unreels and descends, and executing starting steps under different conditions;
s6: and judging whether the three-dimensional linkage has starting conditions or not when the unmanned crown block unreels and lifts, and executing starting steps under different conditions.
In the step S1, the running height of the crown block and various parameters are set as follows:
s11: the method comprises the steps of taking the running directions of a large crane, a small crane and a main hook as coordinate axes, establishing an XYZ space coordinate system of the whole stock area, obtaining current position coordinates P (X, Y, Z) of the crown block according to a crown block tracking function, obtaining three-dimensional image information of the whole stock area according to stock diagram information, including the positions and stack heights of steel coils, obtaining coil taking position coordinates P0 (X0, Y0, Z0) and coil releasing position coordinates P00 (X00, Y00, Z00) according to crown block work order information, obtaining the estimated track of crown block running according to unmanned crown block path static planning, and obtaining the height coordinates of all passing points in the crown block running process by combining the information;
s12: recording two nearest two-layer coil coordinates P1 (X1, Y1, Z1) and P2 (X2, Y2, Z2) before and after a coil taking position coordinate P0 (X0, Y0, Z0) in a travelling path of the crown block as key two-layer coil positions on the travelling path of the unmanned crown block; recording two nearest two-layer coil coordinates P3 (X3, Y3, Z3) and P4 (X4, Y4, Z4) before and after the unreeling position coordinates P00 (X00, Y00, Z00) in the travelling path of the crown block as key two-layer coil positions on the travelling path of the unmanned crown block;
s13: setting the acceleration of a crane of the crane as Ax, the maximum speed of the crane as Vxmax and the minimum speed of the crane as Vxmin according to the parameters of the crane equipment; the acceleration of the trolley is Ay, the maximum speed of the trolley is Vymax, and the minimum speed of the trolley is Vymin; the acceleration of the main hook is Az, and the speed of the main hook is Vz;
s14: dividing the operation height of the main hook into two gears, namely a low-grade height and a high-grade height, wherein the low-grade height is L, the high-grade height is H, and when the main hook is positioned at the low-grade height, the crown block can safely pass through a layer of coil; when the main hook is positioned at a high-grade height, the crown block can safely pass through the two-layer coil, and the main hook returns to the initial height after each work order is finished;
s15: according to the crane work order, the main hook operation in the whole crane winding and unwinding operation process is divided into four stages of winding and unwinding descending, winding and lifting and unwinding and lifting.
In the step S2, the calculation method is as follows:
s21: calculating time and distance from stopping acceleration of the cart to maximum speed Vxmax of the cart, wherein time Txmax=Vxmax/Ax, and distance Sxmax=0.5Vxmax2/Ax; the same can calculate the time and distance from stopping accelerating to the minimum speed Vxmin of the cart to Txmin and Sxmin; the time and distance from stopping acceleration of the trolley to the maximum distance Vymax of the trolley are Tymax and Symax; the times and distances for the trolley to accelerate from a stop to the minimum trolley speed Vymin are Tymin and Symin.
S22: the main hook is reduced from the high-grade height H to the low-grade height L, the main hook is from the stop state to the stop state, the movement process is uniformly accelerated, uniformly decelerated and uniformly decelerated, the uniform speed is equal to Vz, and the movement time TzDown= [ (H-L)/Vz ] +0.5 (Vz/Az) of the whole process is calculated.
In the step S3, the starting step is as follows:
s31: judging whether the coil taking position is a two-layer coil, if so, directly walking the cart and the trolley to the position above the coil taking position, and then descending a main hook to take the coil at a main hook speed Vz; if not, executing step S32;
s32: judging whether a two-layer coil exists before the coil taking position, if not, enabling the cart, the trolley and the main hook to move at the maximum speed at the same time, and stopping the main hook when the main hook reaches a high-grade height H until the cart and the trolley are in place, and continuing to drop the coil taking speed Vz of the main hook; if yes, go to step S33;
s33: when the cart and the trolley pass through the position of the two-layer coil coordinate P1 closest to the front of the coil taking position coordinate P0, the main hook starts to descend to the low-grade height L and stops until the cart and the trolley are in place, and the main hook continues to descend to take coils at the main hook speed Vz.
In the step S4, the starting step is as follows:
s41: judging whether the coil taking position is a two-layer coil, if so, lifting the main hook to a high-grade height H, and starting the cart and the trolley until the target value of the work order is reached; if not, executing step S42;
s42: judging whether a two-layer coil exists after the coil taking position, if not, enabling the cart, the trolley and the main hook to move at the maximum speed at the same time until the target value of the work order is reached; if yes, go to step S43;
s43: if the absolute value of X0-X2 is more than 2Sxmax, the main hook is lifted to a low-grade height L, the cart is started by taking the Vxmax speed as a target speed, and the main hook is continuously lifted to a high-grade height H; if 2Sxmax is more than or equal to |X0-X2| > 2Sxmin, when the main hook is lifted to the low-grade height L, starting the cart at a target speed of Vxmin, and continuously lifting the main hook to the high-grade height H; if 2Sxmin is not less than |X0-X2|, the main hook is lifted to a high-grade height H, and the cart is started; the trolley is the same as the cart.
In the step S5, the starting step is as follows:
s51: judging whether the unreeling position is on the second layer, if so, maintaining the high-grade height H of the main hook to be motionless, and starting the cart and the trolley until the main hook reaches the upper part of the unreeling position, and lowering the main hook to the target height; if not, executing step S52;
s52: judging whether a two-layer coil exists before the coil unwinding position, if not, enabling the cart, the trolley and the main hook to move at the maximum speed at the same time until the main hook reaches a low-grade height L to stop, enabling the cart and the trolley to be in place, and then enabling the main hook to continuously descend for coil unwinding; if yes, go to step S53;
s53: when both the cart and the trolley pass the P3 position, the main hook starts to descend to the low-gear height L and stops until the cart and the trolley are in place, and the main hook continues to descend and unwind at the main hook speed Vz.
In the step S6, the starting step is as follows:
s61: judging whether the unreeling position is on the second layer, if so, lifting the main hook to a high-grade height H, and starting the cart and the trolley until the work order target value is reached; if not, executing step S62;
s62: judging whether a two-layer coil exists after the coil unwinding position, if not, enabling the cart, the trolley and the main hook to move at the maximum speed at the same time until the target value of the work order is reached; if yes, go to step S63;
s63: if the absolute value of X00-X4 is greater than 2Sxmax, when the main hook is lifted to the low-grade height L, starting the cart by taking the Vxmax speed as a target speed, and continuously lifting the main hook to the high-grade height H; if 2Sxmax is more than or equal to |X00-X4| > 2Sxmin, when the main hook is lifted to the low-grade height L, starting the cart at a target speed of Vxmin, and continuously lifting the main hook to the high-grade height H; if 2Sxmin is not less than |X00-X4|, the main hook is lifted to a high-grade height H, and the cart is started; the trolley is the same as the cart.
The beneficial effects of the invention are as follows: the three-dimensional linkage of the main hook and the cart and the trolley under different situations and different conditions can be realized; the starting time nodes of the cart, the trolley and the main hook are controllable, and the running speed is controllable; the safe operation height of the main hook is controllable, so that the independent operation time of the main hook and the single-pass operation time of the main hook for taking and unreeling are reduced; the comprehensive operation efficiency of the cart, the trolley and the main hook is improved, steel coils before and after the coil taking position and the coil releasing position are avoided safely, and coil collision accidents are prevented.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a key point diagram on the travel path of an unmanned crown block in an embodiment of the invention;
fig. 3 is a flow chart of an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments, and it is apparent that the described embodiments are a small part of the embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making creative efforts based on the embodiments of the present invention are included in the protection scope of the present invention.
A method for realizing multi-dimensional linkage of an unmanned crown block comprises the following steps: the method comprises the steps of marking the current position, the coil taking position, the coil releasing position and the key two-layer coil position on the travelling path of the unmanned crown block, comparing the running time and the distance of a cart, a trolley and a main hook in a coil taking and releasing key interval, dynamically adjusting the running height and the starting time of the main hook, dynamically adjusting the starting time and the starting speed of the cart and the trolley, and generating three-dimensional linkage internal connection of the cart, the trolley and the main hook;
s1: setting the running height of an overhead crane according to the steel coil parameters in the reservoir area, the reservoir diagram information, the unmanned overhead crane equipment parameters and the overhead crane work order, and setting various parameters;
s2: according to the known parameters in the step S1, the acceleration time and the distance of the cart are calculated respectively, and the operation time of the main hook from the high-grade height to the low-grade height is calculated;
s3: judging whether the three-dimensional linkage has starting conditions or not when the unmanned crown block is rolled and descends, and executing starting steps under different conditions;
s4: judging whether the three-dimensional linkage has starting conditions or not when the unmanned crown block is lifted, and executing starting steps under different conditions;
s5: judging whether the three-dimensional linkage has starting conditions or not when the unmanned crown block unreels and descends, and executing starting steps under different conditions;
s6: and judging whether the three-dimensional linkage has starting conditions or not when the unmanned crown block unreels and lifts, and executing starting steps under different conditions.
In the step S1, the running height of the crown block and various parameters are set as follows:
s11: the method comprises the steps of taking the running directions of a large crane, a small crane and a main hook as coordinate axes, establishing an XYZ space coordinate system of the whole stock area, obtaining current position coordinates P (X, Y, Z) of the crown block according to a crown block tracking function, obtaining three-dimensional image information of the whole stock area according to stock diagram information, including the positions and stack heights of steel coils, obtaining coil taking position coordinates P0 (X0, Y0, Z0) and coil releasing position coordinates P00 (X00, Y00, Z00) according to crown block work order information, obtaining the estimated track of crown block running according to unmanned crown block path static planning, and obtaining the height coordinates of all passing points in the crown block running process by combining the information;
s12: recording two nearest two-layer coil coordinates P1 (X1, Y1, Z1) and P2 (X2, Y2, Z2) before and after a coil taking position coordinate P0 (X0, Y0, Z0) in a travelling path of the crown block as key two-layer coil positions on the travelling path of the unmanned crown block; recording two nearest two-layer coil coordinates P3 (X3, Y3, Z3) and P4 (X4, Y4, Z4) before and after the unreeling position coordinates P00 (X00, Y00, Z00) in the travelling path of the crown block as key two-layer coil positions on the travelling path of the unmanned crown block;
s13: setting the acceleration of a crane of the crane as Ax, the maximum speed of the crane as Vxmax and the minimum speed of the crane as Vxmin according to the parameters of the crane equipment; the acceleration of the trolley is Ay, the maximum speed of the trolley is Vymax, and the minimum speed of the trolley is Vymin; the acceleration of the main hook is Az, and the speed of the main hook is Vz;
s14: dividing the operation height of the main hook into two gears, namely a low-grade height and a high-grade height, wherein the low-grade height is L, the high-grade height is H, and when the main hook is positioned at the low-grade height, the crown block can safely pass through a layer of coil; when the main hook is positioned at a high-grade height, the crown block can safely pass through the two-layer coil, and the main hook returns to the initial height after each work order is finished;
s15: according to the crane work order, the main hook operation in the whole crane winding and unwinding operation process is divided into four stages of winding and unwinding descending, winding and lifting and unwinding and lifting.
In the step S2, the calculation method is as follows:
s21: calculating time and distance from stopping acceleration of the cart to maximum speed Vxmax of the cart, wherein time Txmax=Vxmax/Ax, and distance Sxmax=0.5Vxmax2/Ax; the same can calculate the time and distance from stopping accelerating to the minimum speed Vxmin of the cart to Txmin and Sxmin; the time and distance from stopping acceleration of the trolley to the maximum distance Vymax of the trolley are Tymax and Symax; the times and distances for the trolley to accelerate from a stop to the minimum trolley speed Vymin are Tymin and Symin.
S22: the main hook is reduced from the high-grade height H to the low-grade height L, the main hook is from the stop state to the stop state, the movement process is uniformly accelerated, uniformly decelerated and uniformly decelerated, the uniform speed is equal to Vz, and the movement time TzDown= [ (H-L)/Vz ] +0.5 (Vz/Az) of the whole process is calculated.
In the step S3, the starting step is as follows:
s31: judging whether the coil taking position is a two-layer coil, if so, directly walking the cart and the trolley to the position above the coil taking position, and then descending a main hook to take the coil at a main hook speed Vz; if not, executing step S32;
s32: judging whether a two-layer coil exists before the coil taking position, if not, enabling the cart, the trolley and the main hook to move at the maximum speed at the same time, and stopping the main hook when the main hook reaches a high-grade height H until the cart and the trolley are in place, and continuing to drop the coil taking speed Vz of the main hook; if yes, go to step S33;
s33: when the cart and the trolley pass through the position of the two-layer coil coordinate P1 closest to the front of the coil taking position coordinate P0, the main hook starts to descend to the low-grade height L and stops until the cart and the trolley are in place, and the main hook continues to descend to take coils at the main hook speed Vz.
In the step S4, the starting step is as follows:
s41: judging whether the coil taking position is a two-layer coil, if so, lifting the main hook to a high-grade height H, and starting the cart and the trolley until the target value of the work order is reached; if not, executing step S42;
s42: judging whether a two-layer coil exists after the coil taking position, if not, enabling the cart, the trolley and the main hook to move at the maximum speed at the same time until the target value of the work order is reached; if yes, go to step S43;
s43: if the absolute value of X0-X2 is more than 2Sxmax, the main hook is lifted to a low-grade height L, the cart is started by taking the Vxmax speed as a target speed, and the main hook is continuously lifted to a high-grade height H; if 2Sxmax is more than or equal to |X0-X2| > 2Sxmin, when the main hook is lifted to the low-grade height L, starting the cart at a target speed of Vxmin, and continuously lifting the main hook to the high-grade height H; if 2Sxmin is not less than |X0-X2|, the main hook is lifted to a high-grade height H, and the cart is started; the trolley is the same as the cart.
In the step S5, the starting step is as follows:
s51: judging whether the unreeling position is on the second layer, if so, maintaining the high-grade height H of the main hook to be motionless, and starting the cart and the trolley until the main hook reaches the upper part of the unreeling position, and lowering the main hook to the target height; if not, executing step S52;
s52: judging whether a two-layer coil exists before the coil unwinding position, if not, enabling the cart, the trolley and the main hook to move at the maximum speed at the same time until the main hook reaches a low-grade height L to stop, enabling the cart and the trolley to be in place, and then enabling the main hook to continuously descend for coil unwinding; if yes, go to step S53;
s53: when both the cart and the trolley pass the P3 position, the main hook starts to descend to the low-gear height L and stops until the cart and the trolley are in place, and the main hook continues to descend and unwind at the main hook speed Vz.
In the step S6, the starting step is as follows:
s61: judging whether the unreeling position is on the second layer, if so, lifting the main hook to a high-grade height H, and starting the cart and the trolley until the work order target value is reached; if not, executing step S62;
s62: judging whether a two-layer coil exists after the coil unwinding position, if not, enabling the cart, the trolley and the main hook to move at the maximum speed at the same time until the target value of the work order is reached; if yes, go to step S63;
s63: if the absolute value of X00-X4 is greater than 2Sxmax, when the main hook is lifted to the low-grade height L, starting the cart by taking the Vxmax speed as a target speed, and continuously lifting the main hook to the high-grade height H; if 2Sxmax is more than or equal to |X00-X4| > 2Sxmin, when the main hook is lifted to the low-grade height L, starting the cart at a target speed of Vxmin, and continuously lifting the main hook to the high-grade height H; if 2Sxmin is not less than |X00-X4|, the main hook is lifted to a high-grade height H, and the cart is started; the trolley is the same as the cart.
Examples:
taking a cold rolling finished product warehouse area warehouse-reversing operation as an example, key points on a traveling path of an unmanned crown block are shown in fig. 2, and a flow chart of the embodiment is shown in fig. 3.
S1: and setting the running height of the crown block according to the parameters of the steel coil in the reservoir area, the information of the reservoir diagram, the parameters of unmanned crown block equipment and the crown block work order, and setting various parameters.
S11: and establishing an XYZ space coordinate system of the whole storage area by taking the running directions of the cart, the trolley and the main hook as coordinate axes. And obtaining the current position coordinates P (0, 0 and 3) of the crown block according to the crown block tracking function. And obtaining three-dimensional image information of the whole warehouse area according to the warehouse diagram information, wherein the three-dimensional image information comprises the positions of steel coils and the heights of stacking positions. The winding position coordinate P0 (30,0,1.5) and the unwinding position coordinate P00 (70,10,1.5) are obtained according to the information of the crane work order, the estimated track of travelling of the crane is obtained according to the static planning of the unmanned crane path, and the height coordinates of all passing points in the travelling process of the crane can be obtained by combining the information.
S12: no two-layer roll before P0, and two-layer roll coordinates P2 (45,3,2.3) after P0; two-layer roll coordinates P3 before P00 (65,9,2.5), no two-layer roll after P00.
S13: the mass acceleration of the crown block in the reservoir area is known to be 0.3m/s 2 The maximum speed of the cart is 2m/s, and the minimum speed of the cart is 0.4m/s; the acceleration of the trolley is 0.3m/s 2 The maximum speed of the trolley is 1m/s, and the minimum speed of the trolley is 0.2m/s; acceleration of main hook 0.15m/s 2 The main hook speed was 0.2m/s.
S14: the maximum outer diameter of the steel coil placed in the warehouse is known to be 1.8m, and the highest position of the two-layer coil top is 2.5m. Thus, the main hook initialization height 3m, the high-grade height 3m, and the low-grade height 2m are set.
S15: according to the crane work order, the main hook operation in the whole crane winding and unwinding operation process is divided into four stages of winding and unwinding descending, winding and lifting and unwinding and lifting.
S2: and (3) according to the known parameters in the step (S1), respectively calculating the acceleration time and the distance of the cart, and the running time of the main hook from the high-grade height H to the low-grade height L.
S21: calculating the time and distance txmax=vxmax/ax=2/0.3=6s, sxmax=0.5 Vxmax of the vehicle accelerating from the stop to Vxmax 2 Ax=0.5×2×2++0.3=6m; the same can be calculated to obtain the time and distance of the cart from stopping to accelerating to Vxmin as txmin=0.4/0.3=1.33 s and sxmin=0.5×0.4×0.4/0.3=0.267 m; the time and distance for the trolley to accelerate from stop to Vymax is tymax=1/0.3=3.33 s and symax=0.5×1×1/0.3=1.667 m; the time and distance for the trolley to accelerate from stopping to Vymin is tymin=0.2/0.3=0.667 s and symin=0.5×0.2×0.2/0.3=0.067 m.
S22: the main hook is reduced from a high-grade height H to a low-grade height L, the main hook is from a stop state to a stop state, and the movement process is uniformly accelerated, uniformly decelerated and uniformly decelerated, wherein the uniform speed is equal to 0.2m/s. The motion time tzdown= [ (H-L)/(Vz ] +0.5 (Vz/(Az) = [ (3-2)/(0.2 ] +0.5× (0.2/(0.15))=5.7 s was calculated.
S3: and judging whether the three-dimensional linkage has starting conditions or not when the unmanned crown block is rolled and descends, and starting under different conditions.
S31: and S32, judging that the roll taking position is a layer of roll according to the height coordinate of the roll taking position P0 (30,0,1.5).
S32: it is known that P0 is not preceded by a two-layer roll, with the cart, trolley and main hook moving at maximum speed simultaneously. And the main hook reaches a low gear height of 2m and stops until the cart and the trolley are in place, and the main hook continues to descend to take the coil.
S4: and judging whether the three-dimensional linkage has starting conditions or not when the unmanned crown block is lifted, and starting under different conditions.
S41: and S42, judging that the roll taking position is a layer of roll according to the height coordinate of the roll taking position P0 (30,0,1.5).
S42: the fetch bit P0 is followed by a two-layer volume, and S43 is performed.
S43: the brought data shows that the I X0-X2I >2Sxmax (namely the I30-45I > 2X 6), when the main hook is lifted to the low-grade height of 2m, the cart is started at the target speed of 2m/s, and the main hook is continuously lifted to the high-grade height of 3m. The trolley is the same as the cart and will not be described again.
S5: judging whether the three-dimensional linkage has starting conditions or not when the unmanned crown block unreels and descends, and starting under different conditions.
S51: and judging that the unreeling position is the first layer according to the height coordinate of the unreeling position P00 (70,10,1.5), and executing S52.
S52: the unreeling position is preceded by a two-layer roll, and S53 is executed.
S53: when the cart and the trolley pass through the P3 position, the main hook starts to descend to the low-grade height of 2m and stops until the cart and the trolley are in place, and the main hook continues to descend and unreel.
S6: judging whether the three-dimensional linkage has starting conditions or not when the unmanned crown block unreels and lifts, and starting under different conditions.
S61: the unreeling position is judged to be the first layer according to the unreeling position P00 (70,10,1.5) height coordinates, and S62 is executed.
S62: after the unreeling position, no two-layer roll exists, and the cart, the trolley and the main hook move at the maximum speed at the same time until the work order target value is reached. The trolley is the same as the cart and will not be described again.

Claims (5)

1. The method for realizing the multi-dimensional linkage of the unmanned crown block is characterized by comprising the following steps of: the method comprises the steps of marking the current position, the coil taking position, the coil releasing position and the key two-layer coil position on the travelling path of the unmanned crown block, comparing the running time and the distance of a cart, a trolley and a main hook in a coil taking and releasing key interval, dynamically adjusting the running height and the starting time of the main hook, dynamically adjusting the starting time and the starting speed of the cart and the trolley, and generating three-dimensional linkage internal connection of the cart, the trolley and the main hook;
s1: setting the running height of an overhead crane according to the steel coil parameters in the reservoir area, the reservoir diagram information, the unmanned overhead crane equipment parameters and the overhead crane work order, and setting various parameters; the crown block running altitude and various parameters are set as follows:
s11: the method comprises the steps of taking the running directions of a large crane, a small crane and a main hook as coordinate axes, establishing an XYZ space coordinate system of the whole stock area, obtaining current position coordinates P (X, Y, Z) of the crown block according to a crown block tracking function, obtaining three-dimensional image information of the whole stock area according to stock diagram information, including the positions and stack heights of steel coils, obtaining coil taking position coordinates P0 (X0, Y0, Z0) and coil releasing position coordinates P00 (X00, Y00, Z00) according to crown block work order information, obtaining the estimated track of crown block running according to unmanned crown block path static planning, and obtaining the height coordinates of all passing points in the crown block running process by combining the information;
s12: recording two nearest two-layer coil coordinates P1 (X1, Y1, Z1) and P2 (X2, Y2, Z2) before and after a coil taking position coordinate P0 (X0, Y0, Z0) in a travelling path of the crown block as key two-layer coil positions on the travelling path of the unmanned crown block; recording two nearest two-layer coil coordinates P3 (X3, Y3, Z3) and P4 (X4, Y4, Z4) before and after the unreeling position coordinates P00 (X00, Y00, Z00) in the travelling path of the crown block as key two-layer coil positions on the travelling path of the unmanned crown block;
s13: setting the acceleration of a crane of the crane as Ax, the maximum speed of the crane as Vxmax and the minimum speed of the crane as Vxmin according to the parameters of the crane equipment; the acceleration of the trolley is Ay, the maximum speed of the trolley is Vymax, and the minimum speed of the trolley is Vymin; the acceleration of the main hook is Az, and the speed of the main hook is Vz;
s14: dividing the operation height of the main hook into two gears, namely a low-grade height and a high-grade height, wherein the low-grade height is L, the high-grade height is H, and when the main hook is positioned at the low-grade height, the crown block can safely pass through a layer of coil; when the main hook is positioned at a high-grade height, the crown block can safely pass through the two-layer coil, and the main hook returns to the initial height after each work order is finished;
s15: according to the crane work order, the main hook operation in the whole crane winding and unwinding operation process is divided into four stages of winding and unwinding descending, winding and lifting and unwinding and lifting;
s2: according to the known parameters in the step S1, the acceleration time and the distance of the cart are calculated respectively, and the operation time of the main hook from the high-grade height to the low-grade height is calculated;
s3: judging whether the three-dimensional linkage has starting conditions or not when the unmanned crown block is rolled and descends, and executing starting steps under different conditions; the starting steps are as follows:
s31: judging whether the coil taking position is a two-layer coil, if so, directly walking the cart and the trolley to the position above the coil taking position, and then descending a main hook to take the coil at a main hook speed Vz; if not, executing step S32;
s32: judging whether a two-layer coil exists before the coil taking position, if not, enabling the cart, the trolley and the main hook to move at the maximum speed at the same time, and stopping the main hook when the main hook reaches a high-grade height H until the cart and the trolley are in place, and continuing to drop the coil taking speed Vz of the main hook; if yes, go to step S33;
s33: when the cart and the trolley pass through the position of the two-layer coil coordinate P1 closest to the front of the coil taking position coordinate P0, the main hook starts to descend to the low-grade height L and stops until the cart and the trolley are in place, and the main hook continues to descend to take coils at the main hook speed Vz;
s4: judging whether the three-dimensional linkage has starting conditions or not when the unmanned crown block is lifted, and executing starting steps under different conditions;
s5: judging whether the three-dimensional linkage has starting conditions or not when the unmanned crown block unreels and descends, and executing starting steps under different conditions;
s6: and judging whether the three-dimensional linkage has starting conditions or not when the unmanned crown block unreels and lifts, and executing starting steps under different conditions.
2. A method of achieving multi-dimensional linkage of an unmanned crown block according to claim 1, wherein: in the step S2, the calculation method is as follows:
s21: calculating the time and distance from stopping accelerating to maximum speed Vxmax of the cart, wherein the time Txmax=Vxmax/Ax and the distance Sxmax=0.5 Vxmax 2 Ax; the same can calculate the time and distance from stopping accelerating to the minimum speed Vxmin of the cart to Txmin and Sxmin; the time and distance from stopping acceleration of the trolley to the maximum distance Vymax of the trolley are Tymax and Symax; the time and distance from stopping acceleration of the trolley to the minimum speed Vymin of the trolley are Tymin and Symin;
s22: the main hook is reduced from the high-grade height H to the low-grade height L, the main hook is from the stop state to the stop state, the movement process is uniformly accelerated, uniformly decelerated and uniformly decelerated, the uniform speed is equal to Vz, and the movement time TzDown= [ (H-L)/(Vz ] + (Vz/(Az) of the whole process is calculated.
3. A method of achieving multi-dimensional linkage of an unmanned crown block according to claim 2, wherein: in the step S4, the starting step is as follows:
s41: judging whether the coil taking position is a two-layer coil, if so, lifting the main hook to a high-grade height H, and starting the cart and the trolley until the target value of the work order is reached; if not, executing step S42;
s42: judging whether a two-layer coil exists after the coil taking position, if not, enabling the cart, the trolley and the main hook to move at the maximum speed at the same time until the target value of the work order is reached; if yes, go to step S43;
s43: if the absolute value of X0-X2 is more than 2Sxmax, the main hook is lifted to a low-grade height L, the cart is started by taking the Vxmax speed as a target speed, and the main hook is continuously lifted to a high-grade height H; if 2Sxmax is more than or equal to |X0-X2| > 2Sxmin, when the main hook is lifted to the low-grade height L, starting the cart at a target speed of Vxmin, and continuously lifting the main hook to the high-grade height H; if 2Sxmin is not less than |X0-X2|, the main hook is lifted to a high-grade height H, and the cart is started; the trolley is the same as the cart.
4. A method of effecting multi-dimensional linkage of an unmanned crown block according to claim 1 or 2, characterized in that: in the step S5, the starting step is as follows:
s51: judging whether the unreeling position is on the second layer, if so, maintaining the high-grade height H of the main hook to be motionless, and starting the cart and the trolley until the main hook reaches the upper part of the unreeling position, and lowering the main hook to the target height; if not, executing step S52;
s52: judging whether a two-layer coil exists before the coil unwinding position, if not, enabling the cart, the trolley and the main hook to move at the maximum speed at the same time until the main hook reaches a low-grade height L to stop, enabling the cart and the trolley to be in place, and then enabling the main hook to continuously descend for coil unwinding; if yes, go to step S53;
s53: when both the cart and the trolley pass the P3 position, the main hook starts to descend to the low-gear height L and stops until the cart and the trolley are in place, and the main hook continues to descend and unwind at the main hook speed Vz.
5. A method of effecting multi-dimensional linkage of an unmanned crown block according to claim 2 or 3, wherein: in the step S6, the starting step is as follows:
s61: judging whether the unreeling position is on the second layer, if so, lifting the main hook to a high-grade height H, and starting the cart and the trolley until the work order target value is reached; if not, executing step S62;
s62: judging whether a two-layer coil exists after the coil unwinding position, if not, enabling the cart, the trolley and the main hook to move at the maximum speed at the same time until the target value of the work order is reached; if yes, go to step S63;
s63: if the absolute value of X00-X4 is greater than 2Sxmax, when the main hook is lifted to the low-grade height L, starting the cart by taking the Vxmax speed as a target speed, and continuously lifting the main hook to the high-grade height H; if 2Sxmax is more than or equal to |X00-X4| > 2Sxmin, when the main hook is lifted to the low-grade height L, starting the cart at a target speed of Vxmin, and continuously lifting the main hook to the high-grade height H; if 2Sxmin is not less than |X00-X4|, the main hook is lifted to a high-grade height H, and the cart is started; the trolley is the same as the cart.
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