CN114291737A - Anti-collision control method, system and device for suspension arm of mobile crane and storage medium - Google Patents
Anti-collision control method, system and device for suspension arm of mobile crane and storage medium Download PDFInfo
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Abstract
The invention discloses a method, a system, a device and a storage medium for anti-collision control of a boom of a mobile crane, wherein the method comprises the following steps: constructing a three-dimensional space coordinate system; obtaining a rotation angle of a crane base and a horizontal distance and a vertical distance from a base vertex to an original point to determine a base vertex coordinate; acquiring the length, the lifting angle and the rotating angle of the crane jib, and determining the vertex coordinate of the jib by combining the vertex coordinate of the base; acquiring the length, the lifting angle and the rotation angle of a connecting line between the top of the suspension arm and the obstacle, and determining the coordinates of the obstacle by combining the coordinates of the top of the suspension arm; constructing a dangerous spherical equation by taking the coordinates of the obstacle as the circle center and the preset dangerous distance as the radius; calculating collision risk of the suspension arm and a dangerous spherical equation and time for entering the dangerous spherical equation; further determining a risk state, and selecting a corresponding control strategy according to the risk state; the invention can effectively solve the problem of collision prevention in the movement process of the suspension arm and has good applicability and popularization.
Description
Technical Field
The invention relates to an anti-collision control method, system and device for a suspension arm of a mobile crane and a storage medium, and belongs to the technical field of cranes.
Background
The mobile crane is a movable crane and mainly comprises: automobile cranes, crawler cranes, tyre cranes, all-terrain cranes, lorry-mounted cranes, etc. Because the hoisting operation is short in operation cycle and good in maneuverability, the hoisting operation is widely applied to the hoisting operation of departments and places such as transportation, agriculture, oil fields, petrifaction, wind power, nuclear power, military industry and the like. When an operator carries out hoisting operation, a hoisting mechanism consisting of a hoisting arm and a lifting hook is driven by a motor and a transmission mechanism, and hoisting of heavy objects and movement in space are completed. However, due to the complex working environment of the hoisting operation, other obstacles such as high-voltage cables may exist. If the suspension arm collides with the barrier in the process of spatial movement, the safety of hoisting operation is influenced, and even the personal safety of operators is influenced. In order to avoid the above engineering accidents, except for letting the operating personnel be familiar with the operating environment and avoiding collision, when the boom finds the obstacle in the moving process, the boom can also decelerate the movement under the early warning condition and brake under the dangerous condition, so that the boom is effectively prevented from colliding with the obstacle, and the safety of the hoisting operation is ensured.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a collision prevention control method, a collision prevention control system, a collision prevention control device and a collision prevention storage medium for a suspension arm of a mobile crane, which can prevent the suspension arm from colliding with an obstacle and effectively ensure the safety of hoisting operation.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
in a first aspect, the invention provides an anti-collision control method for a boom of a mobile crane, which comprises the following steps:
selecting any fixed point from a crane as an origin to construct a three-dimensional space coordinate system;
the method comprises the steps of obtaining a rotation angle of a crane base and horizontal and vertical distances from a base vertex to an original point, and determining a base vertex coordinate in a three-dimensional space coordinate system;
acquiring the length, the lifting angle and the rotating angle of the crane jib, and determining the vertex coordinate of the jib in a three-dimensional space coordinate system by combining the vertex coordinate of the base;
acquiring the length, the lifting angle and the rotating angle of a connecting line between the top of the suspension arm and the obstacle, and determining the coordinates of the obstacle in a three-dimensional space coordinate system by combining the coordinates of the top of the suspension arm;
constructing a dangerous spherical equation by taking the coordinates of the obstacle as the circle center and the preset dangerous distance as the radius;
respectively calculating collision risks of the suspension arm in the telescopic dimension, the lifting dimension and the rotating dimension with a dangerous spherical equation and time for the suspension arm to enter a dangerous spherical equation;
and determining a risk state based on the collision risk and the time of entering the dangerous spherical surface, and selecting a corresponding control strategy according to the risk state.
Optionally, the fixed point is a bottom center point of the crane base.
Optionally, the coordinates of the vertex of the base are:
wherein m and h are respectively the horizontal distance and the vertical distance between the top point of the base and the origin, and beta is the rotation angle of the base.
Optionally, the vertex coordinates of the suspension arm are as follows:
wherein,(xP,yP,zP) Is the coordinate of the top point P of the suspension arm, (x)A,yA,zA) And L, theta and omega are respectively the length, the lifting angle and the rotating angle of the suspension arm.
Optionally, the coordinates of the obstacle are:
wherein (x)V,yV,zV) As obstacle V coordinate, (x)P,yP,zP) As the coordinate of the boom vertex P, d, α and
the length, the lifting angle and the rotation angle of the connecting line of the top point of the suspension arm and the obstacle are respectively determined.
Optionally, the dangerous spherical equation is:
(x-xV)2+(y-yV)2+(z-zV)2＝R2
wherein R is a preset dangerous distance, (x)V,yV,zV) Is the obstacle V coordinate.
Optionally, the calculating the collision risk of the boom in the telescopic dimension and the dangerous sphere equation and the time of entering the dangerous sphere includes:
constructing a parameter equation of a straight line where the telescopic dimension of the suspension arm is located based on the vertex coordinates of the suspension arm:
wherein (x)P，yP，zP) Is the coordinate of the top point P of the suspension arm, (x)A，yA，zA) Is the coordinate of the base vertex A, a is the parameter;
the method comprises the following steps of (1) obtaining by simultaneous connection of a parameter equation of a straight line where the telescopic dimension of the suspension arm is located and a dangerous spherical equation:
solving the expression:
if the solution does not exist, the suspension arm does not have an intersection point with the dangerous spherical surface in the telescopic dimension, and the suspension arm does not have a collision risk with the dangerous spherical surface;
if the solution exists, the suspension arm and the dangerous spherical surface have an intersection point in the telescopic dimension, and the suspension arm and the dangerous spherical surface have collision risk; obtaining the intersection point P' nearest to the top point P of the suspension arm and the telescopic motion speed v of the suspension armstrCalculating the time of the top point P of the suspension arm entering the dangerous spherical surface in the telescopic dimension:
wherein | PP '| is the distance between the top point P and the intersection point P' of the suspension arm, (x)p′，yp′，zp′) Is the coordinate of the point of intersection P',
optionally, the calculating the collision risk of the boom in the lifting dimension and the dangerous sphere equation and the time of entering the dangerous sphere includes:
and (3) constructing a spherical equation of the lifting dimension of the suspension arm by taking the base vertex A as a circle center and the suspension arm length L as a radius:
(x-xA)2+(y-yA)2+(z-zA)2＝L2
wherein (x)A，yA，zA) Is the coordinate of the base vertex A;
based on the spherical equation of the lifting dimension of the suspension arm, constructing a tangent plane equation of the plane of the OAP according to the base vertex A, the suspension arm vertex P and the origin O:
(yA·zP-zA·yP)·x+(zA·xP-xA·zP)·y+(xA·yP-yA·xP)·z＝0
wherein (x)P，yP，zP) The coordinate of the top point P of the suspension arm;
the method is obtained by simultaneous establishment of a spherical equation of the lifting dimension of the suspension arm, a tangent plane equation of the plane of the OAP and a dangerous spherical equation:
solving the expression:
if the solution does not exist, the lifting arm does not have an intersection point with the dangerous spherical surface in the lifting dimension, and the lifting arm does not have a collision risk with the dangerous spherical surface;
if the solution exists, the lifting arm has an intersection point with the dangerous spherical surface in the lifting dimension, and the lifting arm and the dangerous spherical surface have collision risk; obtaining the intersection point P' nearest to the top point P of the suspension arm, and calculating the arc according to the dot product formula
The central angle of (A) is:
wherein,
and
respectively representing vectors from the base vertex a to the boom vertex P and the intersection point P',
and
respectively vector length;
obtaining the angular velocity v of the lifting motion of the boomliftAnd calculating the time of the top point P of the suspension arm entering the dangerous spherical surface in the lifting dimension according to the central angle:
optionally, the calculating the collision risk of the boom in the rotation dimension and the dangerous sphere equation and the time of entering the dangerous sphere includes:
and (3) constructing a circular surface equation of the rotation dimension of the suspension arm by taking a projection point O 'of the origin O on the suspension arm as a circle center and taking the projection length of the O' P in the rotation dimension as a radius:
wherein (x)P，yP，zP) The coordinate of the top point P of the suspension arm is shown, L and theta are the length and the lifting angle of the suspension arm respectively, and m and h are the horizontal distance and the vertical distance between the top point of the base and the origin respectively;
and (3) solving simultaneously according to a circular equation where the rotation dimension of the suspension arm is located and a dangerous spherical equation:
if the solution does not exist, the suspension arm does not have an intersection point with the dangerous spherical surface in the rotation dimension, and the suspension arm does not have a collision risk with the dangerous spherical surface;
if the solution exists, the intersection point of the rotation dimension of the suspension arm and the dangerous spherical surface exists, and the collision risk exists between the suspension arm and the dangerous spherical surface; obtaining the intersection point P' nearest to the top point P of the suspension arm, and calculating the arc according to the dot product formula
The central angle of (A) is:
wherein,
and
respectively represent projection points O′To the vector of the top point P and the intersection point P',
and
respectively vector length;
obtaining the angular velocity v of the lifting motion of the boomspinAnd calculating the time of the top point P of the suspension arm entering the dangerous spherical surface in the lifting dimension according to the central angle:
optionally, the determining the risk state based on the collision risk and the time of entering the dangerous sphere includes:
when the suspension arm has no collision risk with the dangerous spherical surface in the telescopic dimension, the lifting dimension and the rotating dimension, the suspension arm moves in a low risk state;
when the suspension arm has collision risk with the dangerous spherical surface in any dimension of the telescopic dimension, the lifting dimension and the rotating dimension, and the time of entering the dangerous spherical surface is less than or equal to the preset early warning time, the suspension arm which does not enter the dangerous spherical surface moves to be in a middle danger state;
when the suspension arm has collision risk with the dangerous spherical surface in any dimension of the telescopic dimension, the lifting dimension and the rotating dimension and enters the dangerous spherical surface, the suspension arm moves in a high risk state.
Optionally, the selecting a corresponding control policy according to the risk state includes:
when the suspension arm moves to be in a low risk state, the movement of the suspension arm is not interfered;
when the movement of the suspension arm is in an emergency state, controlling the suspension arm to perform deceleration movement;
and when the movement of the suspension arm is in a high risk state, controlling the suspension arm to brake.
In a second aspect, the present invention provides a mobile crane boom anti-collision control system, comprising:
a coordinate system construction module: the system is used for selecting any fixed point from the crane as an origin to construct a three-dimensional space coordinate system;
the base vertex coordinate module is used for acquiring the rotation angle of the crane base and the horizontal distance and the vertical distance from the base vertex to the original point, and determining the base vertex coordinate in a three-dimensional space coordinate system;
the crane jib lifting angle determination module is used for determining the lifting angle of the crane jib in a three-dimensional space coordinate system according to the crane jib lifting angle and the crane jib lifting angle;
the obstacle coordinate module is used for acquiring the length, the lifting angle and the rotating angle of a connecting line between the top point of the suspension arm and the obstacle, and determining the coordinates of the obstacle in a three-dimensional space coordinate system by combining the top point coordinates of the suspension arm;
the dangerous spherical equation module is used for constructing a dangerous spherical equation by taking the coordinates of the obstacle as the circle center and taking the preset dangerous distance as the radius;
the dimension calculation module is used for calculating collision risks of the suspension arm in the stretching dimension, the lifting dimension and the rotating dimension with a dangerous spherical equation and time of entering a dangerous spherical equation respectively;
and the strategy control module is used for determining a risk state based on the collision risk and the time of entering the dangerous spherical surface, and selecting a corresponding control strategy according to the risk state.
In a third aspect, the invention provides an anti-collision control device for a boom of a mobile crane, which comprises a processor and a storage medium;
the storage medium is used for storing instructions;
the processor is configured to operate in accordance with the instructions to perform the steps of the method according to any of the above.
In a fourth aspect, the invention provides a computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, performs the steps of any of the methods described above.
Compared with the prior art, the invention has the following beneficial effects:
according to the anti-collision control method, the system, the device and the storage medium for the suspension arm of the mobile crane, provided by the embodiment of the invention, the collision risk assessment of the movement of the suspension arm in the stretching, lifting and rotating dimensions can be carried out by utilizing the space geometric relationship according to the length, the lifting angle and the rotation angle of the suspension arm of the crane and the distance between the barrier and the top end of the suspension arm, the pitch angle and the azimuth angle, and a corresponding control strategy is adopted according to the risk level, so that the suspension arm can be effectively prevented from colliding with the barrier in the hoisting operation process, and the safety of the hoisting operation is ensured; meanwhile, time rather than distance is used as characteristic quantity for controlling the speed reduction or braking of the suspension arm, enough speed reduction or braking distance can be reserved according to the movement speed of the suspension arm, and the movement stability of the suspension arm in the hoisting operation is guaranteed.
Drawings
Fig. 1 is a flowchart of an anti-collision control method for a boom of a mobile crane according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a three-dimensional coordinate system provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating the telescopic dimensions of the boom with obstacles according to the embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a lifting dimension of an obstacle located on a boom according to an embodiment of the present invention;
fig. 5 is a schematic diagram of the rotation dimension of the boom for an obstacle provided by an embodiment of the invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
The first embodiment is as follows:
as shown in fig. 1, an embodiment of the present invention provides a method for controlling collision avoidance of a boom of a mobile crane, including the following steps:
(1) selecting any fixed point from a crane as an origin to construct a three-dimensional space coordinate system; the fixed point of this embodiment is the bottom center point of the crane base.
(2) The method comprises the steps of obtaining a rotation angle of a crane base and horizontal and vertical distances from a base vertex to an original point, and determining a base vertex coordinate in a three-dimensional space coordinate system;
as shown in fig. 2, the coordinates of the base vertex are:
wherein m and h are respectively the horizontal distance and the vertical distance between the top point of the base and the origin, and beta is the rotation angle of the base.
(3) Acquiring the length, the lifting angle and the rotating angle of the crane jib, and determining the vertex coordinate of the jib in a three-dimensional space coordinate system by combining the vertex coordinate of the base;
as shown in fig. 2, the coordinates of the top of the boom are:
wherein (x)P，yP,zP) Is the coordinate of the top point P of the suspension arm, (x)A,yA,zA) And L, theta and omega are respectively the length, the lifting angle and the rotating angle of the suspension arm.
(4) Acquiring the length, the lifting angle and the rotating angle of a connecting line between the top of the suspension arm and the obstacle, and determining the coordinates of the obstacle in a three-dimensional space coordinate system by combining the coordinates of the top of the suspension arm;
as shown in fig. 2, the obstacle coordinates are:
wherein (x)V,yV,zV) As obstacle V coordinate, (x)P，yP，zP) As the coordinate of the boom vertex P, d, α and
the length, the lifting angle and the rotation angle of the connecting line of the top point of the suspension arm and the obstacle are respectively determined.
(5) Constructing a dangerous spherical equation by taking the coordinates of the obstacle as the circle center and the preset dangerous distance as the radius;
specifically, the danger spherical equation is:
(x-xV)2+(y-yV)2+(z-zV)2＝R2
wherein R is a preset dangerous distance, (x)V，yV，zV) Is the obstacle V coordinate.
(6) Respectively calculating collision risks of the suspension arm in the telescopic dimension, the lifting dimension and the rotating dimension with a dangerous spherical equation and time for the suspension arm to enter a dangerous spherical equation;
as shown in fig. 3, calculating the collision risk of the boom in the telescopic dimension with the hazard sphere equation and the time to enter the hazard sphere includes:
1. constructing a parameter equation of a straight line where the telescopic dimension of the suspension arm is located based on the vertex coordinates of the suspension arm:
wherein (x)P，yP，zP) Is the coordinate of the top point P of the suspension arm, (x)A，yA，zA) Is the coordinate of the base vertex A, a is the parameter;
2. the method comprises the following steps of (1) obtaining by simultaneous connection of a parameter equation of a straight line where the telescopic dimension of the suspension arm is located and a dangerous spherical equation:
3. solving the expression:
if the solution does not exist, the suspension arm does not have an intersection point with the dangerous spherical surface in the telescopic dimension, and the suspension arm does not have a collision risk with the dangerous spherical surface;
if the solution exists, the suspension arm and the dangerous spherical surface have an intersection point in the telescopic dimension, and the suspension arm and the dangerous spherical surface have collision risk; obtaining the intersection point P' nearest to the top point P of the suspension arm and the telescopic motion speed v of the suspension armstrCalculating the time of the top point P of the suspension arm entering the dangerous spherical surface in the telescopic dimension:
wherein | PP '| is the distance between the top point P and the intersection point P' of the suspension arm, (x)p′，yp′，zp′) Is the coordinate of the point of intersection P',
as shown in fig. 4, calculating the collision risk of the boom in the lifting dimension and the danger sphere equation and the time to enter the danger sphere includes:
1. and (3) constructing a spherical equation of the lifting dimension of the suspension arm by taking the base vertex A as a circle center and the suspension arm length L as a radius:
(x-xA)2+(y-yA)2+(z-zA)2＝L2
wherein (x)A，yA，zA) Is the coordinate of the base vertex A;
2. based on the spherical equation of the lifting dimension of the suspension arm, constructing a tangent plane equation of the plane of the OAP according to the base vertex A, the suspension arm vertex P and the origin O:
(yA·zP-zA·yP)·x+(zA·xP-xA·zP)·y+(xA·yP-yA·xP)·z＝0
wherein (x)P，yP，zP) The coordinate of the top point P of the suspension arm;
3. the method is obtained by simultaneous establishment of a spherical equation of the lifting dimension of the suspension arm, a tangent plane equation of the plane of the OAP and a dangerous spherical equation:
4. solving the expression:
if the solution does not exist, the lifting arm does not have an intersection point with the dangerous spherical surface in the lifting dimension, and the lifting arm does not have a collision risk with the dangerous spherical surface;
if the solution exists, the lifting arm has an intersection point with the dangerous spherical surface in the lifting dimension, and the lifting arm and the dangerous spherical surface have collision risk; obtaining the intersection point P' nearest to the top point P of the suspension arm, and calculating the arc according to the dot product formula
The central angle of (A) is:
wherein,
and
respectively representing vectors from the base vertex a to the boom vertex P and the intersection point P',
and
respectively vector length;
obtaining the angular velocity v of the lifting motion of the boomliftAnd calculating the time of the top point P of the suspension arm entering the dangerous spherical surface in the lifting dimension according to the central angle:
as shown in fig. 5, calculating the collision risk of the boom in the rotation dimension with the hazard sphere equation and the time to enter the hazard sphere includes:
1. and (3) constructing a circular surface equation of the rotation dimension of the suspension arm by taking a projection point O 'of the origin O on the suspension arm as a circle center and taking the projection length of the O' P in the rotation dimension as a radius:
wherein (x)P,yP,zP) The coordinate of the top point P of the suspension arm is shown, L and theta are the length and the lifting angle of the suspension arm respectively, and m and h are the horizontal distance and the vertical distance between the top point of the base and the origin respectively;
2. and (3) solving simultaneously according to a circular equation where the rotation dimension of the suspension arm is located and a dangerous spherical equation:
if the solution does not exist, the suspension arm does not have an intersection point with the dangerous spherical surface in the rotation dimension, and the suspension arm does not have a collision risk with the dangerous spherical surface;
if the solution exists, the intersection point of the rotation dimension of the suspension arm and the dangerous spherical surface exists, and the collision risk exists between the suspension arm and the dangerous spherical surface; obtaining the intersection point P' nearest to the top point P of the suspension arm, and calculating the arc according to the dot product formula
The central angle of (A) is:
wherein,
and
respectively representing vectors of the projection point O 'to the boom vertex P and the intersection point P',
and
respectively vector length;
obtaining the angular velocity v of the lifting motion of the boomspinAnd calculating the time of the top point P of the suspension arm entering the dangerous spherical surface in the lifting dimension according to the central angle:
(7) and determining a risk state based on the collision risk and the time of entering the dangerous spherical surface, and selecting a corresponding control strategy according to the risk state.
(1) Determining the risk state based on the collision risk and the time to enter the hazard sphere includes:
when the suspension arm has no collision risk with the dangerous spherical surface in the telescopic dimension, the lifting dimension and the rotating dimension, the suspension arm moves in a low risk state;
when the suspension arm has collision risk with the dangerous spherical surface in any dimension of the telescopic dimension, the lifting dimension and the rotating dimension, and the time of entering the dangerous spherical surface is less than or equal to the preset early warning time, the suspension arm which does not enter the dangerous spherical surface moves to be in a middle danger state;
when the suspension arm has collision risk with the dangerous spherical surface in any dimension of the telescopic dimension, the lifting dimension and the rotating dimension and enters the dangerous spherical surface, the suspension arm moves in a high risk state.
(2) Selecting a corresponding control strategy according to the risk state comprises the following steps:
when the suspension arm moves to be in a low risk state, the movement of the suspension arm is not interfered;
when the movement of the suspension arm is in an emergency state, controlling the suspension arm to perform deceleration movement;
and when the movement of the suspension arm is in a high risk state, controlling the suspension arm to brake.
Example two:
the embodiment of the invention provides an anti-collision control system for a suspension arm of a mobile crane, which comprises:
a coordinate system construction module: the system is used for selecting any fixed point from the crane as an origin to construct a three-dimensional space coordinate system;
the base vertex coordinate module is used for acquiring the rotation angle of the crane base and the horizontal distance and the vertical distance from the base vertex to the original point, and determining the base vertex coordinate in a three-dimensional space coordinate system;
the crane jib lifting angle determination module is used for determining the lifting angle of the crane jib in a three-dimensional space coordinate system according to the crane jib lifting angle and the crane jib lifting angle;
the obstacle coordinate module is used for acquiring the length, the lifting angle and the rotating angle of a connecting line between the top point of the suspension arm and the obstacle, and determining the coordinates of the obstacle in a three-dimensional space coordinate system by combining the top point coordinates of the suspension arm;
the dangerous spherical equation module is used for constructing a dangerous spherical equation by taking the coordinates of the obstacle as the circle center and taking the preset dangerous distance as the radius;
the dimension calculation module is used for calculating collision risks of the suspension arm in the stretching dimension, the lifting dimension and the rotating dimension with a dangerous spherical equation and time of entering a dangerous spherical equation respectively;
and the strategy control module is used for determining a risk state based on the collision risk and the time of entering the dangerous spherical surface, and selecting a corresponding control strategy according to the risk state.
Example three:
based on the first embodiment provided by the invention, the embodiment of the invention provides an anti-collision control device for a suspension arm of a mobile crane, which comprises a processor and a storage medium;
a storage medium to store instructions;
the processor is configured to operate in accordance with instructions to perform steps in accordance with the above-described method.
Example four:
based on the first embodiment of the present invention, a computer-readable storage medium is provided, on which a computer program is stored, wherein the computer program is configured to implement the steps of the method when executed by a processor.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (14)
1. The anti-collision control method for the suspension arm of the mobile crane is characterized by comprising the following steps:
selecting any fixed point from a crane as an origin to construct a three-dimensional space coordinate system;
the method comprises the steps of obtaining a rotation angle of a crane base and horizontal and vertical distances from a base vertex to an original point, and determining a base vertex coordinate in a three-dimensional space coordinate system;
acquiring the length, the lifting angle and the rotating angle of the crane jib, and determining the vertex coordinate of the jib in a three-dimensional space coordinate system by combining the vertex coordinate of the base;
acquiring the length, the lifting angle and the rotating angle of a connecting line between the top of the suspension arm and the obstacle, and determining the coordinates of the obstacle in a three-dimensional space coordinate system by combining the coordinates of the top of the suspension arm;
constructing a dangerous spherical equation by taking the coordinates of the obstacle as the circle center and the preset dangerous distance as the radius;
respectively calculating collision risks of the suspension arm in the telescopic dimension, the lifting dimension and the rotating dimension with a dangerous spherical equation and time for the suspension arm to enter a dangerous spherical equation;
and determining a risk state based on the collision risk and the time of entering the dangerous spherical surface, and selecting a corresponding control strategy according to the risk state.
2. The mobile crane boom anti-collision control method as claimed in claim 1, wherein the fixed point is a bottom center point of a crane base.
3. The mobile crane boom anti-collision control method as claimed in claim 1, wherein the coordinates of the base vertex are:
wherein m and h are respectively the horizontal distance and the vertical distance between the top point of the base and the origin, and beta is the rotation angle of the base.
4. The mobile crane boom anti-collision control method as claimed in claim 1, wherein the boom vertex coordinates are:
wherein (x)P,yP,zP) Is the coordinate of the top point P of the suspension arm, (x)A,yA,zA) And L, theta and omega are respectively the length, the lifting angle and the rotating angle of the suspension arm.
5. The mobile crane boom anti-collision control method as claimed in claim 1, wherein the obstacle coordinates are:
wherein (x)V,yV,zV) As obstacle V coordinate, (x)P，yP，zP) As the coordinate of the boom vertex P, d, α and
the length, the lifting angle and the rotation angle of the connecting line of the top point of the suspension arm and the obstacle are respectively determined.
6. The mobile crane boom anti-collision control method as claimed in claim 1, wherein the danger spherical equation is as follows:
(x-xV)2+(y-yV)2+(z-zV)2＝R2
wherein R is a preset dangerous distance, (x)V,yV,zV) Is the obstacle V coordinate.
7. The mobile crane boom anti-collision control method as claimed in claim 6, wherein the calculating the collision risk of the boom in the telescopic dimension with the danger sphere equation and the time of entering the danger sphere comprises:
constructing a parameter equation of a straight line where the telescopic dimension of the suspension arm is located based on the vertex coordinates of the suspension arm:
wherein (x)P,yP,zP) Is the coordinate of the top point P of the suspension arm, (x)A,yA,zA) Is the coordinate of the base vertex A, a is the parameter;
the method comprises the following steps of (1) obtaining by simultaneous connection of a parameter equation of a straight line where the telescopic dimension of the suspension arm is located and a dangerous spherical equation:
solving the expression:
if the solution does not exist, the suspension arm does not have an intersection point with the dangerous spherical surface in the telescopic dimension, and the suspension arm does not have a collision risk with the dangerous spherical surface;
if the solution exists, the suspension arm and the dangerous spherical surface have an intersection point in the telescopic dimension, and the suspension arm and the dangerous spherical surface have collision risk; obtaining the intersection point P' nearest to the top point P of the suspension arm and the telescopic motion speed v of the suspension armstrCalculating the peak P of the suspension arm in extensionTime for shrinking dimension to enter dangerous sphere:
wherein | PP '| is the distance between the top point P and the intersection point P' of the suspension arm, (x)p′,yp′,zp′) Is the coordinate of the point of intersection P',
8. the mobile crane boom anti-collision control method as claimed in claim 6, wherein the calculating the collision risk of the boom in the lifting dimension with the danger sphere equation and the time to enter the danger sphere comprises:
and (3) constructing a spherical equation of the lifting dimension of the suspension arm by taking the base vertex A as a circle center and the suspension arm length L as a radius:
(x-xA)2+(y-yA)2+(z-zA)2＝L2
wherein (x)A，yA，zA) Is the coordinate of the base vertex A;
based on the spherical equation of the lifting dimension of the suspension arm, constructing a tangent plane equation of the plane of the OAP according to the base vertex A, the suspension arm vertex P and the origin O:
(yA·zP-zA·yP)·x+(zA·xP-xA·zP)·y+(xA·yP-yA·xP)·z＝0
wherein (x)P,yP,zP) The coordinate of the top point P of the suspension arm;
the method is obtained by simultaneous establishment of a spherical equation of the lifting dimension of the suspension arm, a tangent plane equation of the plane of the OAP and a dangerous spherical equation:
solving the expression:
if the solution does not exist, the lifting arm does not have an intersection point with the dangerous spherical surface in the lifting dimension, and the lifting arm does not have a collision risk with the dangerous spherical surface;
if the solution exists, the lifting arm has an intersection point with the dangerous spherical surface in the lifting dimension, and the lifting arm and the dangerous spherical surface have collision risk; obtaining the intersection point P' nearest to the top point P of the suspension arm, and calculating the arc according to the dot product formula
The central angle of (A) is:
wherein,
and
respectively representing vectors from the base vertex a to the boom vertex P and the intersection point P',
and
respectively vector length;
obtaining the angular velocity v of the lifting motion of the boomliftAnd calculating the time of the top point P of the suspension arm entering the dangerous spherical surface in the lifting dimension according to the central angle:
9. the mobile crane boom anti-collision control method as claimed in claim 6, wherein the calculating the collision risk of the boom in the rotation dimension with the danger sphere equation and the time of entering the danger sphere comprises:
projection point O on suspension arm with origin O′Centered at | O′And (3) constructing a circular surface equation of the rotation dimension of the suspension arm by taking the projection length of the P | on the rotation dimension as the radius:
wherein (x)P,yP,zP) The coordinate of the top point P of the suspension arm is shown, L and theta are the length and the lifting angle of the suspension arm respectively, and m and h are the horizontal distance and the vertical distance between the top point of the base and the origin respectively;
and (3) solving simultaneously according to a circular equation where the rotation dimension of the suspension arm is located and a dangerous spherical equation:
if the solution does not exist, the suspension arm does not have an intersection point with the dangerous spherical surface in the rotation dimension, and the suspension arm does not have a collision risk with the dangerous spherical surface;
if the solution exists, the intersection point of the rotation dimension of the suspension arm and the dangerous spherical surface exists, and the collision risk exists between the suspension arm and the dangerous spherical surface; obtaining the intersection point P' nearest to the top point P of the suspension arm, and calculating the arc according to the dot product formula
The central angle of (A) is:
wherein,
and
respectively representing the projected points O' to the boomThe vector of the vertex P and the intersection point P',
and
respectively vector length;
obtaining the angular velocity v of the lifting motion of the boomspinAnd calculating the time of the top point P of the suspension arm entering the dangerous spherical surface in the lifting dimension according to the central angle:
10. the mobile crane boom anti-collision control method as claimed in claim 1, wherein the determining the risk state based on the collision risk and the time to enter the danger sphere comprises:
when the suspension arm has no collision risk with the dangerous spherical surface in the telescopic dimension, the lifting dimension and the rotating dimension, the suspension arm moves in a low risk state;
when the suspension arm has collision risk with the dangerous spherical surface in any dimension of the telescopic dimension, the lifting dimension and the rotating dimension, and the time of entering the dangerous spherical surface is less than or equal to the preset early warning time, the suspension arm which does not enter the dangerous spherical surface moves to be in a middle danger state;
when the suspension arm has collision risk with the dangerous spherical surface in any dimension of the telescopic dimension, the lifting dimension and the rotating dimension and enters the dangerous spherical surface, the suspension arm moves in a high risk state.
11. The mobile crane boom anti-collision control method as claimed in claim 10, wherein the selecting the corresponding control strategy according to the risk status comprises:
when the suspension arm moves to be in a low risk state, the movement of the suspension arm is not interfered;
when the movement of the suspension arm is in an emergency state, controlling the suspension arm to perform deceleration movement;
and when the movement of the suspension arm is in a high risk state, controlling the suspension arm to brake.
12. A mobile crane boom anti-collision control system, the system comprising:
a coordinate system construction module: the system is used for selecting any fixed point from the crane as an origin to construct a three-dimensional space coordinate system;
the base vertex coordinate module is used for acquiring the rotation angle of the crane base and the horizontal distance and the vertical distance from the base vertex to the original point, and determining the base vertex coordinate in a three-dimensional space coordinate system;
the crane jib lifting angle determination module is used for determining the lifting angle of the crane jib in a three-dimensional space coordinate system according to the crane jib lifting angle and the crane jib lifting angle;
the obstacle coordinate module is used for acquiring the length, the lifting angle and the rotating angle of a connecting line between the top point of the suspension arm and the obstacle, and determining the coordinates of the obstacle in a three-dimensional space coordinate system by combining the top point coordinates of the suspension arm;
the dangerous spherical equation module is used for constructing a dangerous spherical equation by taking the coordinates of the obstacle as the circle center and taking the preset dangerous distance as the radius;
the dimension calculation module is used for calculating collision risks of the suspension arm in the stretching dimension, the lifting dimension and the rotating dimension with a dangerous spherical equation and time of entering a dangerous spherical equation respectively;
and the strategy control module is used for determining a risk state based on the collision risk and the time of entering the dangerous spherical surface, and selecting a corresponding control strategy according to the risk state.
13. The anti-collision control device for the suspension arm of the mobile crane is characterized by comprising a processor and a storage medium;
the storage medium is used for storing instructions;
the processor is configured to operate in accordance with the instructions to perform the steps of the method according to any one of claims 1 to 11.
14. Computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 11.
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| CN118083809A (en) * | 2024-04-22 | 2024-05-28 | 烟台港集装箱码头有限公司 | Container front hoisting control method, system, terminal and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118083809A (en) * | 2024-04-22 | 2024-05-28 | 烟台港集装箱码头有限公司 | Container front hoisting control method, system, terminal and storage medium |
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