CN105836627B - A kind of gantry crane pose based on three-dimensional coordinate positioning determines method - Google Patents
A kind of gantry crane pose based on three-dimensional coordinate positioning determines method Download PDFInfo
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- CN105836627B CN105836627B CN201610246533.7A CN201610246533A CN105836627B CN 105836627 B CN105836627 B CN 105836627B CN 201610246533 A CN201610246533 A CN 201610246533A CN 105836627 B CN105836627 B CN 105836627B
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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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Abstract
The invention discloses a kind of gantry crane pose based on three-dimensional coordinate positioning to determine method, it is characterized in that this method chooses at least two datum marks on the native country of gantry crane, then using three-dimensional localization techniques two datum marks are carried out with the measurement of three-dimensional coordinate, rotary middle point X of two datum marks with respect to arm support is calculated using trigonometric function in the three-dimensional coordinate measuredC、YCAnd ZCThe angle of revolution α of coordinate and arm supportArm supportWith arm support and horizontal sextant angle βArm supportCrane pose parameter, the locus of gantry crane system of bars is determined by crane pose parameter.The present invention is simple to operation with method compared with prior art, and cost is low, and reliability is high, preferably resolves the anti-collision problem of shipbuildingcrane, the security monitoring for the crane that is particularly suitable for use in and escorting for safety in production.
Description
Technical field
It is specifically a kind of to be positioned based on three-dimensional coordinate the present invention relates to crane safety monitoring and anti-collision technique field
Gantry crane pose determine method.
Background technology
Gantry crane is used for the occasions such as shipyard, harbour, is that the important of big-and-middle formed steel construction segmentation, large scale 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
Into again boom system includes main boom, trunk beam, big pull bar, counterweight pull bar etc..In the operation, revolution and change of gantry crane
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, to grasp at any time
The locus of gantry crane system of bars, i.e. gantry crane pose, in order to avoid collided with miscellaneous equipment or building
And cause major accident.
The locus of gantry crane system of bars can be with pivot coordinate, angle of revolution and luffing angle come unique
The pose of gantry crane is determined, at present in the control system of crane itself, the information of these three parameters can not be obtained.At present
In the patent and periodical literature of announcement, the technology of the measurement some measuring points of crane is also only referred to, is still risen without reference to determination gate seat
The technology contents of heavy-duty machine posture information.
The content of the invention
A kind of gate seat based on three-dimensional coordinate positioning that the purpose of the present invention is in view of the shortcomings of the prior art and designed rises
Heavy-duty machine pose determines method, using the position coordinates for first measuring several datum marks, is then converted by several position coordinateses
To the attitude parameter of crane, there is very strong practicality to crane collision resistant, method is simple to operation, and cost is low, reliability
Height, the security monitoring for the crane that is particularly suitable for use in and escorting for safety in production.
The object of the present invention is achieved like this：A kind of gantry crane pose determination side based on three-dimensional coordinate positioning
Method, it is characterized in that this method chooses at least two datum marks on the body of gantry crane, then using three-dimensional localization techniques
Two datum marks are carried out with the measurement of three-dimensional coordinate, two datum marks are calculated using trigonometric function in the position three-dimensional coordinate measured
Relative to crane pivot and computer room lower plane intersection point C three-dimensional coordinate and the angle of revolution α of arm supportArm supportWith arm support and water
Flat angle βArm supportCrane pose parameter, the locus of gantry crane system of bars, institute are determined by crane pose parameter
State the X of crane pivot and computer room lower plane intersection point CCCoordinate is calculated by following formula (1)：
XC=XB+LBC×cos(αBC)=XB+√(XBC 2+YBC 2)×cos(degrees(αArm support+degrees(arctan
(YBC/XBC)))) (1)
Wherein：XB、XCFor the X-coordinate of B datum marks and intersection point C；XBC、YBCFor X and Y coordinates of the B datum marks with respect to intersection point C；
LBCDistance for B datum marks to intersection point C.
The Y of the crane pivot and computer room lower plane intersection point CCCoordinate is calculated by following formula (2)：
YC=YB+LBC×sin(αBC)=√ (XBC 2+YBC 2)×sin(degrees(αArm support+degrees(arctan(YBC/
XBC)))) (2)
Wherein：YB、YCFor the Y-coordinate of B datum marks and intersection point C；αBCFor B datum marks to intersection point C angle of revolution.
The Z of the crane pivot and computer room lower plane intersection point CCCoordinate is calculated by following formula (3)：
ZC=ZB-ZBC (3)
Wherein：ZC、ZBFor the Z coordinate of intersection point C and B datum mark；ZBCFor Z coordinate of the B datum marks with respect to intersection point C.
The angle of revolution α of the arm supportArm supportIt is calculated by following formula (4)：
αArm support=degrees (arctan ((YA-YB)/(XA-XB))-arcsin(|YAC-YBC|/√((YA-YB)2+(XA-XB)2)) (4)
Wherein：XA、YA、XB、YBFor the X and Y coordinates of the datum mark of A, B two；YAC、YBCFor Y of the datum mark of A, B two with respect to intersection point C
Coordinate.
The arm support and horizontal sextant angle βArm supportIt is calculated by following formula (5)：
Arm support and horizontal sextant angle βArm support=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 marks and arm support；XA、XCFor A datum marks and intersection point C X
Coordinate；YA、YCFor the Y-coordinate of A datum marks and intersection point C；LDEFor hinge under arm support midpoint D in the middle part of arm support top and trunk beam
Hinge E distance；LCDFor the distance of the midpoint D of hinge under intersection point C to arm support；XAE、YAECut with scissors for A datum marks with respect to arm support top
The X and Y coordinates of point and hinge E in the middle part of trunk beam.
At least two datum marks are chosen on the body of the gantry crane, one datum mark is arranged on trunk beam head master
Hook assembly pulley immediate vicinity, another datum mark are arranged near rotating disk afterbody midpoint.
The three-dimensional localization techniques are GPS, glonass or big-dipper satellite location technology.
The present invention is simple to operation with method compared with prior art, and cost is low, and reliability is high, preferably resolves ship
The anti-collision problem of factory's crane, the security monitoring for the crane that is particularly suitable for use in and escorting for safety in production.
Brief description of the drawings
Fig. 1 is measurement point A arrangement and angle of pitch schematic diagram；
Fig. 2 is measurement point B arrangement schematic diagram；
Fig. 3 is the angle of revolution schematic diagram of arm support.
Embodiment
It is datum mark that the present invention chooses 2 points of A, B on the body of gantry crane, is then filled using three-dimensional localization
The three-dimensional coordinate for measuring the datum mark of A, B two is put, gate seat is calculated using trigonometric function by the three-dimensional coordinate of two datum mark
The pose parameter of heavy-duty machine, the locus of gantry crane system of bars is determined by crane pose parameter.Key of the invention exists
In the selection and the derivation of crane pose computational methods of datum mark, datum mark quantity should not be too many, otherwise can increase positioning dress
The purchase cost put, the posture of crane very little, otherwise should not be also calculated without enough coordinate informations.
Embodiment 1
Refering to accompanying drawing 1, the selected datum mark of the present invention has 2, and a datum mark is arranged in trunk beam head main hook pulley
A points near group center A'.
Refering to accompanying drawing 2, another datum mark is arranged in the B points near rotating disk afterbody midpoint B'.In crane amplitude variation plane
Interior, A' points are away from centre of gyration front portion solstics, and B' points are away from centre of gyration rear portion solstics, by point layout in the two positions
Measurement error can farthest be reduced by putting, but in actual installation positioner, due to the limitation of installing space, not
It can be arranged in mathematical point, a certain position that can be only installed near it, i.e., respectively A points and B points.Positioned by three-dimensional coordinate
Technology measurement obtains the coordinate of A points and B points, respectively A (XA, YA, ZA) and B (XB, YB, ZB)。
Refering to accompanying drawing 3, according to the practical structures of crane, A points are obtained with respect to crane pivot and computer room lower plane
Intersection point C coordinate (XAC, YAC, ZAC), B points are with respect to crane pivot and computer room lower plane intersection point C coordinate (XBC, YBC,
ZBC)；A points are with respect to hinge E coordinates (X in the middle part of arm support top and trunk beamAE, YAE, ZAE)；Crane pivot under computer room with putting down
Face intersection point C to the midpoint D of hinge under arm support distance LCD；The midpoint D of hinge coordinate Z under arm supportD；The midpoint of hinge under arm support
D to hinge E in the middle part of arm support top and trunk beam distance LDE.By deriving, arm support anglec of rotation α is obtainedArm supportFor：
αArm support=degrees (arctan ((YA-YB)/(XA-XB))-arcsin(|YAC-YBC|/√((YA-YB)2+(XA-XB
)2)) formula (4)
The X of crane pivot and computer room lower plane intersection point CCFor：
XC=XB+LBC×cos(αBC)=XB+√(XBC 2+YBC 2)×cos(degrees(αArm support+degrees(arctan
(YBC/XBC)))) formula (1)
Wherein：LBC=√ (XBC 2+YBC 2)；αBC=degrees (αArm support+arctan(YBC/XBC))。
The Y of crane pivot and computer room lower plane intersection point CCFor：
YC=YB+LBC×sin(αBC)=√ (XBC 2+YBC 2)×sin(degrees(αArm support+degrees(arctan(YBC/
XBC)))) formula (2)
The coordinate Z of crane pivot and computer room lower plane intersection point CCFor：
ZC=ZB-ZBCFormula (3)
Arm support and horizontal sextant angle (angle of pitch) βArm supportFor：
βArm support=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 enforcement, it is intended to be limited solely by within the right of patent of the present invention.
Claims (3)
1. a kind of gantry crane pose based on three-dimensional coordinate positioning determines method, it is characterised in that this method is in gate seat lifting
At least two datum marks are chosen on the body of machine, then using three-dimensional localization techniques two datum marks are carried out with the survey of three-dimensional coordinate
Amount, two datum marks are calculated relative to flat under crane pivot and computer room using trigonometric function in the three-dimensional coordinate measured
Face intersection point C three-dimensional coordinate and the angle of revolution α of arm supportArm supportWith arm support and horizontal sextant angle βArm supportCrane pose parameter, by
Heavy-duty machine pose parameter determines the locus of gantry crane system of bars, and the crane pivot is handed over computer room lower plane
Point C XCCoordinate is calculated by following formula (1)：
XC=XB+LBC×cos(αBC)=XB+√(XBC 2+YBC 2)×cos(degrees(αArm support+degrees(arctan(YBC/
XBC)))) (1)
Wherein：XB、XCFor the X-coordinate of B datum marks and intersection point C；XBC、YBCFor X and Y coordinates of the B datum marks with respect to intersection point C；LBCFor B
Datum mark to intersection point C distance；
The Y of the crane pivot and computer room lower plane intersection point CCCoordinate is calculated by following formula (2)：
YC=YB+LBC×sin(αBC)=√ (XBC 2+YBC 2)×sin(degrees(αArm support+degrees(arctan(YBC/XBC)))) (2)
Wherein：YB、YCFor the Y-coordinate of B datum marks and intersection point C；αBCFor B datum marks to intersection point C angle of revolution；
The Z of the crane pivot and computer room lower plane intersection point CCCoordinate is calculated by following formula (3)：
ZC=ZB-ZBC (3)
Wherein：ZC、ZBFor the Z coordinate of intersection point C and B datum mark；ZBCFor Z coordinate of the B datum marks with respect to intersection point C；
The angle of revolution α of the arm supportArm supportIt is calculated by following formula (4)：
αArm support=degrees (arctan ((YA-YB)/(XA-XB))-arcsin(|YAC-YBC|/√((YA-YB)2+(XA-XB)2)) (4)
Wherein：XA、YA、XB、YBFor the X and Y coordinates of the datum mark of A, B two；YAC、YBCSat for Y of the datum mark of A, B two with respect to intersection point C
Mark；
The arm support and horizontal sextant angle βArm supportIt is calculated by following formula (5)：
Arm support and horizontal sextant angle βArm support=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 marks and arm support；XA、XCFor the X-coordinate of A datum marks and intersection point C；
YA、YCFor the Y-coordinate of A datum marks and intersection point C；LDEFor the midpoint D to hinge E in the middle part of arm support top and trunk beam of hinge under arm support
Distance；LCDFor the distance of the midpoint D of hinge under intersection point C to arm support；XAE、YAEIt is the relative arm support top of A datum marks and trunk beam
Middle part hinge E X and Y coordinates.
2. the gantry crane pose according to claim 1 based on three-dimensional coordinate positioning determines method, it is characterised in that institute
State and at least two datum marks are chosen on the body of gantry crane, one datum mark is arranged in the main hook assembly pulley of trunk beam head
Near the heart, another datum mark is arranged near rotating disk afterbody midpoint.
3. the gantry crane pose according to claim 1 based on three-dimensional coordinate positioning determines method, it is characterised in that institute
It is GPS, glonass or big-dipper satellite location technology to state three-dimensional localization techniques.
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| CN107522109B (en) * | 2017-08-28 | 2019-06-11 | 北汽福田汽车股份有限公司 | Collision-proof method, collision avoidance system and engineering machinery |
| NO20180946A1 (en) * | 2018-07-05 | 2020-01-06 | 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 |
| CN116026276B (en) * | 2023-03-28 | 2023-06-13 | 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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| DE202008008174U1 (en) * | 2008-06-18 | 2009-11-05 | Liebherr-Werk Ehingen Gmbh | Crane, preferably mobile or crawler crane |
| CN102923572B (en) * | 2012-09-24 | 2015-08-26 | 苏州市思玛特电力科技有限公司 | A kind of crane load space pivot angle detection technique and device |
| CN103303796B (en) * | 2013-07-08 | 2015-01-14 | 北京中船信息科技有限公司 | Gantry crane attitude monitoring system and method based on beidou satellite positioning system |
| CN103332596B (en) * | 2013-07-08 | 2015-05-27 | 北京中船信息科技有限公司 | Method for GPS-based gantry crane attitude monitoring system |
| JP6226274B2 (en) * | 2013-09-30 | 2017-11-08 | 五洋建設株式会社 | Crane ship suspension position detection device and suspension position detection method |
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