CN105888644A - Anti-collision method and anti-collision system for arm supports - Google Patents
Anti-collision method and anti-collision system for arm supports Download PDFInfo
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- CN105888644A CN105888644A CN201610206372.9A CN201610206372A CN105888644A CN 105888644 A CN105888644 A CN 105888644A CN 201610206372 A CN201610206372 A CN 201610206372A CN 105888644 A CN105888644 A CN 105888644A
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
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- Environmental & Geological Engineering (AREA)
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- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Control And Safety Of Cranes (AREA)
- Jib Cranes (AREA)
Abstract
The invention discloses an anti-collision method and an anti-collision system for arm supports. The method comprises the following steps of monitoring the distance between every two arm supports; when the distance between any two arm supports is smaller than a first preset value and is greater than a second preset value, outputting a warning prompt; when the distance between any two arm supports is equal to or smaller than the second preset value, prejudging displacement traces of the arm supports, and locking the displacement traces of the arm supports according to prejudging results, wherein the displacement for increasing the distance between the every two arm supports is effective, and other displacements are locked. According to the method and the system disclosed by the invention, the collision of the arm supports can be effectively avoided, thereby improving the safety of a drilling staging during use; meanwhile, the method disclosed by the invention is simple in implementation; the system is low in hardware cost and is high in popularization value.
Description
Technical field
The present invention relates to constructing tunnel field, in particular relate to a kind of collision-proof method for jib and system.
Background technology
At present, China needs substantial amounts of constructing tunnel to work in transportation, water power capital construction, mine are excavated.
Due to work under bad environment, labor intensity is big, danger coefficient is big, manpower demand is big, therefore is badly in need of raising and constructed
The mechanization of journey.And the intellectually and automatically of equipment can alleviate in work progress the dependence to people significantly.
Drill jumbo is a kind of rock drilling equipment, and it can move and support that multiple stage rock drill carries out drilling simultaneously.
Therefore drill jumbo is used for drilling and blasting method pledge excavation, especially uses drill bursting construction at tunnels and underground engineering
During drill jumbo be widely used.
In order to support that multiple stage rock drill carries out drilling simultaneously, a usual drill jumbo is configured with multiple arm
Frame.Owing to the job position of each jib is different, therefore in the process that jib moves to corresponding job position
In, each jib has different deformation traces.This results in during jib carries out displacement due to displacement
The crossing situation that there will be jib collision of track.The collision of jib not only results in the interruption of normal construction, and
And rock drill can be damaged.
Therefore, in order to avoid the collision of jib, need a kind of collision-proof method for jib.
Summary of the invention
In order to avoid the collision of jib, the invention provides a kind of collision-proof method for jib, described method
Comprise the following steps:
Distance between monitoring jib；
When distance between jib described in any two less than the first preset value more than the second preset value time output alert
Accuse prompting；
When distance between jib described in any two is equal to or less than described second preset value to described jib
Deformation trace carry out anticipation and according to anticipation result lock described jib deformation trace, wherein, only increase
The displacement of the spacing of jib effectively other displacement is then locked.
In one embodiment, when distance between jib described in any two less than described first preset value more than institute
The displacement trend of described jib is monitored, when described displacement trend is close to seasonal described jib when stating the second preset value
Enter deceleration displacement state, when described displacement trend for away from time exit described deceleration displacement state.
In one embodiment, arrange between described first preset value and described second preset value one or more in
Between be worth, for different intervals, different warning prompts and/or different deceleration displacement states are set.
In one embodiment, stop when distance between jib described in any two is equal to described second preset value
The displacement of described jib.
In one embodiment, described method is further comprising the steps of:
The displacement to described jib when distance between jib described in any two is equal to described second preset value
Track plans the deformation trace of described jib again.
In one embodiment, corresponding displacement priority is set for each described jib, when described in any two
The displacement rail of the described jib that the distance between jib is high equal to holding displacement priority during described second preset value
The deformation trace of the described jib that the constant new planning displacement priority of laying equal stress on of mark is low.
The invention allows for a kind of collision avoidance system for jib, described system includes:
Distance monitor, it is configured to monitor the distance between jib；
Alarm, it is configured to when distance between jib described in any two less than the first preset value more than second
Warning prompt is exported during preset value；
Displacement locking module, it is configured to when distance between jib described in any two is preset equal to described second
During value, the deformation trace to described jib carries out anticipation and locks the deformation trace of described jib according to anticipation result,
Wherein, displacement effectively other the displacement of the spacing only increasing jib is then locked.
In one embodiment, described system also comprises deceleration control module and displacement Trend judgement module, wherein:
Described displacement Trend judgement module is configured to when distance between jib described in any two is less than described the
The displacement trend of described jib is monitored when one preset value is more than described second preset value；
Described deceleration control module is configured to when described displacement trend is for entering deceleration position close to seasonal described jib
Shifting state, when described displacement trend for away from time exit described deceleration displacement state.
In one embodiment, arrange between described first preset value and described second preset value one or more in
Between be worth, wherein:
Described alarm is configured to different intervals and arranges different warning prompts；
Described deceleration control module is configured to different intervals and arranges different deceleration displacement states.
In one embodiment, institute's locking displacement module is configured to when distance etc. between jib described in any two
The displacement of described jib is stopped when described second preset value.
In one embodiment, institute's locking displacement module is configured to when distance etc. between jib described in any two
When described second preset value, deformation trace to described jib plans the deformation trace of described jib again.
In one embodiment, described system also comprises displacement priority level initializing module, wherein:
Described jib priority level initializing module is configured to each described jib and sets corresponding displacement priority；
Institute's locking displacement module is configured to when distance between jib described in any two is second pre-equal to described
If the constant new planning displacement priority of laying equal stress on of deformation trace keeping the described jib that displacement priority is high during value is low
The deformation trace of described jib.
The method according to the invention and system can be prevented effectively from the collision of jib thus improve drill jumbo and use
Safety；Meanwhile, the method for the present invention is implemented simple, and system hardware low cost has the highest promotion price
Value.
The further feature of the present invention or advantage will illustrate in the following description.Further, the part of the present invention is special
Levy or advantage will be become apparent by description, or be appreciated that by implementing the present invention.The present invention
Purpose and certain advantages can be come by step specifically noted in description, claims and accompanying drawing
Realize or obtain.
Accompanying drawing explanation
Accompanying drawing is for providing a further understanding of the present invention, and constitutes a part for description, with the present invention
Embodiment be provided commonly for explain the present invention, be not intended that limitation of the present invention.In the accompanying drawings:
Fig. 1 is method flow diagram according to an embodiment of the invention；
Fig. 2 is according to one embodiment of the invention system structure sketch.
Detailed description of the invention
Embodiments of the present invention are described in detail, whereby the enforcement of the present invention below with reference to drawings and Examples
Personnel can fully understand how application technology means are to solve technical problem for the present invention, and reaches technique effect
Realize process and be embodied as the present invention according to the above-mentioned process that realizes.As long as it should be noted that do not constitute conflict,
Each embodiment in the present invention and each feature in each embodiment can be combined with each other, the technology formed
Scheme is all within protection scope of the present invention.
Drill jumbo is a kind of rock drilling equipment, and it can move and support that multiple stage rock drill carries out drilling simultaneously.
Therefore drill jumbo is used for drilling and blasting method pledge excavation, especially uses drill bursting construction at tunnels and underground engineering
During drill jumbo be widely used.
In order to support that multiple stage rock drill carries out drilling simultaneously, a usual drill jumbo is configured with multiple arm
Frame.Owing to the job position of each jib is different, therefore in the process that jib moves to corresponding job position
In, each jib has different deformation traces.This results in during jib carries out displacement due to displacement
The crossing situation that there will be jib collision of track.The collision of jib not only results in the interruption of normal construction, and
And rock drill can be damaged.
In order to avoid the collision of jib, the present invention proposes a kind of collision-proof method for jib.First basis
The common operating mode of drill jumbo determines that the jib distance that jib collision Probability is bigger is interval.I.e. determine two arms
When what degree is distance between frame be close to, jib has bigger probability to collide.In the present invention, the most really
Fixed three distances are interval.Determining the first preset value and the second preset value, the first preset value is more than the second preset value,
Jib distance is a distance interval (normal operating distance is interval) more than the first preset value；At the first preset value
And it is a distance interval (alarm distance is interval) between the second preset value；It is one less than or equal to the second preset value
Individual distance interval (braking distance is interval).
Distance during drill jumbo carries out operation, between monitoring jib.Between any two jib
Distance more than the first preset value (normal operating distance interval) time continue normal operation；When any two jib
Between distance less than the first preset value more than output warning prompt time the second preset value (alarm distance interval)；
Distance between any two jib equal to or less than time the second preset value (braking distance interval) to described arm
The deformation trace of frame carries out anticipation the deformation trace according to anticipation result locking jib, wherein, only increases arm
The displacement of the spacing of frame effectively other displacement is then locked.
According to said method flow process, it is possible not only to when jib has collision trend remind operator to note arm in time
Frame running orbit is with collision free, and can be automatically prevented from the collision of jib before critical distance, thus improves
The safety that drill jumbo uses.
Next flow process is specifically performed based on what accompanying drawing described one embodiment of the invention in detail.In the flow chart of accompanying drawing
The step illustrated can perform in the computer system comprising such as one group of computer executable instructions.Although
Flow chart shows the logical order of each step, but in some cases, can be suitable be different from herein
Step shown or described by sequence execution.
As it is shown in figure 1, step S100 is first carried out, distance monitoring step, the mistake of operation is carried out at drill jumbo
Cheng Zhong, the distance between monitoring jib.During step S100 performs, carry out jib spacing judgement, sentence
Disconnected jib spacing is in normal operating distance interval, alarm distance is interval or braking distance is interval.Between jib
In judge process, judge for any two in multiple jibs.
Step S111 is first carried out, it is judged that jib spacing and the relation of the first preset value.When any two jib
When spacing is more than or equal to the first preset value, it is interval that the spacing of these two jibs is in normal operating distance.Now arm
Frame continues normal work, returns and continues executing with step S111, continues again to carry out spacing judgement.
If when being smaller than the first preset value of any two jib, then the spacing of these two jibs is in warning
Distance is interval or braking distance is interval.The spacing determining whether two jibs is now needed to be in alarm distance
Interval still braking distance is interval.
Further, in the present embodiment, when the distance between any two jib is in alarm distance interval
Monitoring jib displacement trend, when displacement trend be close to time illustrate that the collision of jib may be gradually increased,
This jib entrance in season deceleration displacement state.In deceleration displacement state, the translational speed of jib is less than normal work
Translational speed when making, thus reserves more response time to judge whether jib can collide and hinder further
Only jib collision.When displacement trend be away from time illustrate that the collision of jib may be gradually reduced, now exit
Deceleration displacement state, makes jib carry out displacement with translational speed during normal work.
Further, in the present embodiment, alarm distance interval is further divided into multiple minizone (
One or more intermediate value is set between one preset value and the second preset value), arrange not for different minizones
Same warning prompt and different deceleration displacement states.
Concrete, the 3rd preset value is set between the first preset value and the second preset value.Will alarm distance district
Between be divided into the first alarm distance interval (less than the first preset value and more than or equal to the 3rd preset value) and second
Alarm distance interval (less than the 3rd preset value and more than the second preset value) two intervals.Corresponding first report to the police away from
From being respectively provided with the first warning prompt and the second warning prompt between interval and the second warning distance regions, and respectively
First deceleration displacement state and the second deceleration displacement state are set.
Such as, what the first warning prompt was set to specific interval drips sound, between being set to by the second warning prompt
Every the sound less than the first warning prompt.So operator just can determine currently according to the interval dripping sound
The concrete condition of jib spacing.
The most such as, the velocity of displacement of jib is set in the second deceleration displacement state less than in the first deceleration displacement state
The velocity of displacement of jib.Thus can realize along with jib further to, its velocity of displacement drops further
Low, thus significantly more efficient reserve more response time to judge jib and whether can collide and stop arm further
Frame collides.
Concrete, as it is shown in figure 1, when step S111 judges to perform step after jib is smaller than the first preset value
Rapid S112, it is judged that jib spacing and the relation of the 3rd preset value.When jib spacing more than or equal to the 3rd preset value (and
Less than the first preset value) (first alarm distance interval) time perform step S113, export the first warning prompt.
Then step S114, displacement Trend judgement step are performed.When the displacement trend of jib be close to time, perform
Step S115, makes jib enter the first deceleration displacement state.When the displacement trend of jib be away from time, perform step
Rapid S141, makes jib exit deceleration displacement state.Further, when the displacement trend of jib be away from time, return continues
Continue and carry out spacing judgement, rejudge jib spacing.Owing to jib displacement trend is away from, now jib spacing
Move to normal operating distance interval on the basis of the first alarm distance interval, therefore return after step S141
Receipt row step S111.
In step S112, when jib is smaller than three preset values, illustrate that jib spacing is positioned at Secondary Report
Alert distance is interval or braking distance is interval, now needs the spacing determining whether two jibs to be in Secondary Report
Alert distance is interval or braking distance is interval.The most now perform step S121, it is judged that jib spacing is pre-with second
If the relation of value.When jib spacing is more than the second preset value (and less than the 3rd preset value) (the second alarm distance
Interval) time perform step S122, export the second warning prompt.
Then step S123, displacement Trend judgement step are performed.When the displacement trend of jib be close to time, perform
Step S124, makes jib enter the second deceleration displacement state.When the displacement trend of jib be away from time, perform step
Rapid S142, makes jib exit deceleration displacement state.Further, when the displacement trend of jib be away from time, return continues
Continue and carry out spacing judgement, rejudge jib spacing.Owing to jib displacement trend is away from, now jib spacing
Move to the first alarm distance interval on the basis of between the second warning distance regions, therefore return after step S142
Receipt row step S112.
In step S121, when jib is smaller than equal to the second preset value, illustrate that jib spacing is positioned at system
Dynamic distance is interval, and now the deformation trace to described jib carries out anticipation the position according to anticipation result locking jib
Moving track, wherein, displacement effectively other the displacement of the spacing only increasing jib is then locked.
In a concrete application scenarios, set the second preset value as S1 (first level anti-collision warning value),
Three preset values are S2 (second level anti-collision warning value), and the first preset value is S3 (third level anti-collision warning
Value collision marginal value), S1 < S2 < S3.
Between two jibs, distance is interval when S3 and S2, and system sends (the first alarm of I level warning prompt
Prompting), and enter the first deceleration displacement state (A level TRAJECTORY CONTROL pattern), control actuator and make arm
The speed reduction δ of frameVA(δVAFor needing the speed reduced under A level TRAJECTORY CONTROL pattern), and perform
Displacement Trend judgement.
In displacement Trend judgement, the T1 moment calculates the difference that Δ s1, Δ s1 are T1 moment jib spacing and S3
Value；The T2 moment calculates the difference that Δ s2, Δ s2 are T2 moment jib spacing and S3, after T2 is T1
Moment.If Δ s1 < Δ is s2, shows that the distance of two jibs of T2 moment is in away from state, with time T be
Abscissa, with Δ s as vertical coordinate, draw distance changing value curve, can learn two jibs away from or close
Speed, is negative value once this slope of a curve K value, exits deceleration mode.
Between two jibs, distance is interval when S1 and S2, and system sends II level warning prompt, and enters
Second deceleration displacement state (B level TRAJECTORY CONTROL pattern), controls actuator and makes the speed δ VB of jib
(δVBFor needing the speed reduced under B level TRAJECTORY CONTROL pattern), and perform displacement Trend judgement.
In displacement Trend judgement, the T3 moment calculates the difference that Δ s3, Δ s3 are T3 moment jib spacing and S2
Value；The T4 moment calculates the difference that Δ s4, Δ s4 are T4 moment jib spacing and S2, after T4 is T3
Moment.If Δ s3 < Δ is s4, shows that the distance of two jibs of T4 moment is in away from state, with time T be
Abscissa, with Δ s as vertical coordinate, draw distance changing value curve, can learn two jibs away from or close
Speed, is negative value once this slope of a curve K value, exits deceleration mode.
When between two jibs, distance is equal to S1, forcing to stop jib action, now system carries out which calculates
Action, so that the distance of jib and other objects increases, i.e. prevents collision, only increases the spacing of jib
Action effectively other action be then locked.
Concrete, in the present embodiment, step S131 is first carried out, stops the displacement of jib thus avoid jib
Collision.Then step S132 is performed, the deformation trace (deformation trace that will not collide) new to jib planning.
Finally perform step S133, move jib according to the deformation trace of new planning.In the present embodiment, only at jib
It is smaller than equal to just checking jib deformation trace track (planning new deformation trace) during the second preset value.Test
The arithmetic system consumption of card track is greatly reduced (Range Measurement System consumes less).
During normal construction, the mobile target of each jib is different, and the construction target of its correspondence is also different
's.Different construction targets has different construction priority.In the present embodiment, set for each jib
Corresponding mobile priority (priority of construction target is the highest, and the mobile priority of corresponding jib is the highest).?
In step S132, keep the constant new planning displacement priority of laying equal stress on of deformation trace of the jib that displacement priority is high
The deformation trace of low jib.Thus can ensure the construction of the construction target that construction priority is high as far as possible
Arrange not to be disturbed.
Further, in step S131, keep the jib that displacement priority is high to continue displacement, only stop position
Move the displacement of the low jib of priority.
Further, when two jibs one be in Drilling construct another be in displacement state time, in step
The jib duty being maintained in Drilling construction in S131 is constant, stops being in the displacement of the jib of displacement state
And in step S132, the jib being in displacement state is planned new deformation trace.
In step S114, if the displacement trend of jib is close, now jib spacing first report to the police away from
Move between the second warning distance regions on the basis of interval.Therefore after step S115, perform step S116,
Judge the relation of jib spacing and the 3rd preset value.Step is performed when jib spacing is more than or equal to three preset values
S113, exports the first warning prompt.Step S122, output the is performed when jib is smaller than three preset values
Two warning prompts.
In step S123, if the displacement trend of jib is close, now jib spacing second report to the police away from
Move to braking distance interval on the basis of interval.Therefore after step S124, perform step S125, sentence
Disconnected jib spacing and the relation of the second preset value.Step S122 is performed when jib spacing is more than the second preset value,
Export the second warning prompt.Step S131 is performed when jib is smaller than equal to the second preset value.
Method based on the present invention, the invention allows for a kind of collision avoidance system for jib.Such as Fig. 2 institute
Showing, in an embodiment of the present invention, system includes:
Distance monitor 201, it is configured to monitor the distance between jib；
Alarm 202, its distance being configured between any two jib is more than second less than the first preset value
Warning prompt is exported during preset value；
Displacement locking module 203, when its distance being configured between any two jib is equal to the second preset value
The deformation trace of jib is carried out anticipation the deformation trace according to anticipation result locking jib, wherein, only increases
Between big jib, the displacement of distance effectively other displacement is then locked.
Further, system also comprises deceleration control module 212 and displacement Trend judgement module 211, wherein:
The distance that displacement Trend judgement module 211 is configured between any two jib is big less than the first preset value
The displacement trend of jib is monitored when the second preset value；
Deceleration control module configuration 212 is when displacement trend is for entering deceleration displacement state close to jib in season, when
Displacement trend for away from time exit deceleration displacement state.
Further, one or more intermediate value is set between the first preset value and the second preset value, wherein:
Alarm 202 is configured to different intervals and arranges different warning prompts；
Deceleration control module 212 is configured to different intervals and arranges different deceleration displacement states.
Further, the distance that displacement locking module 203 is configured between any two jib is pre-equal to second
If stopping the displacement of jib during value.
Further, the distance that displacement locking module is configured between any two jib is equal to the second preset value
Time the deformation trace of jib planned again the deformation trace of described jib.
Further, system also comprises displacement priority level initializing module 204, wherein:
Jib priority level initializing module 203 is configured to each jib and sets corresponding displacement priority；
The distance that displacement locking module 203 is configured between any two jib keeps equal to during the second preset value
The displacement rail of the jib that the constant new planning displacement priority of laying equal stress on of the deformation trace of the jib that displacement priority is high is low
Mark.
In a concrete system, system comprises 1. radar sensors being installed on each jib.2. it is installed on driving
Indoor controller.3. it is installed on the industrial computer in driver's cabin.4. the touch display screen being installed in driver's cabin.
Native system is versatility, can be at touch screen human-computer interaction interface number to this equipment jib before dispatching from the factory
Amount, jib length carry out Default Value.Operationally, operator the destination of each jib is configured,
Systems soft ware by calculating, and can select an optimal motion track, until operator clicks on after starting,
The distance of each jib and other objects is monitored by each radar sensor in real time.When a certain jib and other objects
Distance is less than or equal to stopping everything during the second preset value, and re-starts calculating, and reselection goes out an optimum
Track.Until jib arrives at.
The method according to the invention and system can be prevented effectively from the collision of jib thus improve drill jumbo and use
Safety；Meanwhile, the method for the present invention is implemented simple, and system hardware low cost has the highest promotion price
Value.
While it is disclosed that embodiment as above, but described content is only to facilitate understand the present invention
And the embodiment used, it is not limited to the present invention.Method of the present invention also can have other multiple realities
Execute example.Without departing from the spirit of the present invention, those of ordinary skill in the art are when making according to the present invention
Go out various corresponding change or deformation, but these change accordingly or deform the claim that all should belong to the present invention
Protection domain.
Claims (12)
1. the collision-proof method for jib, it is characterised in that said method comprising the steps of:
Distance between monitoring jib；
When distance between jib described in any two less than the first preset value more than the second preset value time output alert
Accuse prompting；
When distance between jib described in any two is equal to or less than described second preset value to described jib
Deformation trace carry out anticipation and according to anticipation result lock described jib deformation trace, wherein, only increase
The displacement of the spacing of jib effectively other displacement is then locked.
Method the most according to claim 1, it is characterised in that when described in any two between jib
Distance monitors the displacement trend of described jib when being more than described second preset value less than described first preset value, work as institute
Rheme move trend be close to seasonal described jib entrance deceleration displacement state, when described displacement trend be away from time move back
Go out described deceleration displacement state.
Method the most according to claim 1 and 2, it is characterised in that in described first preset value and institute
State and one or more intermediate value is set between the second preset value, different warning prompts is set for different intervals
And/or different deceleration displacement states.
4. according to the method according to any one of claim 1-3, it is characterised in that when arm described in any two
The displacement of described jib is stopped when distance between frame is equal to described second preset value.
5. according to the method according to any one of claim 1-4, it is characterised in that described method also include with
Lower step:
The displacement to described jib when distance between jib described in any two is equal to described second preset value
Track plans the deformation trace of described jib again.
6. according to the method according to any one of claim 1-5, it is characterised in that for each described jib
Set corresponding displacement priority, when distance between jib described in any two is equal to described second preset value
Keep low described of the constant new planning displacement priority of laying equal stress on of deformation trace of the high described jib of displacement priority
The deformation trace of jib.
7. the collision avoidance system for jib, it is characterised in that described system includes:
Distance monitor, it is configured to monitor the distance between jib；
Alarm, it is configured to when distance between jib described in any two less than the first preset value more than second
Warning prompt is exported during preset value；
Displacement locking module, it is configured to when distance between jib described in any two is preset equal to described second
During value, the deformation trace to described jib carries out anticipation and locks the deformation trace of described jib according to anticipation result,
Wherein, displacement effectively other the displacement of the spacing only increasing jib is then locked.
System the most according to claim 7, it is characterised in that described system also comprises deceleration and controls mould
Block and displacement Trend judgement module, wherein:
Described displacement Trend judgement module is configured to when distance between jib described in any two is less than described the
The displacement trend of described jib is monitored when one preset value is more than described second preset value；
Described deceleration control module is configured to when described displacement trend is for entering deceleration position close to seasonal described jib
Shifting state, when described displacement trend for away from time exit described deceleration displacement state.
System the most according to claim 8, it is characterised in that at described first preset value and described the
One or more intermediate value is set between two preset values, wherein:
Described alarm is configured to different intervals and arranges different warning prompts；
Described deceleration control module is configured to different intervals and arranges different deceleration displacement states.
10. according to the system according to any one of claim 7-9, it is characterised in that institute's locking displacement mould
Block is configured to when distance between jib described in any two is equal to described second preset value stop described jib
Displacement.
11. according to the system according to any one of claim 7-10, it is characterised in that institute's locking displacement mould
Block is configured to when distance between jib described in any two is equal to described second preset value described jib
Deformation trace plans the deformation trace of described jib again.
12. according to the system according to any one of claim 7-11, it is characterised in that described system also comprises
Displacement priority level initializing module, wherein:
Described jib priority level initializing module is configured to each described jib and sets corresponding displacement priority；
Institute's locking displacement module is configured to when distance between jib described in any two is second pre-equal to described
If the constant new planning displacement priority of laying equal stress on of deformation trace keeping the described jib that displacement priority is high during value is low
The deformation trace of described jib.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610206372.9A CN105888644B (en) | 2016-04-05 | 2016-04-05 | A kind of collision-proof method and system for cantilever crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610206372.9A CN105888644B (en) | 2016-04-05 | 2016-04-05 | A kind of collision-proof method and system for cantilever crane |
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| Publication Number | Publication Date |
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| CN105888644A true CN105888644A (en) | 2016-08-24 |
| CN105888644B CN105888644B (en) | 2019-07-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610206372.9A Active CN105888644B (en) | 2016-04-05 | 2016-04-05 | A kind of collision-proof method and system for cantilever crane |
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| CN110905036A (en) * | 2019-12-02 | 2020-03-24 | 三一重机有限公司 | Anti-collision method of excavator movable arm, anti-collision system of excavator movable arm and excavator |
| CN110984286A (en) * | 2019-12-23 | 2020-04-10 | 三一重机有限公司 | Active protection method and system for excavator |
| CN111230324A (en) * | 2019-11-15 | 2020-06-05 | 济南邦德激光股份有限公司 | Anti-collision control method and anti-collision control device for laser cutting head |
| CN111255008A (en) * | 2020-02-27 | 2020-06-09 | 山东黄金矿业（莱西）有限公司 | Radar early warning collision avoidance system of mining scraper |
| CN111395440A (en) * | 2020-04-13 | 2020-07-10 | 内蒙古霍林河露天煤业股份有限公司 | Pushing limiting system and method for WK-10B electric shovel and electric shovel |
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| CN108789402A (en) * | 2017-04-29 | 2018-11-13 | 王恒升 | A kind of active collision prevention method of special type mobile robot multi-arm movement |
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