CN104627842A - Jib crane hoisting operation anti-collision method and system - Google Patents
Jib crane hoisting operation anti-collision method and system Download PDFInfo
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- CN104627842A CN104627842A CN201410720138.9A CN201410720138A CN104627842A CN 104627842 A CN104627842 A CN 104627842A CN 201410720138 A CN201410720138 A CN 201410720138A CN 104627842 A CN104627842 A CN 104627842A
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- arm
- brachium
- elevation angle
- degreeof turn
- lifting operation
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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
- B66C15/00—Safety gear
-
- 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
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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
- B66C2700/00—Cranes
- B66C2700/03—Cranes with arms or jibs; Multiple cranes
- B66C2700/0392—Movement of the crane arm; Coupling of the crane arm with the counterweights; Safety devices for the movement of the arm
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- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
- Jib Cranes (AREA)
Abstract
The invention discloses a jib crane hoisting operation anti-collision method and a system. According to the system, an obstacle classification model is established, and the appearance and position information of obstacles in an operation area is accurately acquired by adopting a crane jib head autonomous detection and study method. A cylindrical coordinate system of a crane is established, the operation area is divided into different sectors according to slewing angles, the sectors are divided into different fan-shaped grids according to the distance from a slewing center, environmental data of the operation area are precisely stored based on the fan-shaped grids, and a hoisting safe operation three-dimensional boundary wall is generated by utilizing the data of the fan-shaped grids. Motion and position parameters of a crane jib at the next moment are predicted by using a weighted linear regression model based on the position information of the crane jib at the most recent 20 moments. Aiming at the predicted motion and different distances from the boundary wall of the crane jib, crane jib control strategies such as no intervention, speed limiting, micro-motion and prohibition are adopted. Functional tests in an actual operation environment show that the system can effectively prevent the collision between the crane jib and the obstacles in the operation area.
Description
Technical field
The present invention relates to a kind of collision avoidance system, be specifically related to a kind of arm derrick crane lifting operation collision-proof method and system.
Background technology
Hoisting crane is widely used at building and carrier, but the industrial accident relating to crane hanging component operation process takes place frequently.According to open source information statistics, death toll 231 people in 2005 that China causes because of crane accidents, 314 people in 2006,347 people in 2007, rank first in all mechanical accident death tolls.According to U.S. labourer safety and Health cuncil statistics, during from 1992 to calendar year 2001, relate to hoisting crane in the U.S. and cause personnel death's accident just to have 137.Find these accident investigations, misoperation accounts for accident causation 48%, wherein observes the inconsiderate collision that causes and lifting overload is main cause.
In lifting operation process, because craneman is unfamiliar with lifting environment, in lifting operation process, attention concentrates on lift heavy usually, and ignore arm support position, so that arm and obstacle (body of wall, cylinder, high tension cord etc.) collide, cause high pressure electric shock, hang the serious accidents such as thing falls, overturning and take place frequently.
For reducing the crane accidents because misoperation causes, people have done unremitting effort from technological layer:
Be directed to the situation of lifting overload, hoisting crane has been installed limiter of moment, and when hoisting weight exceedes rated load, hoisting crane alarm also takes corresponding safety method;
For preventing the object of hoisting crane and operating area in hoisting process from colliding, people are studied from the path planning before lifting and real-time control two aspects hoisting process.
Path planning regards hoisting crane as a multivariant mechanical hand as exactly, in its configurable space, adopt certain algorithm to find optimize anticollision path, but the usual more complicated of anticollision searching algorithm adopted, cannot realize in the Vehicle Controller of resource-constrained.
In hoisting process, by obstacle in hoisting crane and operating area installs various sensor, as global positioning system, radar, ultra-wide band sensor, video frequency collection card, wireless remote radio-frequency card, infrared radiation detection apparatus or three-dimensional laser scanner etc., detect people in crane job district and object avoids potential collision in real time to set up position system, this technology is applied to for a long time at tower, bridge-type and the crawler crane of fixed position relative operation more; For the arm derrick crane of movable type, because of its mobility strong, be used for the lifting operation of frequent change operation environment, therefore this technology is inapplicable to it.
Summary of the invention
For the problem proposed in above-mentioned existing background technology, the object of the invention is to, a kind of crane hanging component operation collision avoidance system is provided, makes crane hanging component operation process more safe and effective.
In order to realize above-mentioned task, the present invention by the following technical solutions:
A kind of arm derrick crane lifting operation collision-proof method, comprises the following steps:
Step one, sets up heavy-duty machine cylindrical-coordinate system
Be projected as initial point O with crane rotation center on ground, using hoisting crane vehicle body axis as X-axis, X-axis forward points to hoisting crane headstock, Y-axis is vertical with X-axis, Y-axis forward and X-axis forward conter clockwise angle 90 °, and Z axis forward is away from direction, ground, perpendicular to XOY plane, set up XYZ coordinate system; 1 P then in system of axes is represented by coordinate (φ, d, h), and wherein φ represents that a P forms the conter clockwise angle of OD line and X forward axle in XOY plane projection D institute, and d represents the distance of the D to origin of coordinates O that projects, and h represents that a P is to the height projected between D;
The locus of note crane arm arm head be (r, β,
), wherein length of boom is r, and the elevation angle is β, and the degreeof turn being reference position with X-axis forward is
, the conversion relation between the locus of arm head and the coordinate of arm head in XYZ coordinate system can be obtained according to geometric relationship;
Step 2, fan is formatted and is stored lifting operation district environmental data
Step S20, lifting operation district is divided into multiple sector by the degreeof turn that interval is certain, again each sector is divided into multiple fan lattice according to the distance to origin of coordinates O, set up environmental data table, in table, each fan lattice of each sector are for depositing the environmental data of this position; By two groups of data logging in each fan lattice, be illustrated respectively in coboundary and the lower boundary in the movable region of arm in this fan grid space;
Step S21, classifies the obstacle in lifting operation district according to its profile;
Step S22, according to dissimilar obstacle, gathers the data message that can represent its spatial shape structure, is filled into by these data messages in corresponding fan lattice;
Step 3, determines lifting operation scope
Step S30, in the elevation angle of arm and degreeof turn one timing, the coboundary in the movable region of arm and lower boundary in fan lattice region environmentally in data sheet under this degreeof turn, calculate degreeof turn one timing, arm head accessible maximum brachium in border of arm under the different elevation angle, then calculate the maximum extending brachium of arm under different degreeof turn and the elevation angle, obtain the three-dimensional data table of degreeof turn, the elevation angle and maximum extending brachium;
Step S31, in brachium and the elevation angle one timing of arm, makes arm to left and right revolution successively, obtains arm in brachium and the elevation angle one left and right revolution range regularly according to three-dimensional data table;
Step S32, in the brachium of arm and degreeof turn one timing, obtains according to three-dimensional data table arm regularly can to go up luffing, lower luffing scope at brachium and degreeof turn one.
Further, described arm derrick crane lifting operation collision-proof method also comprises step 4:
Step 4, arranges the real-time anticollision strategy of lifting operation
Step S40, is divided into semi-girder, contracting arm, upper luffing, lower luffing, left revolution, right-hand rotation and static seven kinds of states by arm action, the location information in cycle index arm nearest one period of moment, adopts the action of weighed regression model prediction arm;
Step S41, according to the action of the arm subsequent time of step S40 prediction, arranges corresponding control policy to control arm safe operation.
Further, the conversion relation described in step one is:
In above formula, m is the distance between arm end and initial point O, and n is hoisting crane bodywork height.
Further, in step S20, lifting operation district is divided into 720 sectors according to degreeof turn every 0.5 °, each sector by every 0.2m overall length be 100m be divided into 500 fan lattice.
Further, the concrete steps of step S22 are as follows: for different obstacles, determine the data collection point that can represent this obstacle contour structures, driver's operation arm makes arm head arrive the position of obstacle data collection point, record the brachium of now arm, the elevation angle and degreeof turn, and the coordinate according to the conversion relation described in step one shape data of this obstacle is converted in XYZ coordinate system, be filled in environmental data table; When filling fan lattice data, if lower boundary has value, then get both maxims, if there is value coboundary, then get both minimum value.
Further, the concrete steps of step S30 are as follows:
The elevation angle of note arm current location is β
0, degreeof turn is φ
0, arm end and initial point O distance are m, and bodywork height is n; Be located in environmental data table and be stored in corner φ
0lower different distance is d
ifan lattice higher limit be U
i, i is fan lattice number; Lower limit is B
i, initially make i=0, now length of boom is
work as B
i≤ tan β
0(m+d
i)+n≤U
itime, illustrate that arm head can be movable in this position, then make i=i+1, judge next position, until B
i≤ tan β
0(m+d
i)+n≤U
ito be false or computing terminates; Condition is invalid previous
value be at (β
0, φ
0) under the maximum extending brachium of arm; Then the three-dimensional data table of degreeof turn, the elevation angle and maximum extending brachium is set up.
Further, the concrete steps of step S31 are: set degreeof turn under arm current state as φ
1, the elevation angle is β
1, brachium is r
1, make arm left/right turn round, then next degreeof turn is θ=φ
1± ω, ω are revolution stepping angle, the three-dimensional data table described in query steps S30, obtain corner be θ, the elevation angle is β
1under maximum extending brachium be
; If
, then the current elevation angle is β
1, brachium is r
1arm can from corner φ
1under left/right is turned back to rotational angle theta; Make θ=θ+ω again, according to the method that abovementioned steps is identical, until
or θ-φ
1>=360, then θ ~ φ now
1be exactly arm be φ at degreeof turn
1, the elevation angle is β
1, brachium is r
1under left/right revolution range.
Further, the concrete steps of step S32 are: set degreeof turn under arm current state as φ
2, the elevation angle is β
2, brachium is r
2if now arm up/down luffing, if next angle of elevation alpha=β
2± δ, δ are luffing step value, the three-dimensional data table described in query steps S30, and obtaining at degreeof turn is φ
2, maximum extending brachium is under angle of elevation alpha
if,
, then current degreeof turn is φ
2, brachium is r
2arm can from elevation angle β
2up/down luffing is under angle of elevation alpha; Make α=α+δ again, repeat above-mentioned steps until
or α>=85, α ~ β now
2be exactly arm be φ at degreeof turn
2, the elevation angle is β
2, brachium is r
2down can the scope of up/down luffing.
The present invention also proposes a kind of system for realizing arm derrick crane lifting operation collision-proof method, and this system comprises establishment of connection hoisting crane cylindrical-coordinate system module, fan successively and formats and store lifting operation district environment data module and determine lifting operation range module.
Further, describedly heavy-duty machine cylindrical-coordinate system module is set up according to following step practical function:
Be projected as initial point O with crane rotation center on ground, using hoisting crane vehicle body axis as X-axis, X-axis forward points to hoisting crane headstock, Y-axis is vertical with X-axis, Y-axis forward and X-axis forward conter clockwise angle 90 °, and Z axis forward is away from direction, ground, perpendicular to XOY plane, set up XYZ coordinate system; 1 P then in system of axes is represented by coordinate (φ, d, h), and wherein φ represents that a P forms the conter clockwise angle of OD line and X forward axle in XOY plane projection D institute, and d represents the distance of the D to origin of coordinates O that projects, and h represents that a P is to the height projected between D;
The locus of note crane arm arm head for for (r, β,
), wherein length of boom is r, and the elevation angle is β, and the degreeof turn being reference position with X-axis forward is
, the conversion relation between the locus of arm head and the coordinate of arm head in XYZ coordinate system can be obtained according to geometric relationship.
Further, described fan is formatted and is stored lifting operation district environment data module according to following step practical function:
Step S20, lifting operation district is divided into multiple sector by the degreeof turn that interval is certain, again each sector is divided into multiple fan lattice according to the distance to origin of coordinates O, set up environmental data table, in table, each fan lattice of each sector are for depositing the environmental data of this position; By two groups of data logging in each fan lattice, be illustrated respectively in coboundary and the lower boundary in the movable region of arm in this fan grid space;
Step S21, classifies the obstacle in lifting operation district according to its profile;
Step S22, according to dissimilar obstacle, gathers the data message that can represent its spatial shape structure, is filled into by these data messages in corresponding fan lattice.
Further, described determination lifting operation range module is according to following step practical function:
Step S30, in the elevation angle of arm and degreeof turn one timing, the coboundary in the movable region of arm and lower boundary in fan lattice region environmentally in data sheet under this degreeof turn, calculate degreeof turn one timing, arm head accessible maximum brachium in border of arm under the different elevation angle, then calculate the maximum extending brachium of arm under different degreeof turn and the elevation angle, obtain the three-dimensional data table of degreeof turn, the elevation angle and maximum extending brachium;
Step S31, in brachium and the elevation angle one timing of arm, makes arm to left and right revolution successively, obtains arm in brachium and the elevation angle one left and right revolution range regularly according to three-dimensional data table;
Step S32, in the brachium of arm and degreeof turn one timing, obtains according to three-dimensional data table arm regularly can to go up luffing, lower luffing scope at brachium and degreeof turn one.
The present invention compared with prior art has following technical characterstic:
The present invention conducts in-depth research the anticollision technology of car hosit in lifting operation process, establish obstacle classification model, utilize the method that crane arm autonomous exploration learns, make arm arm head gather position and the shape data of obstacle, make the gatherer process of obstacle data more effectively simple; And store to fan lattice mode, this storage mode integration is good, and data are simple and easy to read-write, take poke space little, only need the storage space of 1.4M, is applicable to the practical application request of the in-vehicle processor of hoisting crane; Set up the interval virtual wall of arm safe operation, with the relative position between 3-D view real-time tracking arm and obstacle, adopt self adaptation arm Motion Control Strategies, assistance operator makes a policy, and avoids the generation of arm and operating area object collision accident.
The inventive method is that crane job provides strong safety assurance, function test under actual job environment shows, in crane job district, the obstacle of 94.8% can be collected, Obstacle Position information data Acquisition Error is less than 4.7%, the degree of fitting gathering plain objects shape data and exact shape is greater than 86%, arm movement tendency predictablity rate is greater than 97.7%, and hoisting crane can be made effectively to prevent from colliding with operating area obstacle in operation process.
Accompanying drawing explanation
Fig. 1 is the overall flow figure of the inventive method;
Fig. 2 be in the present invention system of axes set up schematic diagram;
Fig. 3 is system hardware topological diagram in crane hanging component operation process;
Fig. 4 is that vertical wall volume data gathers and fills schematic diagram;
Fig. 5 is obstacle data acquisition interface sectional drawing;
Fig. 6 collision avoidance system monitoring interface sectional drawing;
Fig. 7 is the anatomical connectivity schematic diagram of present system;
Detailed description of the invention
Defer to technique scheme, as shown in Figure 1, the invention provides a kind of arm derrick crane lifting operation collision-proof method and system, for crane hanging component operation process provides perfect system and control strategy.
Main thought of the present invention is, by the method for autonomous learning, carry out gathering to the obstacle information in crane job region and store, on the basis of these data, calculate the area of safety operaton in hoisting crane real work, under area of safety operaton, hoisting crane can carry out operation quickly and efficiently and need not consider collision problem.
One, arm derrick crane lifting operation collision-proof method
A kind of arm derrick crane lifting operation collision-proof method, as shown in Figure 1, comprises the following steps:
To the collection of lifting operation district obstacle information, some employing infrared range-measurement systems, but time beyond outdoor 40 meters, error is large, need add reflector, and actual use is unrealistic; Some employing image recognition technologys, but error is comparatively large, current Vehicle Controller also cannot processing video data in real time, needs processed offline.Therefore, adopt the method for crane arm autonomous exploration study, by arm head close to obstacle, obtain obstacle profile and location information.
Step one, sets up heavy-duty machine cylindrical-coordinate system
For the feature that crane hanging component scope of work is a cylinder, its radius is the extreme length of arm, and height is that arm extreme length adds bodywork height.In conjunction with rectangular coordinate system in space XYZ and spheric coordinate system, propose a kind of new cylindrical-coordinate system (φ, d, h), new system of axes as shown in Figure 2.
Initial point O is projected as on ground with crane rotation center, using hoisting crane vehicle body axis as X-axis, X-axis forward points to hoisting crane headstock, Y-axis is vertical with X-axis, Y-axis forward and X-axis forward conter clockwise angle 90 °, Z axis forward is away from direction, ground (vertical ground upwards), perpendicular to XOY plane, sets up XYZ coordinate system; 1 P then in system of axes is by coordinate (φ, d, h) represent, wherein φ represent a P at XOY plane projection D form conter clockwise angle and the degreeof turn of OD line and X forward axle, d represents the distance of projection D to origin of coordinates O, and h represents the height between a P to projection D;
For the arm BP being arm head with a P, by brachium r, elevation angle β and the degreeof turn φ that is reference position with X-axis forward can describe its locus P (r, β,
), wherein B is jib and hinge-point of getting on the bus, C is derricking cylinder and hinge-point of getting on the bus, and A is derricking cylinder and jib hinge-point, and arm end B is m apart from center of gyration O distance, bodywork height is n, because jib pitching hinge-point B and upper-part rotation center O is not in same point, then can be obtained by geometric relationship, locus P (r, β
), conversion relation between the coordinate of arm head in XYZ coordinate system is:
Degreeof turn is hereinafter described with X-axis positive dirction for reference position, and arm rotates counterclockwise the angle of formation in XOY plane.
Step 2, format stores lifting operation district environmental data
Step S20, for accurately recording lifting operation district obstacle data, lifting operation district is divided into many sectors by the degreeof turn that interval is certain, again each sector is divided into many fan lattice according to the distance to origin of coordinates O, the environmental data of each its inside of fan lattice record, divide thinner, the precision of environmental data record is higher; Set up environmental data table as shown in table 1, record each fan lattice environmental data.
Table 1 is to fan lattice record lifting operation district environmental data table
Preferably divide in example at one:
For balancing the registration accuracy of data-storing capacity and operating area environmental data in display control switch of getting on the bus, operating area is divided into 720 sectors by going back to gyration every 0.5 °, each sector is by being that 100m is divided into 500 fan lattice every 0.2m overall length, and whole operating area is divided into 720*500=360000 and fans lattice; In table, each fan lattice of each sector are for depositing the environmental data of this position; By two groups of data logging in each fan lattice, be illustrated respectively in coboundary and the lower boundary in the movable region of arm in this fan grid space, precision is 0.1m, and store by two bytes after often organizing data integer, this table needs memory space to be about 1.4MB byte.
Environmental data table presses sector number, number storage of fan lattice successively, can press fan lattice number directly carry out the access of each fan lattice data.As the data of the second row first row in table 1 to secondary series may be interpreted as: in the sector of corner 0.5 ° ~ 1.0 °, from within the scope of center of gyration 0.4m, ground clear, the suspension obstacle that top has overhead 70m high, as top ceiling, horizontal body of wall etc., the arm amplitude of hoisting can not more than 70m; Within the scope of 0.4 ~ 0.8m, there is 10.8m obstacle on ground, and the suspension obstacle apart from ground 70m is arranged at top.
During initialization, the lower boundary in each fan lattice data is initialized as 0, and coboundary is initialized as the maximum brachium (filling 100 in this programme) of this model crane.This table is the core of whole collision avoidance system, and operating area environmental data collecting fills this table exactly, reads this table to obtain operating area environmental information when anticollision controls.
Step S21, classifies the obstacle in lifting operation district according to its profile;
Crane hanging component operating environment is complicated, may run into various obstacle, as electric wire, trees, building etc.Simple and easy for operating when gathering environmental data, according to obstacle profile size, be divided into body of wall object and plain objects.
Body of wall object refers in crane job district, and profile is larger, the simple obstacle of structure, as the body of wall etc. of building, if the body of wall that profile exceedes arm scope of work all can regard unlimited body of wall as, forms lifting operation district Essential Environment.According to walls shape and position, body of wall object is divided into horizontal body of wall, vertical body of wall, outer incline body of wall and tilted body of wall four kinds.
Plain objects refers within the scope of crane arm maximum operation, separate, profile is less and relatively simple obstacle, as electric wire, trees, shaft, column, short object etc.Plain objects is divided into the object that vertically lands, horizontally suspends object, tilted object and outer incline object.The obstacle of complex contour can be made up of several simple objects.
Step S22, according to dissimilar obstacle, gathers the data message that can represent its spatial shape structure, is filled into by these data messages in corresponding fan lattice;
When user gathers lifting operation district obstacle shape data, suitable obstacle classification model is selected according to obstacle profile, for different obstacles, determine the data collection point that can represent this obstacle contour structures, different model needs the quantity of data collection point different.As horizontal body of wall only need gather a data point, vertical body of wall then needs collection two data points, the object that vertically lands needs left margin, right margin, front border, rear border and 5, high border data point, for tilting body except vertically landing except object 5 data points, survey 3 data points for dip plane more.
During collection, according to the prompting of data point, driver's operation arm makes arm head arrive the data collection point position of obstacle, after position is appropriate, operator presses collection button, and system records brachium r, elevation angle β and degreeof turn φ tri-parameters of current arm automatically, after obstacle requisite number strong point has gathered, according to the conversion relation described in step one shape data of this obstacle is converted into the coordinate in XYZ coordinate system, is filled in environmental data table.
When filling fan lattice data, if lower boundary has value, then get both maxims, if there is value coboundary, then get both minimum value.If the corner number of degrees are between two quantification angles, as 73.8 °, for ensureing safety to greatest extent, then equal Filling power in 73.5 ° and 74 ° of two sectors, in like manner, if the position numerical value obtained is between two fan lattice, as 25.9m, then fan the equal Filling power of lattice to 25.8m and 26m two.
For vertical body of wall, how filling-in-data-forms is described, as shown in Figure 4, for vertical body of wall, operation arm makes arm head gather two points along metope, and its locus is P
j(r
j, β
j,
), (j=1,2), according to conversion relation formula (1), can obtain the value P of two collection points in XYZ coordinate system
j(φ
j, d
j, h
j); Its 2 is Q at XOY plane vertical projection
1(φ
1, d
1) and Q
2(φ
2, d
2); Pass through Q
1with Q
2the polar coordinate system equation of straight line L be formula (2), be respectively Q with the intersection point of maximum operation radius circle
3(φ
3, 100) and Q
4(φ
4, 100):
A＝d
1sinφ
1(d
2cosφ
2-d
1sinφ
1)
B＝d
1cosφ
1(d
2sinφ
2-d
1sinφ
1)
C＝sinφ(d
2cosφ
2-d
1sinφ
1)
(2)
D＝cosφ(d
2sinφ
2-d
1sinφ
1)
ρ＝(A-B)/(C-D)
During filling-in-data-forms, with φ
1for basic point, with 0.5 ° for stepping depreciation, substitute in the φ of formula (2), calculate ρ value, if ρ≤100, i.e. φ
3≤ φ≤φ
1, then the fan lattice lower border value of this φ value covering of the fan from ρ value to 100 is all filled to 100, represents and to be unreachable at region arm, until the ρ value calculated is greater than 100; Again with φ
1for basic point, with 0.5 ° for stepping increment, i.e. φ
1≤ φ≤φ
4, again calculate as stated above and fill numerical value.
Step 3, arm movable scope when determining lifting operation
Collide for avoiding arm and obstacle in lifting operation process, just need the boundary value obtaining arm movable under current state (telescopic boom, left and right revolution, up and down luffing) space, i.e. virtual body of wall, as long as namely arm is movable in these virtual body of wall limited areas, just can avoid colliding with obstacle.
Step S30, in the elevation angle of arm and degreeof turn one timing, the coboundary in the movable region of arm and lower boundary in fan lattice region environmentally in data sheet under this degreeof turn, calculate degreeof turn one timing, arm head accessible maximum brachium in border of arm under the different elevation angle, then calculate the maximum extending brachium of arm under different degreeof turn and the elevation angle, obtain the three-dimensional data table of degreeof turn, the elevation angle and maximum extending brachium, be specially:
Arm, under the position at different corner and the elevation angle, can the extreme length of semi-girder be different, therefore, need to determine that arm can stretch maximum brachium under a certain position.The elevation angle of note arm current location is β
0, degreeof turn is φ
0, arm end and initial point O distance are m, and bodywork height is n; Be located in environmental data table 1 and be stored in corner φ
0lower different distance is d
i(d
i∈ 0.2,0.4 ... 100) fan lattice higher limit is U
i, i is fan lattice number, is 500 in this example; Lower limit is B
i, initially make i=0, time length of boom (arm head position) be
, work as B
i≤ tan β
0(m+d
i)+n≤U
itime, illustrate that arm head can be movable in this position, then make i=i+1, (i is substituted into d according to identical method above
iin, and judge B
i≤ tan β
0(m+d
i)+n≤U
i), judge next position, until B
i≤ tan β
0(m+d
i)+n≤U
ito be false or computing terminates; Here i=i+1 is assignment operation, and namely i is variable, revests i after the value of i is added 1; Value that computing terminates to refer to i does not all meet B from 0 value to 500
i≤ tan β
0(m+d
i)+n≤U
ithis condition; In this case, illustrate that arm head all can be movable in these positions; And if condition is false, condition is invalid previous
value be at (β
0, φ
0) under the maximum extending brachium of arm.In like manner, can according to table 1 calculate arm under different corner and the elevation angle maximum can semi-girder long, form the three-dimensional data table of degreeof turn, the elevation angle and maximum extending brachium.
Step S31, in brachium and the elevation angle one timing of arm, makes arm to left and right revolution successively, obtains arm in brachium and the elevation angle one left and right revolution range regularly, be specially according to three-dimensional data table:
During arm revolution, usual brachium and the elevation angle remain unchanged, if the degreeof turn under arm current state is φ
1, the elevation angle is β
1, brachium is r
1, make arm left/right turn round, then next degreeof turn is θ=φ
1+ ω, ω are revolution stepping angle, the three-dimensional data table described in query steps S30, obtain corner be θ, the elevation angle is β
1under maximum extending brachium be
; If
, then the current elevation angle is β
1, brachium is r
1arm can from corner φ
1under a left side is turned back to rotational angle theta; Make θ=θ+ω again, according to the method that abovementioned steps is identical, until
or θ-φ
1>=360, then θ ~ φ now
1be exactly arm be φ at degreeof turn
1, the elevation angle is β
1, brachium is r
1under left revolution range; Same reason, makes next degreeof turn be θ=φ
1-ω, according to said process, can obtain right-hand rotation scope.
Step S32, in the brachium of arm and degreeof turn one timing, obtains according to three-dimensional data table arm regularly can to go up luffing, lower luffing scope at brachium and degreeof turn one, is specially:
During suspension arm variable-amplitude, usual brachium and corner remain unchanged.If the degreeof turn under arm current state is φ
2, the elevation angle is β
2, brachium is r
2if now luffing on arm, if next angle of elevation alpha=β
2+ δ, δ are luffing step value, the three-dimensional data table described in query steps S30, and obtaining at degreeof turn is φ
2, maximum extending brachium is under angle of elevation alpha
; If
, then current degreeof turn is φ
2, brachium is r
2arm can from elevation angle β
2upper luffing is under angle of elevation alpha; Make α=α+δ again, repeat above-mentioned steps until
or α>=85,85 is current crane arm maximum elevation; α ~ β now
2be exactly arm be φ at degreeof turn
2, the elevation angle is β
2, brachium is r
2the scope of luffing can be gone up down.Same reason, makes next angle of elevation alpha=β
2-δ, according to said process, can obtain right-hand rotation scope.
Establish environmental data table according to the method described above and after calculating the security activity scope of arm, security activity scope defines lifting operation " virtual wall ", and arm can carry out work within the scope of virtual wall.
In order to make crane arm work better, alleviating the operation easier of chaufeur, when hoisting crane real work, anticollision strategy can also be set according to step one to the result of step 3, operate arm running better with direct drivers:
Step 4, arranges the real-time anticollision strategy of lifting operation
The hardware topology figure of hoisting crane is as shown in Figure 3:
Hoist controlling device of getting on the bus carries whole hoisting process and controls, and task is heavy, and internal resource is limited, and therefore anticollision control policy is run by display control switch of getting on the bus, the actuating unit of hoist controlling device as this strategy of getting on the bus.After hoist controlling device of getting on the bus receives instruction by CAN, in conjunction with the state of current operation control handle, the hydraulic pressure execution unit such as rotary pump control cock, amplitude oil cylinder control cock and flexible main pump variable control valve sends control wave to the left and right, completes corresponding control action.For avoiding the time delay of vehicle body CAN network congestion, be connected by an independent CAN with getting on the bus between hoist controlling device at display control switch of getting on the bus.It is equivalent that limiter of moment reads center of gyration angular transducer, telescopic boom linear transducer and telescopic boom angular transducer in real time, for alleviating CAN offered load, when the change of sensor values exceedes certain threshold value, sensor values sent vehicle body CAN network.Get on the bus display control switch from CAN network read sensor value, current arm accurate location can be determined, perform anticollision control policy.Read the operating area environmental data stored in display control switch of getting on the bus with car computer by CAN, carry out lifting operation simulation.
Step S40, sets up arm movement tendency forecast model
Arm action is divided into semi-girder, contracting arm, upper luffing, lower luffing, left revolution, right-hand rotation and static seven kinds of states, the location information in cycle index arm nearest one period of moment, as 20 moment (interval time is 0.2s), its degreeof turn φ
e, elevation angle β
ewith brachium r
e(e ∈ 0 ~ 19), e=0 represents current time, and numerical value weights are 20; E=19 represents the moment farthest, and weights are 1.Due to arm motional inertia, adopt the action of weighed regression model prediction arm; Such as to 20 brachium r
edata carry out matching, judge the action of hoisting arm expansion arm, and predict subsequent time brachium by the slope of fitting a straight line.In like manner pass through φ
edata can judge the degreeof turn of left and right revolution action and subsequent time, pass through β
edata can judge upper and lower luffing action and subsequent time change angle.If when three predictors all change small, illustrate that arm remains static.
Step S41, according to the action of the arm subsequent time of step S40 prediction, arranges corresponding control policy to control arm safe operation.
If current time boom position parameter is degreeof turn φ
m, elevation angle β
mwith brachium r
mif arm movement tendency forecast model prediction arm is stretch, and subsequent time brachium is r
f.Then inquire about three-dimensional data table, obtain maximumly under this position can semi-girder length be
, then control policy is:
If
, be then normal control area, carry out semi-girder by user operation semi-girder speed, do not send any instruction to hoist controlling device;
If
, be then deceleration warning area, send speed limit 50% instruction to hoist controlling device, operating display dodges image alarm slowly; After hoist controlling device receives this instruction, send flexible main pump variable control valve control handle controlling electric current minimizing half;
If
, be then deceleration warning area, send speed limit 25% instruction to hoist controlling device, operating display carries out Flash image alarm; After controller receives this instruction, send flexible main pump variable control valve control handle controlling electric current minimizing 3/4ths;
If
, be then fine motion control area, send speed limit 10% instruction to hoist controlling device, operating display carries out Flash image alarm, and with sound alarm; After controller receives this instruction, reduce to 1/10th send flexible main pump variable control valve control handle controlling electric current;
If
, then for forbidding control area, because flexible main pump exists inertia, send to hoist controlling device and stop semi-girder instruction, operating display carries out Flash image alarm, and with rapid sound alarm.After controller receives this instruction, cut off and be sent to flexible main pump variable control valve electric current;
For forbidding control area, because flexible main pump exists inertia, send to hoist controlling device and stop semi-girder instruction, operating display carries out Flash image alarm, and with rapid sound alarm.After controller receives this instruction, cut off and be sent to flexible main pump variable control valve electric current.
Two, arm derrick crane lifting operation collision avoidance system
Above-mentioned method can write in hardware system to realize corresponding function, the present invention also proposes a kind of system for realizing arm derrick crane lifting operation collision-proof method, this system comprises establishment of connection hoisting crane cylindrical-coordinate system module, fan successively and formats and store lifting operation district environment data module and determine lifting operation range module, as shown in Figure 7.
Further, describedly heavy-duty machine cylindrical-coordinate system module is set up according to following step practical function:
Be projected as initial point O with crane rotation center on ground, using hoisting crane vehicle body axis as X-axis, X-axis forward points to hoisting crane headstock, Y-axis is vertical with X-axis, Y-axis forward and X-axis forward conter clockwise angle 90 °, and Z axis forward is away from direction, ground, perpendicular to XOY plane, set up XYZ coordinate system; 1 P then in system of axes is represented by coordinate (φ, d, h), and wherein φ represents that a P forms the conter clockwise angle of OD line and X forward axle in XOY plane projection D institute, and d represents the distance of the D to origin of coordinates O that projects, and h represents that a P is to the height projected between D;
Note crane suspension arm length is r, and the elevation angle is β, and the degreeof turn being reference position with X-axis forward is
, then the locus of the arm head of arm be (r, β,
), the conversion relation between the locus of arm head and the coordinate of arm head in XYZ coordinate system can be obtained according to geometric relationship.
Further, described fan is formatted and is stored lifting operation district environment data module according to following step practical function:
Step S20, lifting operation district is divided into multiple sector by the degreeof turn that interval is certain, again each sector is divided into multiple fan lattice according to the distance to origin of coordinates O, set up environmental data table, in table, each fan lattice of each sector are for depositing the environmental data of this position; By two groups of data logging in each fan lattice, be illustrated respectively in coboundary and the lower boundary in the movable region of arm in this fan grid space;
Step S21, classifies the obstacle in lifting operation district according to its profile;
Step S22, according to dissimilar obstacle, gathers the data message that can represent its spatial shape structure, is filled into by these data messages in corresponding fan lattice.
Further, described determination lifting operation range module is according to following step practical function:
Step S30, in the elevation angle of arm and degreeof turn one timing, the coboundary in the movable region of arm and lower boundary in fan lattice region environmentally in data sheet under this degreeof turn, calculate degreeof turn one timing, arm head accessible maximum brachium in border of arm under the different elevation angle, then calculate the maximum extending brachium of arm under different degreeof turn and the elevation angle, obtain the three-dimensional data table of degreeof turn, the elevation angle and maximum extending brachium;
Step S31, in brachium and the elevation angle one timing of arm, makes arm to left and right revolution successively, obtains arm in brachium and the elevation angle one left and right revolution range regularly according to three-dimensional data table;
Step S32, in the brachium of arm and degreeof turn one timing, obtains according to three-dimensional data table arm regularly can to go up luffing, lower luffing scope at brachium and degreeof turn one.
Three, collision-proof method, system functional verification
On a hardware platform, the eVision selecting Austrian TTControl company to produce
210.4T touching-type monitor, as crane display control switch, HY-TTC 200 is as hoist controlling device of getting on the bus, collision avoidance system is developed under CoDeSys V3.4 the integration environment, and this collision avoidance system has been applied on certain model arm derrick crane, as shown in Figure 5, system can automatic filling operating environment data sheet and virtual wall data generate the lifting operation district obstacle data acquisition interface wherein developed automatically.
Consider telltale resource-constrained, 3D figure can not be shown, adopt birds-eye view to be combined with lateral plan two figure, the relative position in Real time dynamic display hoisting process between arm and obstacle, and display arm predicts behavior and threshold alarm in real time, runnable interface as shown in Figure 6.
Select 6 and this collision avoidance system arm derrick crane is installed, every platform hoisting crane installs a data logger.Choose two test sites, each test site chooses 6 lifting points, operate every platform hoisting crane in turn respectively by 6 chaufeurs and carry out a lifting operation in each lifting point, by the data in data logger record crane hanging component process, altogether can obtain 6*6*2*6=432 group test data.
When hoisting crane enter lifting point start to test time, first utilize Collecting operation district, environmental data collecting interface environmental data, then gather environmental data by manual type, two data being made comparisons judges the performance of environmental data collection function.Secondly choose 3 obstructing objects in each operating area, driver's operation arm approaches to obstructing objects step by step, observes and records the state of kinematic motion of arm, carrys out the performance of forecast function in test macro and anti-collision.
Test process continues nearly two time-of-weeks, test and rear statistical analysis has been carried out to these 432 groups of test datas, result shows: in crane job district, the obstacle of 94.8% can be collected, Obstacle Position information data Acquisition Error is less than 4.7%, the degree of fitting gathering plain objects shape data and exact shape is greater than 86%, and arm movement tendency predictablity rate is greater than 97.7%.Operator generally reflects that control process is softer, at whole test period, does not have generation one lifting arm and obstacle to crash.Statistics also reflects, operator has influence on accuracy and the integraty of obstacle data acquisition to the skill level that system uses.
Checking conclusion:
(1) set up obstacle classification model, adopt the mode of crane arm arm head autonomous exploration study, can accurate acquisition operating area obstacle profile and location information, do not increase hoisting crane cost;
(2) set up heavy-duty machine cylindrical-coordinate system, operating area is divided into different sectors and fan lattice, can accurate recording operating area environmental data, and data can generate hoisting arm expansion, luffing and degreeof turn three-dimensional boundaries according to this;
(3) according to the nearest running orbit of arm, adopt weighed regression model can the arm action of Accurate Prediction subsequent time and location parameter, according to the different distance to border, adopt the control policies such as nonintervention, speed limit, fine motion control and prohibited acts, ensure that control process is soft.
(4) function test under actual job environment shows, the system developed can effectively prevent arm and operating area obstacle from colliding.
Claims (10)
1. an arm derrick crane lifting operation collision-proof method, is characterized in that, comprises the following steps:
Step one, sets up heavy-duty machine cylindrical-coordinate system
Be projected as initial point O with crane rotation center on ground, using hoisting crane vehicle body axis as X-axis, X-axis forward points to hoisting crane headstock, Y-axis is vertical with X-axis, Y-axis forward and X-axis forward conter clockwise angle 90 °, and Z axis forward is away from direction, ground, perpendicular to XOY plane, set up XYZ coordinate system; 1 P then in system of axes is represented by coordinate (φ, d, h), and wherein φ represents that a P forms the conter clockwise angle of OD line and X forward axle in XOY plane projection D institute, and d represents the distance of the D to origin of coordinates O that projects, and h represents that a P is to the height projected between D;
The locus of note crane arm arm head is
wherein length of boom is r, and the elevation angle is β, and the degreeof turn being reference position with X-axis forward is
the conversion relation between the locus of arm head and the coordinate of arm head in XYZ coordinate system can be obtained according to geometric relationship;
Step 2, fan is formatted and is stored lifting operation district environmental data
Step S20, lifting operation district is divided into multiple sector by the degreeof turn that interval is certain, again each sector is divided into multiple fan lattice according to the distance to origin of coordinates O, set up environmental data table, in table, each fan lattice of each sector are for depositing the environmental data of this position; By two groups of data logging in each fan lattice, be illustrated respectively in coboundary and the lower boundary in the movable region of arm in this fan grid space;
Step S21, classifies the obstacle in lifting operation district according to its profile;
Step S22, according to dissimilar obstacle, gathers the data message that can represent its spatial shape structure, is filled into by these data messages in corresponding fan lattice;
Step 3, determines lifting operation scope
Step S30, in the elevation angle of arm and degreeof turn one timing, the coboundary in the movable region of arm and lower boundary in fan lattice region environmentally in data sheet under this degreeof turn, calculate degreeof turn one timing, arm head accessible maximum brachium in border of arm under the different elevation angle, then calculate the maximum extending brachium of arm under different degreeof turn and the elevation angle, obtain the three-dimensional data table of degreeof turn, the elevation angle and maximum extending brachium;
Step S31, in brachium and the elevation angle one timing of arm, makes arm to left and right revolution successively, obtains arm in brachium and the elevation angle one left and right revolution range regularly according to three-dimensional data table;
Step S32, in the brachium of arm and degreeof turn one timing, obtains according to three-dimensional data table arm regularly can to go up luffing, lower luffing scope at brachium and degreeof turn one.
2. arm derrick crane lifting operation collision-proof method as claimed in claim 1, it is characterized in that, described arm derrick crane lifting operation collision-proof method also comprises step 4:
Step 4, arranges the real-time anticollision strategy of lifting operation
Step S40, is divided into semi-girder, contracting arm, upper luffing, lower luffing, left revolution, right-hand rotation and static seven kinds of states by arm action, the location information in cycle index arm nearest one period of moment, adopts the action of weighed regression model prediction arm;
Step S41, according to the action of the arm subsequent time of step S40 prediction, arranges corresponding control policy to control arm safe operation.
3. arm derrick crane lifting operation collision-proof method as claimed in claim 1, it is characterized in that, the concrete steps of step S22 are as follows:
For different obstacles, determine the data collection point that can represent this obstacle contour structures, driver's operation arm makes arm head arrive the position of obstacle data collection point, record the brachium of now arm, the elevation angle and degreeof turn, and the coordinate according to the conversion relation described in step one shape data of this obstacle is converted in XYZ coordinate system, be filled in environmental data table; When filling fan lattice data, if lower boundary has value, then get both maxims, if there is value coboundary, then get both minimum value.
4. arm derrick crane lifting operation collision-proof method as claimed in claim 1, it is characterized in that, the concrete steps of step S30 are as follows:
The elevation angle of note arm current location is β
0, degreeof turn is φ
0, arm end and initial point O distance are m, and bodywork height is n; Be located in environmental data table and be stored in corner φ
0lower different distance is d
ifan lattice higher limit be U
i, i is fan lattice number; Lower limit is B
i, initially make i=0, now length of boom is
work as B
i≤ tan β
0(m+d
i)+n≤U
itime, illustrate that arm head can be movable in this position, then make i=i+1, judge next position, until B
i≤ tan β
0(m+d
i)+n≤U
ito be false or computing terminates; Condition is invalid previous
value be at (β
0, φ
0) under the maximum extending brachium of arm; Then the three-dimensional data table of degreeof turn, the elevation angle and maximum extending brachium is set up.
5. arm derrick crane lifting operation collision-proof method as claimed in claim 1, it is characterized in that, the concrete steps of step S31 are as follows:
If the degreeof turn under arm current state is φ
1, the elevation angle is β
1, brachium is r
1, make arm left/right turn round, then next degreeof turn is θ=φ
1± ω, ω are revolution stepping angle, the three-dimensional data table described in query steps S30, obtain corner be θ, the elevation angle is β
1under maximum extending brachium be
if
then the current elevation angle is β
1, brachium is r
1arm can from corner φ
1under left/right is turned back to rotational angle theta; Make θ=θ+ω again, according to the method that abovementioned steps is identical, until
or θ-φ
1>=360, then θ ~ φ now
1be exactly arm be φ at degreeof turn
1, the elevation angle is β
1, brachium is r
1under left/right revolution range.
6. arm derrick crane lifting operation collision-proof method as claimed in claim 1, it is characterized in that, the concrete steps of step S32 are as follows:
If the degreeof turn under arm current state is φ
2, the elevation angle is β
2, brachium is r
2if now arm up/down luffing, if next angle of elevation alpha=β
2± δ, δ are luffing step value, the three-dimensional data table described in query steps S30, and obtaining at degreeof turn is φ
2, maximum extending brachium is under angle of elevation alpha
if
then current degreeof turn is φ
2, brachium is r
2arm can from elevation angle β
2up/down luffing is under angle of elevation alpha; Make α=α+δ again, repeat above-mentioned steps until
or α>=85, α ~ β now
2be exactly arm be φ at degreeof turn
2, the elevation angle is β
2, brachium is r
2down can the scope of up/down luffing.
7. one kind for realizing the system of arm derrick crane lifting operation collision-proof method, it is characterized in that, this system comprises establishment of connection hoisting crane cylindrical-coordinate system module, fan successively and formats and store lifting operation district environment data module and determine lifting operation range module.
8. system as claimed in claim 7, it is characterized in that, described sets up heavy-duty machine cylindrical-coordinate system module according to following step practical function:
Be projected as initial point O with crane rotation center on ground, using hoisting crane vehicle body axis as X-axis, X-axis forward points to hoisting crane headstock, Y-axis is vertical with X-axis, Y-axis forward and X-axis forward conter clockwise angle 90 °, and Z axis forward is away from direction, ground, perpendicular to XOY plane, set up XYZ coordinate system; 1 P then in system of axes is represented by coordinate (φ, d, h), and wherein φ represents that a P forms the conter clockwise angle of OD line and X forward axle in XOY plane projection D institute, and d represents the distance of the D to origin of coordinates O that projects, and h represents that a P is to the height projected between D;
The locus of note crane arm arm head is
wherein length of boom is r, and the elevation angle is β, and the degreeof turn being reference position with X-axis forward is
the conversion relation between the locus of arm head and the coordinate of arm head in XYZ coordinate system can be obtained according to geometric relationship.
9. system as claimed in claim 7, is characterized in that, described fan format and store lifting operation district environment data module according to following step practical function:
Step S20, lifting operation district is divided into multiple sector by the degreeof turn that interval is certain, again each sector is divided into multiple fan lattice according to the distance to origin of coordinates O, set up environmental data table, in table, each fan lattice of each sector are for depositing the environmental data of this position; By two groups of data logging in each fan lattice, be illustrated respectively in coboundary and the lower boundary in the movable region of arm in this fan grid space;
Step S21, classifies the obstacle in lifting operation district according to its profile;
Step S22, according to dissimilar obstacle, gathers the data message that can represent its spatial shape structure, is filled into by these data messages in corresponding fan lattice.
10. system as claimed in claim 7, it is characterized in that, described determination lifting operation range module is according to following step practical function:
Step S30, in the elevation angle of arm and degreeof turn one timing, the coboundary in the movable region of arm and lower boundary in fan lattice region environmentally in data sheet under this degreeof turn, calculate degreeof turn one timing, arm head accessible maximum brachium in border of arm under the different elevation angle, then calculate the maximum extending brachium of arm under different degreeof turn and the elevation angle, obtain the three-dimensional data table of degreeof turn, the elevation angle and maximum extending brachium;
Step S31, in brachium and the elevation angle one timing of arm, makes arm to left and right revolution successively, obtains arm in brachium and the elevation angle one left and right revolution range regularly according to three-dimensional data table;
Step S32, in the brachium of arm and degreeof turn one timing, obtains according to three-dimensional data table arm regularly can to go up luffing, lower luffing scope at brachium and degreeof turn one.
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