CN105314544A - Tower crane active safety operation method in multi-obstacle environment - Google Patents

Tower crane active safety operation method in multi-obstacle environment Download PDF

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Publication number
CN105314544A
CN105314544A CN201510919782.3A CN201510919782A CN105314544A CN 105314544 A CN105314544 A CN 105314544A CN 201510919782 A CN201510919782 A CN 201510919782A CN 105314544 A CN105314544 A CN 105314544A
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tower
tower machine
potential field
buffer zone
district
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肖友刚
申肖雪
杨群
陈江
黄剑锋
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Central South University
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Central South University
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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
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/16—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with jibs supported by columns, e.g. towers having their lower end mounted for slewing movements

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

Abstract

The invention relates to a tower crane active safety operation method in a multi-obstacle environment. The method comprises: performing projection on all obstacles in operation range of a tower crane in the horizontal plane to be used as an original forbidding area of the tower crane, and based on operation characteristics of the tower crane, correcting the original forbidding area; and determining an operation buffering area of the tower crane for achieving that the tower crane can not enter the forbidding area due to inertia operation and can stop at a target point correctively, setting a relative position gravitational force potential field at the target point of the tower crane by taking a set of the forbidding area and the buffering area as a constraint condition, setting repulsive force potential fields at the obstacles, and calculating the negative gradient of a potential field function to obtain potential field gravitational force and potential field repulsive force applied on the tower crane, so that the tower crane can avoid the obstacles actively under the common action of the potential field gravitational force and the potential field repulsive force, the active safety operation of the tower crane is achieved, switching times of moving states of the tower crane can be reduced to the greatest extent, and technical requirements on a tower crane driver are reduced.

Description

In multi obstacle environment, tower owner moves safety working method
Technical field
The invention belongs to tower machine safety control field, relate to tower owner in a kind of multi obstacle environment and move safety working method.
Background technology
Tower crane is applied extremely extensive in industry and civil construction construction.For ensureing the safety that tower machine runs, State General Administration for Quality Supervision, national standardization board of management combine and have promulgated " tower crane safety procedure ", forbid that tower machine tower arm, tower machine suspension hook and obstacle collide, and forbid that tower machine suspension hook is by danger areas such as school, commercial street, footways.There is the crashproof product of some tower machines in existing market: as the AC30 system of French SMIE company, the ATC-10 system of WECON company of Korea S, the TAC3000 system of E-Build company of Singapore, the tower machine area protection system of lifting Secure Systems Ltd. of Chengdu Xintai City, the space constraint device of Shandong Fu Youhuiming measuring and controlling equipment Co., Ltd.These anticollision systems are all obtained on the basis of tower machine kinematic parameter by sensor; calculated by geometry and judge whether tower machine and obstacle are about to collide; if possible; namely shut down and dodge; these technology are not owing to planning the running route of tower machine according to the operation track feature of tower machine and the distribution situation of obstacle; can only when mechanism be detected or tower machine driver recognizes dangerous generation, driver relies on experience to change the path of motion of tower machine, makes its avoiding obstacles.In multi obstacle environment, this passive anti-collision method often cause operator tower machine revolution, luffing, hoist motion between repeatedly switch, not only labour intensity is large, operating efficiency is low, also very high to the technical requirements of tower machine driver, and frequent switching causes larger impact to tower machine, tower machine service life can be shortened.
Summary of the invention
Can not initiatively avoiding obstacles, operating efficiency low, anti-collision operative technique require high during operation in order to solve tower machine in multi obstacle environment, and large problem is impacted to tower machine, the present invention announces tower owner in a kind of multi obstacle environment and moves safety working method, and the method is implemented according to the following steps:
Step 1, according to tower machine movement characteristic, by the forbidden district set expression of the multiple obstacles in tower machine operation environment;
By the obstacle within the scope of tower machine operation at horizontal surface inner projection, obtain original forbidden district; According to the gyroscopic movement feature of tower arm, original for fitfull forbidden district is modified to fan-shaped; With aggregate form represent the constraint of inside and outside arc radius to tower machine luffing in forbidden district, forbidden district central angle to the pivotal constraint of tower arm, obstacle height to the constraint of tower crane lifting height, and ask each intersection of sets collection, obtain a tower machine forbidden district set; If have multiple obstacle and tower machine to interfere, use same method process, obtain the forbidden district set of multiple tower machine; Ask multiple forbidden districts union of sets collection, just obtain the tower machine forbidden district set in multi obstacle environment; Like this, the multiple obstacles in tower machine operation environment just change the forbidden district set of tower machine into.
Step 2, at tower machine suspension hook object point and forbidden district neighborhood, buffer zone is set, and represents with aggregate form;
In order to make tower machine not because inertia operation enters forbidden district, and be parked in object point exactly, at tower machine forbidden district neighborhood and suspension hook object point, using the stopping distance of tower machine luffing, revolution, lifting mechanism as tower machine luffing, turn round, hoist runtime buffer district, ask tower machine luffing, turn round, the union in the runtime buffer district that hoists, obtain the set of Ta Ji runtime buffer district;
Step 3, according to forbidden district and buffer zone set, set up tower owner in multi obstacle environment and move safe operation potential field model;
In order to make tower arm, tower machine suspension hook do not enter forbidden district, between forbidden district, buffer zone and tower arm, tower machine suspension hook, repulsion potential field is set, set up forbidden district, repulsion potential field model between buffer zone and tower arm, and forbidden district, repulsion potential field model between buffer zone and tower machine suspension hook; In order to make tower machine suspension hook close to object point, gravitation potential field being set between object point and tower machine suspension hook, setting up the relative position gravitational potential field model between object point and tower machine suspension hook; Comprehensive repulsion potential field model and gravitational potential field model model, obtain tower owner in multi obstacle environment and move safe operation potential field model.
Step 4, suffered by tower machine the making a concerted effort of potential field gravitation and potential field repulsion, carry out tower owner and move safe operation decision-making;
Ask forbidden district, the negative gradient of repulsion potential field between buffer zone and tower arm, and forbidden district, the negative gradient of repulsion potential field between buffer zone and tower machine suspension hook, obtain forbidden district, repulsion that buffer zone produces tower arm, tower machine suspension hook; Ask the negative gradient of the gravitational potential field model between object point and tower machine suspension hook, obtain object point to the gravitation produced tower machine suspension hook; The sense of motion just determining tower machine luffing, revolution, lifting mechanism with joint efforts of repulsion suffered by tower machine and gravitation, under the combined action of repulsion and gravitation, tower machine suspension hook just can walk around a series of obstacle, accurately lift heavy is delivered to terminal, realizes tower owner and moves safe operation.
Compared with prior art, the invention has the beneficial effects as follows, in multi obstacle environment, tower owner moves the motion path that safety working method relies on the combined action change tower machine of potential field repulsion and potential field gravitation, and initiatively avoiding obstacles, achieves the active safety of tower machine; Avoid tower machine luffing, revolution, lifting mechanism sense of motion is indefinite and switch tower machine state of kinematic motion continually, decrease the impact of state of kinematic motion switching to tower machine, be conducive to improving tower machine service life, and the technical requirements reduced tower machine driver, alleviate the labour intensity of driver, also for tower machine realizes automation and Unmanned operation has prepared technical foundation.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet that in obstacle environment, tower owner moves safety working method;
Fig. 2 is the birds-eye view in the forbidden district of tower machine suspension hook.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with accompanying drawing and detailed description of the invention, describe the present invention.Should illustrate, these describe just exemplary, and eliminate the description to known technology, but do not really want to limit the scope of the invention.Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
With reference to Fig. 1, in multi obstacle environment of the present invention, tower owner moves safety working method, specifically comprises following several step:
Step 1, according to tower machine movement characteristic, by the forbidden district set expression of the multi-obstacle avoidance in tower machine operation environment;
With tower machine center of gyration O for the origin of coordinates, with positive west to for X-axis forward, direct north is Y-axis forward, is Z axis forward straight down, sets up cylindrical coordinate.With derrick runway girder in positive west to angle of revolution for benchmark zero degree.And specify: in tower machine motion process, tower machine tower arm cw speed of revolutions is negative, and turning anticlockwise speed is just; The inside derricking speed of tower machine dolly is negative, and outside derricking speed is just; It is negative that tower machine suspension hook moves downward speed, and upward movement speed is just.
According to the feature of obstacle, the projection of obstacle on horizontal surface XOY is divided into the forbidden district of tower arm and the forbidden district of suspension hook, the forbidden district of tower arm carrys out avoiding barrier by the gyroscopic movement limiting tower arm, for the forbidden district of tower machine suspension hook, before suspension hook enters forbidden district, can by suspension hook upwards hoist or luffing two kinds of modes of moving carry out active dodge obstacle.But in tower machine work area, if when there is school, commercial street, footway, railway, forbid that tower machine lifted weight enters its overhead, in order to avoid weight drops injure pedestrian or damage equipment, therefore when tower machine adopts luffing motion to carry out avoiding barrier through this kind of obstacle.
Within the scope of tower machine operation, if the birds-eye view of certain obstacle i is irregular area as shown in Figure 2, according to tower machine movement characteristic, the original forbidden district i surrounded by this irregular area is handled as follows: with the center of gyration of tower machine for starting point, draw the most left, the rightest two boundary lines, connect with the most left, the low order end of the original forbidden district i within the scope of tower machine operation, obtain the minimum azimuth angle theta of new forbidden district i miniwith maximum azimuth angle theta maxi, then with tower machine center of gyration for the center of circle, with the shortest distance r of center of gyration to original forbidden district i miniwith longest distance r maxifor radius, draw two circular arcs and original forbidden district i the most left, rightmost circle is crossing, then the region surrounded by two boundary lines and inside and outside circular arc is stretched to the maximum height h of obstacle i maxi, form forbidden district P i, as shown in Figure 2.
According to tower machine work characteristics, be carriage amplitude varying by tower machine Kinematic Decomposition, tower arm revolution and suspension hook hoist motion, be collision free, each kinematic mechanism of tower machine does not allow to enter forbidden district.Use P i(P ri, P θ i, P hi) represent any point in forbidden district, then P ri∈ [r mini, r maxi], P θ 1∈ [θ mini, θ maxi], P h1∈ [0, h maxi]; In forbidden district set a little form forbidden district P i, available P ri, P θ i, P hicommon factor represent, i.e. P i=P ri∩ P θ i∩ P hi; For the forbidden spatial domain P of tower machine suspension hook j, use P rj, P θ jcommon factor represent, i.e. P=P rj∩ P θ j; If there be n obstacle within the scope of tower machine operation, then the forbidden district of tower machine can with forbidden district corresponding to these obstacles and set representations, i.e. P=P 1∪ ... ∪ P i∪ ... ∪ P n.
Step 2, at tower machine suspension hook object point and forbidden district neighborhood, buffer zone is set, and represents with aggregate form;
Be stopping distance by the distance definition that tower machine slides because of effect of inertia after braking.Assuming that tower machine current angular velocity is ω, tower machine is under the effect of rotary braking moment T, and the distance slided because of effect of inertia is z θ.According to theorem of kinetic energy:
Tz θ = 1 2 ( J a + mr 2 ) ω 2
z θ = ω 2 2 T ( J a + mr 2 )
In formula: J afor tower arm rotor inertia, r is tower machine carriage amplitude varying, and m is lift heavy amount.
In like manner can try to achieve the luffing stopping distance z of tower machine r, hoist stopping distance z h:
Z r = mv r 2 2 F r
z h = mv h 2 2 ( F h + v h | v h | m g )
In formula: v rfor carriage amplitude varying speed, F rfor dolly braking force, v hfor suspension hook running velocity, F hfor lifting mechanism braking force, g is local gravitational acceleration.
In order to make tower machine not because effect of inertia enters forbidden district P, and be parked in object point exactly, at tower machine forbidden district neighborhood and suspension hook object point, arrange buffer zone Q, its burst length is stopping distance.With Q (Q r', Q θ', Q h') represent any point in forbidden district, then when the inside luffing of tower machine dolly, Q r' ∈ [r min, r min+ z r), during outside luffing, Q r' ∈ [r max-z r, r max); When tower machine turning anticlockwise, Q θ' ∈ [θ min-z θ, θ min), during cw revolution, Q θ' ∈ [θ max, θ max+ z θ); When tower machine suspension hook hoists, Q h'=[h max-z h, h max), during decline, Q h'=[0, h b); For at object point X g(r g, θ g, h g) place arrange buffer zone, r min=r max=r g, θ min=θ max=θ g, h max=h g; With in buffer zone set expression buffer zone Q a little, then luffing buffer zone is Q r=Q r' ∩ P θ∩ P h; Revolution buffer zone is Q θ=Q θ' ∩ P r∩ P h; The buffer zone that hoists is Q h=Q h' ∩ P r∩ P θ, whole buffer zone is Q=Q r∪ Q θ∪ Q h; If there be n buffer zone within the scope of tower machine operation, then described tower machine buffer zone set can with these buffer zones and set representations, i.e. Q=Q 1∪ ... ∪ Q i∪ ... ∪ P n.
Step 3, according to forbidden district and buffer zone set, set up tower owner in multi obstacle environment and move safe operation potential field model.
In described multi obstacle environment, tower owner moves safe operation potential field model, it is characterized in that, using tower machine suspension hook, tower arm (comprising crane arm and equilibrium arm) as controlled object, park a little as object point using tower machine lift cargo, forbidden district is not entered in order to make tower machine suspension hook and tower arm, between forbidden district, buffer zone and tower machine suspension hook and tower arm, repulsion potential field is set, set up forbidden district, repulsion potential field model between buffer zone and tower machine suspension hook, and forbidden district, repulsion potential field model between buffer zone and tower arm; In order to make tower machine suspension hook close to object point, gravitation potential field being set between object point and tower machine suspension hook, setting up the gravitational potential field model between object point and tower machine suspension hook.
Described forbidden district, between buffer zone and tower machine suspension hook, repulsion potential field model is set, is defined by following formula:
U r e p g ( X ) = 0 X ( r , θ , h ) ∉ [ P ∪ Q ] 0.5 k r e p g ( X - X o ) - 2 X ( r , θ , h ) ∈ [ P ∪ Q ]
In formula: X=[r, θ, h] tfor the current location of tower machine suspension hook, X o=[r o, θ o, h o] tfor point nearest apart from tower machine suspension hook in forbidden district P, k repg(k repg θ, k repgr, k repgz) be suspension hook repulsion potential field gain factor.
In turning course, tower machine tower arm may with forbidden district in collide higher than the obstacle of tower arm.For collision free, the repulsion that the forbidden district of tower arm produces tower arm need be considered, and tower arm position is determined by angle of revolution, therefore described forbidden district, repulsion potential field model between buffer zone and tower arm, is defined by following formula:
In formula: k repbfor tower arm repulsion potential field gain factor, θ is tower arm degreeof turn, θ ofor the rim angle of buffer zone, when tower machine turning anticlockwise, θ o=θ min, during cw revolution, θ o=θ max; h tfor tower arm is apart from floor level.
Described gravitation potential field is the relative position gravitational potential field function of object point to tower machine suspension hook, and described relative position gravitational potential field function is defined by following formula:
U a t t p ( X ) = 0.5 k a t t p ( X - X g ) 2 X ( r , θ , h ) ∉ [ P ∪ Q ] 0 X ( r , θ , h ) ∈ [ P ∪ Q ]
In formula: X gfor the locus of object point, X g=[r g, θ g, h g] t, k attp(k attp θ, k attpr, k attpz) be relative position gravitation potential field gain factor.
Comprehensive repulsion potential field model and gravitational potential field model, obtain tower owner in multi obstacle environment and move safe operation potential field model.
Step 4, suffered by tower machine the making a concerted effort of potential field gravitation and potential field repulsion, carry out tower owner and move safe operation decision-making.
In described multi obstacle environment, tower owner moves safe operation decision-making, be suffered by tower machine potential field gravitation and potential field repulsion make a concerted effort make, it is characterized in that, the repulsion that described potential field repulsion comprises forbidden district, buffer zone produces tower arm, tower machine suspension hook, described potential field gravitation is the gravitation that object point produces tower machine suspension hook, the sense of motion just determining tower crane lifting, luffing, swing type mechanism with joint efforts of repulsion suffered by tower machine and gravitation; Under the effect that tower machine is made a concerted effort in potential field, carry out luffing in an orderly manner, turn round, hoist motion, just can walk around series of complex obstacle, accurately lift heavy be delivered to terminal, realize tower owner and move safe operation, avoid tower machine mechanism sense of motion indefinite and frequently switch.
The repulsion that described forbidden district, buffer zone produce tower machine suspension hook, by asking forbidden district, between buffer zone and tower machine suspension hook, the negative gradient of repulsion potential field obtains, that is:
F r e p g ( X ) - ▿ U r e p g ( X ) = k r e p g ( X - X 0 ) - 3 X ( r , θ , h ) ∈ [ P ∪ Q ] 0 X ( r , θ , h ) ∉ [ P ∪ Q ]
The repulsion that described forbidden district, buffer zone produce tower arm, by asking forbidden district, between buffer zone and tower arm, the negative gradient of repulsion potential field obtains, that is:
Repulsion suffered by described tower machine is forbidden district, make a concerted effort to the repulsion that tower machine suspension hook, tower arm produce in buffer zone, that is:
F rep＝F repg+F repb
The gravitation that described object point produces tower machine suspension hook, by asking the negative gradient of object point and tower machine suspension hook gravitation potential field to obtain, that is:
F a t t p ( X ) = - ▿ U a t t p ( X ) = - k a t t p ( X - X g ) X ( r , θ , h ) ∉ [ P ∪ Q ] 0 X ( r , θ , h ) ∈ [ P ∪ Q ]
Define two state vector λ rep(λ repr, λ rep θ, λ reph) and λ att(λ attr, λ att θ, λ atth), wherein λ repr, λ rep θ, λ rephrepresent the repulsion state of tower machine three kinematic mechanisms respectively, λ attr, λ att θ, λ atthrepresent the gravitation state of tower machine three kinematic mechanisms respectively, its value is-1,0,1}, the potential field power negate of-1 expression tower machine, moves to reversing sense; 0 represents that potential field power is 0, and tower machine is braked and does decelerated movement; 1 represents that the potential field power of tower machine is constant, and state of kinematic motion is constant.If forbid that tower machine suspension hook passes through, then λ above danger area or obstacle reph=0; If allow tower machine suspension hook process above obstacle, then λ reph=1.
The F that makes a concerted effort of the described potential field gravitation suffered by tower machine and potential field repulsion totalbe expressed as:
F t o t a l = λ a t t · F a t t T + Σ i = 1 n λ r e p i · F r e p i T
To sum up content, the present invention discloses tower owner in a kind of multi obstacle environment and moves safety working method, it is characterized in that, obstacles all within the scope of tower machine operation are projected in horizontal surface, as the original forbidden district of tower machine, then based on the movement characteristic of tower machine, revise original forbidden district; In order to make tower machine not because inertia operation enters forbidden district, and being parked in object point exactly, determining Ta Ji runtime buffer district; Then relative position gravitation potential field is set at tower machine object point place, repulsion potential field is set at obstacle place, gathering as constraint condition using forbidden district and buffer zone, then by asking the negative gradient of potential field function, drawing the potential field gravitation suffered by tower machine and potential field repulsion.Under the combined action of potential field gravitation and potential field repulsion, tower machine just can reasonable avoiding obstacles, safety, exactly lift heavy is delivered to terminal, realizes the active safety operation of tower machine.

Claims (5)

1. in multi obstacle environment, tower owner moves safety working method, it is characterized in that: implement according to following steps:
Step 1, according to tower machine operation feature, revise the original forbidden district in operating environment, and with forbidden district set expression;
By the obstacle within the scope of tower machine operation at horizontal surface inner projection, obtain the original forbidden district of fitfull; According to the gyroscopic movement feature of tower arm, original for fitfull forbidden district is modified to fan-shaped, and represents with aggregate form, form the forbidden district set of tower machine;
Step 2, at tower machine suspension hook object point and forbidden district neighborhood, buffer zone is set, and represents with aggregate form;
In order to make tower machine not because inertia operation enters forbidden district, and be parked in object point exactly, at tower machine forbidden district neighborhood and suspension hook object point, using the stopping distance of tower machine luffing, revolution, lifting mechanism as tower machine luffing, turn round, hoist runtime buffer district, ask tower machine luffing, turn round, the union in the runtime buffer district that hoists, obtain the set of Ta Ji runtime buffer district;
Step 3, set up tower owner in obstacle environment and move safe operation potential field model;
At tower machine operational objective point, place arranges relative position gravitation potential field, arranges repulsion potential field at obstacle place, gathers as constraint condition, set up tower owner in obstacle environment and move safe operation potential field model using forbidden district and buffer zone;
Step 4, carry out tower owner and move safe operation decision-making;
Move safe operation potential field model according to tower owner, calculate potential field gravitation and the potential field repulsion of tower machine, and the making a concerted effort of potential field gravitation and potential field repulsion, and then carry out tower owner and move safe operation decision-making.
2. in multi obstacle environment according to claim 1, tower owner moves safety working method, it is characterized in that: in described step 1, described original forbidden district is revised, for starting point with the center of gyration of tower machine, draw the most left, the rightest two boundary lines, connect with the most left, the low order end in the original forbidden district within the scope of tower machine operation, obtain the minimum azimuth angle theta in new forbidden district minwith maximum azimuth angle theta max, then with tower machine center of gyration for the center of circle, with the shortest distance r of center of gyration to original forbidden district minwith longest distance r maxfor radius, draw two circular arcs and original forbidden district the most left, rightmost circle is crossing, then the region surrounded by two boundary lines and inside and outside circular arc is stretched to the maximum height h of obstacle max, form forbidden district P; The forbidden district set of described tower machine is with P (P r, P θ, P h) represent any point in forbidden district, then P r∈ [r min, r max], P θ∈ [θ min, θ max], P h∈ [0, h max], in forbidden district set a little form forbidden district P, available P r, P θ, P hcommon factor represent, i.e. P=P r∩ P θ∩ P h; For the forbidden spatial domain of tower machine suspension hook, use P r, P θcommon factor represent, i.e. P=P r∩ P θ; If there be n obstacle within the scope of tower machine operation, then the set of forbidden district can with also set representations, the i.e. P=P in forbidden district corresponding to n obstacle 1∪ ... ∪ P i∪ ... ∪ P n.
3. in multi obstacle environment according to claim 1, tower owner moves safety working method, it is characterized in that: in described step 2, described buffer zone comprises luffing buffer zone, revolution buffer zone, hoist buffer zone, and its burst length is respectively luffing stopping distance r b, rotary braking distance theta b, hoist stopping distance h b, can calculate according to theorem of kinetic energy; With Q (Q r', Q θ', Q h') represent any point in buffer zone, then when the inside luffing of tower machine dolly, Q r' ∈ [r min, r min+ r b), during outside luffing, Q r' ∈ [r max-r b, r max); When tower machine turning anticlockwise, Q θ' ∈ [θ min-θ b, θ min), during cw revolution, Q θ' ∈ [θ max, θ max+ θ b); When tower machine suspension hook hoists, Q h'=[h max-h b, h max), during decline, Q h'=[0, h b); For at object point X g(r g, θ g, h g) place arrange buffer zone, r min=r max=r g, θ min=θ max=θ g, h max=h g; With in buffer zone set expression buffer zone Q a little, then luffing buffer zone is Q r=Q r' ∩ P θ∩ P h; Revolution buffer zone is Q θ=Q θ' ∩ P r∩ P h; The buffer zone that hoists is Q h=Q h' ∩ P r∩ P θ, whole buffer zone is Q=Q r∪ Q θ∪ Q h; If there be n buffer zone within the scope of tower machine operation, then described tower machine buffer zone set can with these buffer zones and set representations, i.e. Q=Q 1∪ ... ∪ Q i∪ ... ∪ P n.
4. in multi obstacle environment according to claim 1, tower owner moves safety working method, it is characterized in that: in described step 3, described is that tower owner that constraint condition is set up moves safe operation potential field model and comprises forbidden district, repulsion potential field model between buffer zone and tower arm, forbidden district, the repulsion potential field model between buffer zone and tower machine suspension hook, the relative position gravitational potential field model between object point and tower machine suspension hook with forbidden district and buffer zone set;
Described forbidden district, between buffer zone and tower machine suspension hook, repulsion potential field model is set, is defined by following formula:
In formula: X is the current location of tower machine suspension hook, X ofor point nearest apart from tower machine suspension hook in forbidden district P, k repgfor suspension hook repulsion potential field gain factor;
Described forbidden district, repulsion potential field model between buffer zone and tower arm, defined by following formula:
In formula: k repbfor tower arm repulsion potential field gain factor, θ is tower arm degreeof turn, θ ofor the rim angle of fan-shaped buffer zone, when tower machine turning anticlockwise, θ o=θ min, during cw revolution, θ o=θ max, h tfor tower arm is apart from floor level;
Described relative position gravitational potential field function is defined by following formula:
In formula: X gfor the locus of object point, k attpfor relative position gravitation potential field gain factor.
5. in multi obstacle environment according to claim 1, tower owner moves safety working method, it is characterized in that: in described step 4, in described multi obstacle environment, tower owner moves safe operation decision-making, be suffered by tower machine potential field repulsion and potential field gravitation make a concerted effort make; Under the effect that potential field is made a concerted effort, tower machine just can carry out hoisting in an orderly manner, luffing, gyroscopic movement, walks around a series of obstacle, accurately lift heavy is delivered to terminal, realize tower owner and move safe operation;
Described tower machine potential field makes a concerted effort to obtain by synthesizing potential field repulsion and potential field gravitation, and its expression formula is:
Wherein, F repi=F repgi+ F repbi, F repgirepresent the repulsion that i-th obstacle produces tower machine suspension hook, by asking forbidden district, between buffer zone and tower machine suspension hook, the negative gradient of repulsion potential field obtains, F repgirepresent the repulsion that i-th obstacle produces tower arm, by asking forbidden district, between buffer zone and tower arm, the negative gradient of repulsion potential field obtains; F attrepresent that object point is to the gravitation produced tower machine suspension hook, obtains by asking the negative gradient of the gravitational potential field model between object point and tower machine suspension hook; λ repirepresent the repulsion state vector of tower machine three kinematic mechanisms under the effect of i-th obstacle, λ attrepresent the gravitation state vector of tower machine three kinematic mechanisms.
CN201510919782.3A 2015-12-11 2015-12-11 Tower crane active safety operation method in multi-obstacle environment Pending CN105314544A (en)

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CN111099504A (en) * 2019-12-17 2020-05-05 北汽福田汽车股份有限公司 Crane control method and device and vehicle
CN112486164A (en) * 2020-10-12 2021-03-12 星火科技技术(深圳)有限责任公司 Method, device and equipment for path planning of intelligent trolley and storage medium
CN113031621A (en) * 2021-03-19 2021-06-25 山东大学 Bridge crane safety obstacle avoidance path planning method and system
CN114661068A (en) * 2022-05-17 2022-06-24 天津滨海国际机场有限公司 Method and device for driving flying object in airport, electronic equipment and medium

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