CN105836627A - Three-dimensional coordinate positioning-based position and attitude determination method of gantry crane - Google Patents

Three-dimensional coordinate positioning-based position and attitude determination method of gantry crane Download PDF

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Publication number
CN105836627A
CN105836627A CN201610246533.7A CN201610246533A CN105836627A CN 105836627 A CN105836627 A CN 105836627A CN 201610246533 A CN201610246533 A CN 201610246533A CN 105836627 A CN105836627 A CN 105836627A
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jib
datum mark
coordinate
intersection point
crane
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CN105836627B (en
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李元春
李永凤
任宇刚
董元跃
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China Shipbuilding NDRI Engineering Co Ltd
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China Shipbuilding NDRI Engineering Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
    • B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical

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

Abstract

The invention discloses a three-dimensional coordinate positioning-based position and attitude determination method of a gantry crane. The method is characterized in that at least two datum points are selected on a body of the gantry crane, then three-dimensional coordinates of the two datum points are measured through a three-dimensional positioning technology, the measured three-dimensional coordinates are calculated through a trigonometric function, X<C>, Y<C> and Z<C> coordinates of the two datum points relative to a rotation center point of a boom as well as crane position and attitude parameters such as a revolution angle alpha<boom> of the boom and an included angle beta<boom> formed by the boom and the horizontal direction are obtained, and the spatial position of a rod system of the gantry crane is determined by the aid of the crane position and attitude parameters. Compared with the prior art, the method has the advantages that the method is simple and easy to operate, low in cost and high in reliability, better solves the problem about collision prevention of shipyard cranes and is particularly applicable to guaranteeing of safety monitoring and safe production of the cranes.

Description

A kind of gantry crane pose based on three-dimensional coordinate location determines method
Technical field
The present invention relates to crane safety monitoring and anti-collision technique field, specifically a kind of based on three-dimensional coordinate location Gantry crane pose determine method.
Background technology
Gantry crane is used for the occasion such as shipyard, harbour, is that the important of big-and-middle-sized steel construction segmentation, main equipment etc. hangs Holding tool.The system of bars of gantry crane is relatively complicated, generally by gate seat part, rotary column part and boom system group Becoming, boom system includes again principal arm frame, trunk beam, big pull bar, counterweight pull bar etc..Gantry crane operation, turn round and become During width, the position of each rod member is extremely complex space curve, gantry crane and plant area's miscellaneous equipment or building it Between relative position relation be difficult to determine, so, in actual mechanical process, for the needs of production safety, grasp at any time The locus of gantry crane system of bars, i.e. gantry crane pose, in order to avoid colliding with miscellaneous equipment or building And cause major accident.
It is unique that the locus of gantry crane system of bars can use center of rotation coordinate, angle of revolution and luffing angle Determine the pose of gantry crane, in the control system of current crane self, it is impossible to obtain the information of these three parameter.At present In the patent announced and periodical literature, the most only mention the technology measuring some measuring point of crane, still without reference to determining that gate seat rises The technology contents of heavy-duty machine posture information.
Summary of the invention
A kind of based on three-dimensional coordinate location the gate seat that it is an object of the invention to design for the deficiencies in the prior art rises Heavy-duty machine pose determines method, uses the position coordinates first recording several datum marks, is then converted by several position coordinateses To the attitude parameter of crane, having the strongest practicality to crane collision resistant, method is simple to operation, low cost, reliability Height, is particularly suited for the security monitoring of crane and escorting of safety in production.
The object of the present invention is achieved like this: a kind of gantry crane pose side of determination based on three-dimensional coordinate location Method, is characterized in that the method chooses at least two datum mark on the body of gantry crane, then uses three-dimensional localization techniques Two datum marks are carried out the measurement of three-dimensional coordinate, utilizes trigonometric function to be calculated two datum marks the position three-dimensional coordinate recorded Three-dimensional coordinate relative to crane center of rotation and machine room lower plane intersection point C and the angle of revolution α of jibJibWith jib and water Flat angle βJibCrane pose parameter, crane pose parameter determine the locus of gantry crane system of bars, institute State the X of crane center of rotation and machine room lower plane intersection point CCCoordinate is calculated by following formula (1):
XC=XB+LBC×cos(αBC)=XB+√(XBC 2+YBC 2)×cos(degrees(αJib+degrees(arctan (YBC/XBC)))) (1)
Wherein: XB、XCFor B datum mark and the X-coordinate of intersection point C；XBC、YBCX and Y coordinates for B datum mark phase antinode C； LBCDistance for B datum mark to intersection point C.
Described crane center of rotation and the Y of machine room lower plane intersection point CCCoordinate is calculated by following formula (2):
YC=YB+LBC×sin(αBC)=√ (XBC 2+YBC 2)×sin(degrees(αJib+degrees(arctan(YBC/ XBC)))) (2)
Wherein: YB、YCFor B datum mark and the Y coordinate of intersection point C；αBCAngle of revolution for B datum mark to intersection point C.
Described crane center of rotation and the Z of machine room lower plane intersection point CCCoordinate is calculated by following formula (3):
ZC=ZB-ZBC (3)
Wherein: ZC、ZBFor intersection point C and the Z coordinate of B datum mark；ZBCZ coordinate for B datum mark phase antinode C.
The angle of revolution α of described jibJibIt is calculated by following formula (4):
αJib=degrees (arctan ((YA-YB)/(XA-XB))-arcsin(|YAC-YBC|/√((YA-YB)2+(XA-XB )2)) (4)
Wherein: XA、YA、XB、YBFor A, B two X and Y coordinates of datum mark；YAC、YBCFor A, B two Y of datum mark phase antinode C Coordinate.
Described jib and horizontal sextant angle βJibIt is calculated by following formula (5):
Jib and horizontal sextant angle βJib=degrees (arctan ((ZA-ZD)/(√((XA-XC)2+(YA-YC)2-YAE 2)- LCD)+arccos((LDE 2+((√((XA-XC)2+(YA-YC)2-YAE 2))-LCD)/cos(arctan((ZA-ZD)/(√((XA-XC)2 +(YA-YC)2-YAE 2)-LCD)))2-(XAE 2+YAE 2))/(2×LDE×(√((XA-XC)2+(YA-YC)2-YAE 2))-LCD)/cos (arctan((ZA-ZD)/(√((XA-XC)2+(YA-YC)2-YAE 2)-LCD)))) (5)
Wherein: ZA、ZDFor the Z coordinate of the midpoint D of hinge under A datum mark and jib；XA、XCFor A datum mark and the X of intersection point C Coordinate；YA、YCFor A datum mark and the Y coordinate of intersection point C；LDEIn the middle part of the midpoint D of hinge under jib to jib top and trunk beam The distance of hinge E；LCDFor the distance of the midpoint D of hinge under intersection point C to jib；XAE、YAECut with scissors relative to jib top for A datum mark The X and Y coordinates of hinge E in the middle part of point and trunk beam.
Choosing at least two datum mark on the body of described gantry crane, one datum mark is arranged on trunk beam head master Hook assembly pulley immediate vicinity, another datum mark is arranged near rotating disk afterbody midpoint.
Described three-dimensional localization techniques is GPS, glonass or big-dipper satellite location technology.
It is simple to operation that the present invention compared with prior art has method, low cost, and reliability is high, preferably resolves ship The anti-collision problem of factory's crane, is particularly suited for the security monitoring of crane and escorting of safety in production.
Accompanying drawing explanation
Fig. 1 is layout and the angle of pitch schematic diagram measuring some A；
Fig. 2 is the layout schematic diagram measuring some B；
Fig. 3 is the angle of revolution schematic diagram of jib.
Detailed description of the invention
It is datum mark that the present invention chooses A, B 2 on the body of gantry crane, then uses three-dimensional localization dress Put and record A, B two three-dimensional coordinate of datum mark, the three-dimensional coordinate of this two datum mark utilizing trigonometric function to be calculated gate seat The pose parameter of heavy-duty machine, is determined the locus of gantry crane system of bars by crane pose parameter.Present invention key exists Choosing and the derivation of crane pose computational methods in datum mark, datum mark quantity is unsuitable too many, otherwise can increase location dress The purchase cost put, should not otherwise not have enough coordinate informations to calculate the attitude of crane very little yet.
Embodiment 1
Refering to accompanying drawing 1, the datum mark that the present invention selectes has 2, and a datum mark is arranged in trunk beam head main hook pulley A point near group switching centre A'.
Refering to accompanying drawing 2, another datum mark is arranged in the B point near rotating disk afterbody midpoint B'.In crane amplitude variation plane In, A' point is away from solstics, centre of gyration front portion, and B' point is away from solstics, centre of gyration rear portion, by point layout in the two position Put and can farthest reduce measurement error, but when actual installation positioner, due to the restriction of installing space, not Can be arranged in mathematical point, can be only installed at its neighbouring a certain position, the most respectively A point and B point.Positioned by three-dimensional coordinate Commercial measurement obtains A point and the coordinate of B point, respectively A (XA, YA, ZA) and B (XB, YB, ZB)。
Refering to accompanying drawing 3, according to the practical structures of crane, obtain A point relative to crane center of rotation and machine room lower plane Coordinate (the X of intersection point CAC, YAC, ZAC), B point is relative to the coordinate (X of crane center of rotation Yu machine room lower plane intersection point CBC, YBC, ZBC)；A point is relative to hinge E coordinate (X in the middle part of jib top and trunk beamAE, YAE, ZAE)；Crane center of rotation is flat with under machine room Face intersection point C is to distance L of the midpoint D of hinge under jibCD；The coordinate Z of the midpoint D of hinge under jibD；The midpoint of hinge under jib D is to distance L of hinge E in the middle part of jib top and trunk beamDE.By deriving, obtain jib anglec of rotation αJibFor:
αJib=degrees (arctan ((YA-YB)/(XA-XB))-arcsin(|YAC-YBC|/√((YA-YB)2+(XA-XB )2)) formula (4)
Crane center of rotation and the X of machine room lower plane intersection point CCFor:
XC=XB+LBC×cos(αBC)=XB+√(XBC 2+YBC 2)×cos(degrees(αJib+degrees(arctan (YBC/XBC)))) formula (1)
Wherein: LBC=√ (XBC 2+YBC 2)；αBC=degrees (αJib+arctan(YBC/XBC))。
Crane center of rotation and the Y of machine room lower plane intersection point CCFor:
YC=YB+LBC×sin(αBC)=√ (XBC 2+YBC 2)×sin(degrees(αJib+degrees(arctan(YBC/ XBC))))
Formula (2)
Crane center of rotation and the coordinate Z of machine room lower plane intersection point CCFor:
ZC=ZB-ZBCFormula (3)
Jib and horizontal sextant angle (angle of pitch) βJibFor:
βJib=degrees (arctan ((ZA-ZD)/(√((XA-XC)2+(YA-YC)2-YAE 2)-LCD)+
arccos((LDE 2+((√((XA-XC)2+(YA-YC)2-YAE 2))-LCD)/cos
(arctan((ZA-ZD)/(√((XA-XC)2+(YA-YC)2-YAE 2)-LCD)))2-(XAE 2+YAE 2))/(2×
LDE×(√((XA-XC)2+(YA-YC)2-YAE 2))-LCD)/cos(arctan((ZA-ZD)/(√((XA-XC)2+(YA- YC)2
-YAE 2)-LCD))))
Formula (5)
Wherein: LAC=√ ((XA-XC)2+(YA-YC)2)；LA'C=√ (LAC 2-YAE 2)；LA'D=(LA'C-LCD)/cos (arctan((ZA-ZD)/(LA'C-LCD)))；LA'E=√ (XAE 2+YAE 2)。
Simply the present invention will be further described for above example, and is not used to limit patent of the present invention, all for the present invention Equivalence is implemented, within being intended to be limited solely by the right of patent of the present invention.

Claims (3)

1. a gantry crane pose based on three-dimensional coordinate location determines method, it is characterised in that the method is in gate seat lifting Choose at least two datum mark on the body of machine, then use three-dimensional localization techniques that two datum marks carry out the survey of three-dimensional coordinate Amount, utilizes trigonometric function to be calculated two datum marks flat with under machine room relative to crane center of rotation by the three-dimensional coordinate recorded The three-dimensional coordinate of face intersection point C and the angle of revolution α of jibJibWith jib and horizontal sextant angle βJibCrane pose parameter, by Heavy-duty machine pose parameter determines that the locus of gantry crane system of bars, described crane center of rotation are handed over machine room lower plane The X of some CCCoordinate is calculated by following formula (1):
XC=XB+LBC×cos(αBC)=XB+√(XBC 2+YBC 2)×cos(degrees(αJib+degrees(arctan(YBC/ XBC)))) (1)
Wherein: XB、XCFor B datum mark and the X-coordinate of intersection point C；XBC、YBCX and Y coordinates for B datum mark phase antinode C；LBCFor B Datum mark is to the distance of intersection point C；
Described crane center of rotation and the Y of machine room lower plane intersection point CCCoordinate is calculated by following formula (2):
YC=YB+LBC×sin(αBC)=√ (XBC 2+YBC 2)×sin(degrees(αJib+degrees(arctan(YBC/XBC)))) (2)
Wherein: YB、YCFor B datum mark and the Y coordinate of intersection point C；αBCAngle of revolution for B datum mark to intersection point C；
Described crane center of rotation and the Z of machine room lower plane intersection point CCCoordinate is calculated by following formula (3):
ZC=ZB-ZBC (3)
Wherein: ZC、ZBFor intersection point C and the Z coordinate of B datum mark；ZBCZ coordinate for B datum mark phase antinode C；
The angle of revolution α of described jibJibIt is calculated by following formula (4):
αJib=degrees (arctan ((YA-YB)/(XA-XB))-arcsin(|YAC-YBC|/√((YA-YB)2+(XA-XB)2)) (4)
Wherein: XA、YA、XB、YBFor A, B two X and Y coordinates of datum mark；YAC、YBCFor A, B two datum mark phase antinode C Y sit Mark；
Described jib and horizontal sextant angle βJibIt is calculated by following formula (5):
Jib and horizontal sextant angle βJib=degrees (arctan ((ZA-ZD)/(√((XA-XC)2+(YA-YC)2-YAE 2)-LCD)+ arccos((LDE 2+((√((XA-XC)2+(YA-YC)2-YAE 2))-LCD)/cos(arctan((ZA-ZD)/(√((XA-XC)2+(YA- YC)2-YAE 2)-LCD)))2-(XAE 2+YAE 2))/(2×LDE×(√((XA-XC)2+(YA-YC)2-YAE 2))-LCD)/cos(arctan ((ZA-ZD)/(√((XA-XC)2+(YA-YC)2-YAE 2)-LCD)))) (5)
Wherein: ZA、ZDFor the Z coordinate of the midpoint D of hinge under A datum mark and jib；XA、XCFor A datum mark and the X-coordinate of intersection point C； YA、YCFor A datum mark and the Y coordinate of intersection point C；LDEFor hinge E in the middle part of the midpoint D of hinge under jib to jib top and trunk beam Distance；LCDFor the distance of the midpoint D of hinge under intersection point C to jib；XAE、YAEFor A datum mark relative to jib top and trunk beam The X and Y coordinates of middle part hinge E.
The most according to claim 1, gantry crane pose based on three-dimensional coordinate location determines method, it is characterised in that institute Stating and choose at least two datum mark on the body of gantry crane, one datum mark is arranged in trunk beam head main hook assembly pulley Near the heart, another datum mark is arranged near rotating disk afterbody midpoint.
The most according to claim 1, gantry crane pose based on three-dimensional coordinate location determines method, it is characterised in that institute Stating three-dimensional localization techniques is GPS, glonass or big-dipper satellite location technology.
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CN107522109A (en) * 2017-08-28 2017-12-29 北汽福田汽车股份有限公司 Collision-proof method, collision avoidance system and engineering machinery
GB2576618A (en) * 2018-07-05 2020-02-26 Mhwirth As Position measuring method and system for use on a floating installation
CN112279103A (en) * 2020-05-06 2021-01-29 江苏宏昌天马物流装备有限公司 Automatic anti-collision system of crane and control method thereof
CN116026276A (en) * 2023-03-28 2023-04-28 江苏集萃清联智控科技有限公司 Method and device for measuring rotation angle of external turntable of gantry crane for port

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CN103332596A (en) * 2013-07-08 2013-10-02 北京中船信息科技有限公司 GPS-based gantry crane attitude monitoring system and method thereof
JP2015091729A (en) * 2013-09-30 2015-05-14 五洋建設株式会社 Hanging position detection device and hanging position detection method of floating crane
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CN107522109A (en) * 2017-08-28 2017-12-29 北汽福田汽车股份有限公司 Collision-proof method, collision avoidance system and engineering machinery
GB2576618A (en) * 2018-07-05 2020-02-26 Mhwirth As Position measuring method and system for use on a floating installation
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CN116026276A (en) * 2023-03-28 2023-04-28 江苏集萃清联智控科技有限公司 Method and device for measuring rotation angle of external turntable of gantry crane for port

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