CN110356974A - A kind of preventing collision method of anode line overhead traveling crane - Google Patents
A kind of preventing collision method of anode line overhead traveling crane Download PDFInfo
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- CN110356974A CN110356974A CN201910668217.2A CN201910668217A CN110356974A CN 110356974 A CN110356974 A CN 110356974A CN 201910668217 A CN201910668217 A CN 201910668217A CN 110356974 A CN110356974 A CN 110356974A
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- traveling crane
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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
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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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
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The present invention relates to anode production line field of intelligent control, more particularly to the preventing collision method for being a kind of anode line overhead traveling crane, first determine the minimal risk slot position of traveling overhead traveling crane, then the greatest danger slot position of traveling overhead traveling crane is determined, then the minimum safe slot position of two traveling overhead traveling cranes is determined by the minimal risk slot position of traveling overhead traveling crane, then the safe slot position of maximum of two traveling overhead traveling cranes is determined by the greatest danger slot position of traveling overhead traveling crane, then the minimum evacuation position of traveling overhead traveling crane is determined, then the maximum evacuation position for determining traveling overhead traveling crane, is finally avoided.Solving existing anode production line does not have compatible preventing collision method, it many times needs by manually carrying out manually controlling completion evacuation, and the evacuation mode of different operator's selections has differences, the problem of needing a large amount of manpower to carry out overhead traveling crane transfer when anode production line being caused to work, safety accident easily occur when human cost being caused to increase and manually avoid.
Description
Technical field
The present invention relates to anode production line field of intelligent control, and in particular to is a kind of preventing collision method of anode line overhead traveling crane.
Background technique
The day vehicle control of anode production line is made of overhead traveling crane scheduling system, PLC and overhead traveling crane.Existing day vehicle control
Only by manually realizing that overhead traveling crane is dispatched, PLC executes overhead traveling crane control.Each anode production line is there are more overhead traveling cranes in actual use,
It is avoided when overhead traveling crane is in following two scene, the target of (1) wherein other overhead traveling cranes of the target slot position of overhead traveling crane
Slot position is intersected, the safe distances of (2) two overhead traveling cranes less than two overhead traveling cranes width when, it is necessary to overhead traveling crane implements evacuation, with
Meet production requirement and security needs.When overhead traveling crane is unsatisfactory for both the above evacuation situation, then overhead traveling crane avoids successfully.
Existing anode production line does not have compatible preventing collision method, many times needs by manually carrying out having manually controlled
It is had differences at the evacuation mode of evacuation, and different operator's selections, a large amount of people is needed when anode production line being caused to work
Power carries out overhead traveling crane transfer, and safety accident easily occurs when human cost being caused to increase and manually avoid.
Summary of the invention
The present invention does not have compatible preventing collision method for existing anode production line, many times needs by manually carrying out
Completion evacuation is manually controlled, and the evacuation mode of different operator's selections has differences, and needs when anode production line being caused to work
The problem of wanting a large amount of manpower to carry out overhead traveling crane transfer, safety accident easily occurs when human cost being caused to increase and manually avoid, mentions
For a kind of preventing collision method of anode line overhead traveling crane.
The present invention solves above-mentioned technical problem, the technical solution adopted is that, a kind of preventing collision method of anode line overhead traveling crane, including
Following steps:
S1 determines the minimal risk slot position of traveling overhead traveling crane；
S2 determines the greatest danger slot position of traveling overhead traveling crane；
S3 determines the minimum safe slot position of two traveling overhead traveling cranes by the minimal risk slot position of traveling overhead traveling crane；
S4 determines the safe slot position of maximum of two traveling overhead traveling cranes by the greatest danger slot position of traveling overhead traveling crane；
S5 determines the minimum evacuation position of traveling overhead traveling crane；
S6 determines the maximum evacuation position of traveling overhead traveling crane；
S7 is avoided.
Further, traveling overhead traveling crane is two in S1, including A overhead traveling crane and B overhead traveling crane, and A overhead traveling crane is located on the left of B overhead traveling crane, for B
Overhead traveling crane, A overhead traveling crane is in work and when target slot position is not equal to real-time target slot position, then minimal risk slot position is A vehicle real-time target slot
Position.
Further, traveling overhead traveling crane is two in S1, including A overhead traveling crane and B overhead traveling crane, and A overhead traveling crane is located on the left of B overhead traveling crane, for B
Overhead traveling crane, A overhead traveling crane are in manual mode, and B overhead traveling crane minimal risk slot position is A overhead traveling crane maximum running position.
Optionally, for B overhead traveling crane in automatic mode moving condition, the greatest danger slot position of A overhead traveling crane is B vehicle real-time target in S2
Position.
Optionally, B overhead traveling crane is in manual mode in S2, and A overhead traveling crane the greatest danger slot position is B overhead traveling crane minimum running position.
Optionally, minimum safe slot position α is looked for by minimal risk slot position in S3.
Further, in S4 after determining the greatest danger slot position, slot position, every reduction slot are reduced since the greatest danger slot position
The length of position increases in home length: when home length is greater than dangerous length, then the slot position and A vehicle reduced to is most
Big run channel bit comparison, if current slot position is greater than A overhead traveling crane maximum and runs slot position, maximum safe slot position β is maximum operation slot position, instead
Current slot position be maximum safe slot position β.
Further, in S5 when left side overhead traveling crane in work and target slot position is not equal to real-time target slot position, pass through left side
The target slot position of overhead traveling crane finds a minimum safe slot position α1, compared with minimum safe slot position α, take the two the larger value；Again and most
Big safe slot position β compares, if minimum safe slot position is larger, minimum evacuation position is 0；If the safe slot position β of maximum is larger, most
Small evacuation position is minimum safe position.
Further, in S6 when right side overhead traveling crane in work and target slot position is not equal to real-time target slot position, pass through right side
The target slot position of overhead traveling crane finds the safe slot position β of a maximum1, compared with maximum safe slot position β, take the two smaller value.Again and most
Small safe slot position α compares, if maximum safe slot position is smaller, maximum evacuation position is 0；If minimum safe slot position is larger, most
Big evacuation position is maximum home.
Beneficial effects of the present invention include at least following one；
1, based on overhead traveling crane scheduling system, PLC and overhead traveling crane, overcome the problems, such as that overhead traveling crane scheduling is difficult by the way that preventing collision method is arranged,
It realizes and is avoided in real time in anode line production overhead traveling crane scheduling, guarantee that overhead traveling crane scheduling enters each immersion slot position by set production process.
2, anode production line human cost is greatly reduced, realizes that anode automated production can save 16 person/days/line.
3, artificial car accident is avoided, safety guarantee is provided, realizes overhead traveling crane scheduling automatic running control, when program-controlled technique
Between, production capacity is stablized, and it is bad to eliminate product caused by more bar and soaking technology time time-out/time deficiency etc., and quality is stablized.
4, solving existing anode production line does not have compatible preventing collision method, many times needs by manually carrying out hand
Evacuation is completed in dynamic control, and the evacuation mode of different operator's selections has differences, needs when anode production line being caused to work
The problem of a large amount of manpower carries out overhead traveling crane transfer, and safety accident easily occurs when human cost being caused to increase and manually avoid.
Detailed description of the invention
Fig. 1 is anode production line structural schematic diagram；
Fig. 2 is that anode production line overhead traveling crane avoids logical construction schematic diagram；
Fig. 3 is overhead traveling crane maximum/minimum danger slot position schematic diagram；
Fig. 4 is that overhead traveling crane avoids situation structural schematic diagram.
Specific embodiment
It is clear in order to enable the objectives, technical solutions, and advantages of the present invention to be more clear, with reference to embodiments to this
Invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, not
For limiting present invention protection content.
Embodiment 1
As shown in Fig. 2, a kind of preventing collision method of anode line overhead traveling crane: the following steps are included:
S1 determines the minimal risk slot position of traveling overhead traveling crane；
S2 determines the greatest danger slot position of traveling overhead traveling crane；
S3 determines the minimum safe slot position of two traveling overhead traveling cranes by the minimal risk slot position of traveling overhead traveling crane；
S4 determines the safe slot position of maximum of two traveling overhead traveling cranes by the greatest danger slot position of traveling overhead traveling crane；
S5 determines the minimum evacuation position of traveling overhead traveling crane；
S6 determines the maximum evacuation position of traveling overhead traveling crane；
S7 is avoided.
When traveling overhead traveling crane is two in S1, including A overhead traveling crane and B overhead traveling crane, A overhead traveling crane are located at B overhead traveling crane left side, for B overhead traveling crane,
A overhead traveling crane is in work and when target slot position is not equal to real-time target slot position, then minimal risk slot position is A vehicle real-time target slot position.Work as A
Overhead traveling crane is in manual mode, and B overhead traveling crane minimal risk slot position is A overhead traveling crane maximum running position.
For B overhead traveling crane in automatic mode moving condition, the greatest danger slot position of A overhead traveling crane is B vehicle real-time target position in S2.
When B overhead traveling crane is in manual mode, A overhead traveling crane the greatest danger slot position is B overhead traveling crane minimum running position.
Minimum safe slot position α is looked for by minimal risk slot position in S3.
In S4 after determining the greatest danger slot position, slot position, every length for reducing slot position are reduced since the greatest danger slot position
Degree increases in home length: when home length is greater than dangerous length, then the slot position and A vehicle maximum reduced to is run
Slot position compares, if current slot position is greater than A overhead traveling crane maximum and runs slot position, maximum safe slot position β is maximum operation slot position, otherwise current
Slot position is maximum safe slot position β.
Pass through the target of left side overhead traveling crane in work and target slot position is not equal to real-time target slot position when left side overhead traveling crane in S5
Slot position finds a minimum safe slot position α1, compared with minimum safe slot position α, take the two the larger value；Again with maximum safe slot position β
Compare, if minimum safe slot position (is herein α1With both α the larger value) it is larger when, minimum evacuation position is 0；If maximum safety groove
When position β is larger, minimum evacuation position is minimum safe position.
Pass through the target of right side overhead traveling crane in work and target slot position is not equal to real-time target slot position when right side overhead traveling crane in S6
Slot position finds the safe slot position β of a maximum1, compared with maximum safe slot position β, take the two smaller value.Again with minimum safe slot position α
Compare, if maximum safe slot position (is herein β1With β smaller value) it is smaller when, maximum evacuation position be 0；If minimum safe slot position compared with
When big, maximum evacuation position is maximum home.
Following title is explained in order to facilitate understanding:
Automatic mode: refer to that the instruction of overhead traveling crane reception scheduling system carries out movement or state is kept, do not receive any artificial behaviour
The instruction of work.
Manual mode: refer to that overhead traveling crane only receives any manually-operated instruction and carries out movement or state holding；It does not receive any
Dispatch the instruction of system operatio.
The greatest danger slot position: overhead traveling crane is most thus for the current slot position or real-time target slot position of the right side vehicle of any overhead traveling crane
Big danger slot position.
Current slot position: the slot position being currently located for overhead traveling crane, overhead traveling crane can be parked in a certain slot position in wait state.
Real-time target slot position: the target slot position distributed when i.e. overhead traveling crane is converted to evacuation state from wait state is exactly real-time mesh
Mark slot position.
Minimal risk slot position: overhead traveling crane is most thus for the current slot position or real-time target slot position of the left side vehicle of any overhead traveling crane
Small danger slot position.
Minimum evacuation position: refer to most short mobile slot position position when overhead traveling crane avoids to the left.
Maximum evacuation position: refer to most short mobile slot position position when overhead traveling crane avoids to the right.
Dangerous length: refer to that the right wide length of A overhead traveling crane adds the left wide length of B overhead traveling crane, wherein A overhead traveling crane and B overhead traveling crane are adjacent overhead traveling crane.
Home length: referring to the length for not triggering overhead traveling crane evacuation, i.e., two kinds for not triggering signified evacuation in background technique
The length of situation.
Slot position: each slot is arranged in order from one end towards the other end on the anode line of side.
As shown in figure 3, B overhead traveling crane is driven a vehicle, No. 1 slot of range is to No. 13 slots, and C overhead traveling crane drives a vehicle No. 10 slots of range to No. 20 slots, if
Overhead traveling crane B is in automatic mode and no movement, and when not carrying or avoiding task, then C vehicle minimal risk slot position is exactly No. #10
Slot.If overhead traveling crane B is in automatic mode and no movement, when having carrying or evacuation task, then C vehicle minimal risk slot position is exactly
For the current slot position of B vehicle and B vehicle real-time target slot position the greater.
If B overhead traveling crane is in manual mode, the minimal risk slot position of C overhead traveling crane is the maximum slot position that B overhead traveling crane can be run.
As shown in figure 4, the current slot position of A overhead traveling crane is No. 2 slot positions, real-time target slot position is No. 9 slot positions, the current slot position of B overhead traveling crane
For No. 12 slot positions, real-time target slot position is No. 7 slot positions；When B vehicle is travelled from No. 12 slot positions to No. 7 slot positions, A overhead traveling crane can be selected
No. 6 slot positions wait, then the real-time target slot position of A overhead traveling crane is No. 6 slot positions, are its minimal risk slot position for No. 6 slot positions of B overhead traveling crane.
By avoiding mode above, based on overhead traveling crane scheduling system, PLC and overhead traveling crane, overhead traveling crane is overcome by the way that preventing collision method is arranged
Dispatch difficult problem, realize and is avoided in real time in anode line production overhead traveling crane scheduling, guarantee overhead traveling crane scheduling by set production process into
Enter each immersion slot position.Anode production line human cost is greatly reduced, realizes that anode automated production can save 16 person/days/line.
Artificial car accident is avoided, safety guarantee is provided, realizes overhead traveling crane scheduling automatic running control, program-controlled process time, production capacity is stablized,
It is bad that product caused by more bar and soaking technology time time-out/time deficiency etc. can be eliminated, quality is stablized.Solves existing anode
Production line does not have compatible preventing collision method, many times needs by manually carrying out manually controlling completion evacuation, and different
The evacuation mode of operator's selection has differences, and a large amount of manpower is needed to carry out overhead traveling crane transfer when anode production line being caused to work,
The problem of safety accident easily occurs when human cost being caused to increase and manually avoid.
Embodiment 2
As shown in Figure 1, on the basis of embodiment 1, anode production line shares ABCDEFGH, totally 8 overhead traveling cranes, wherein ABCD
Totally 4 overhead traveling cranes are located at side, and totally 4 overhead traveling cranes are located at the other side to EFGH, and the slot position of two sides realizes exchange by exchange overhead traveling crane.
For ADEH overhead traveling crane, this sentences the citing of A overhead traveling crane, is wagon transferred from one yard to another on the left of A overhead traveling crane
I.A overhead traveling crane is at work: the definition of work (including when advancing when pick-and-place material, after material grasping, belongs to overhead traveling crane just in work
The situation of work.)
If a A overhead traveling crane is working, A overhead traveling crane minimum evacuation is equal to 0 and when maximum evacuation position is not equal to 0:
When A overhead traveling crane real-time target slot position is less than minimum safe slot position, A overhead traveling crane moves on to minimum safe slot position；When A overhead traveling crane is real
When target slot position when being greater than maximum safe slot position, A overhead traveling crane moves to maximum safe slot position；
If b A overhead traveling crane is working, A overhead traveling crane minimum avoids position not equal to 0 and when maximum evacuation position is equal to 0:
When A overhead traveling crane real-time target slot position is less than minimum safe slot position, A overhead traveling crane moves on to minimum safe slot position；When A overhead traveling crane is real
When target slot position when being greater than maximum safe slot position, A overhead traveling crane moves to maximum safe slot position；
If c A overhead traveling crane is working, when A overhead traveling crane minimum evacuation position and maximum evacuation position are equal to 0:
When A overhead traveling crane real-time target slot position is less than minimum safe slot position, A overhead traveling crane moves on to minimum safe slot position；When A overhead traveling crane is real
When target slot position when being greater than maximum safe slot position, A overhead traveling crane moves to maximum safe slot position；
If d A overhead traveling crane is working, when A overhead traveling crane minimum evacuation position and maximum evacuation position are not equal to 0:
When A overhead traveling crane real-time target slot position is less than minimum safe slot position, if minimum evacuation position is less than maximum evacuation position,
Overhead traveling crane moves to minimum evacuation position, otherwise moves to minimum safe position；When A overhead traveling crane real-time target slot position is greater than maximum safe slot position
When, if minimum evacuation position is greater than maximum evacuation position, A overhead traveling crane moves to maximum evacuation position, otherwise moves to maximum home.
II.A overhead traveling crane is not at work:
If a A overhead traveling crane is not working, A overhead traveling crane minimum avoids position equal to 0 and when maximum evacuation position is not equal to 0:
When the current slot position of A overhead traveling crane is greater than maximum evacuation position, A overhead traveling crane moves to maximum evacuation position, does not otherwise do movement and keep away
It allows；
If b A overhead traveling crane is not working, A overhead traveling crane minimum avoids position equal to 0 and when maximum evacuation position is equal to 0:
When the current slot position of A overhead traveling crane is less than minimum evacuation position, A overhead traveling crane moves to minimum evacuation, does not otherwise do mobile evacuation；
If c A overhead traveling crane is not working, A overhead traveling crane minimum avoids position not equal to 0 and when maximum evacuation position is not equal to 0:
When A overhead traveling crane minimum evacuation position is less than maximum evacuation position, if the current slot position of A overhead traveling crane is less than minimum evacuation position
It sets, A overhead traveling crane moves to minimum evacuation position；If the current slot position of A overhead traveling crane, which is greater than minimum evacuation position A overhead traveling crane, moves to maximum evacuation position
It sets；
When A overhead traveling crane minimum evacuation position is greater than maximum evacuation position, if the current slot position of A overhead traveling crane is greater than maximum evacuation position
A overhead traveling crane moves to maximum evacuation position.
For BCFG overhead traveling crane, current overhead traveling crane (any in BCFG overhead traveling crane) is working, and current overhead traveling crane minimum evacuation position is equal to 0
And maximum evacuation position is when being not equal to 0:
If current overhead traveling crane real-time target slot position is less than minimum safe slot position α, current overhead traveling crane moves on to minimum safe slot position α；
If current overhead traveling crane real-time target slot position is greater than maximum evacuation position, current overhead traveling crane moves on to maximum evacuation position；
Current overhead traveling crane minimum evacuation position is not equal to 0 and when maximum evacuation position is equal to 0: if current overhead traveling crane real-time target slot
When position is less than minimum evacuation position, current overhead traveling crane moves on to minimum evacuation position；If current overhead traveling crane real-time target slot position is greater than maximum
When safe slot position β, current overhead traveling crane moves on to maximum safe slot position β；
Current overhead traveling crane minimum evacuation position is equal to 0 and when maximum evacuation position is equal to 0: if current overhead traveling crane real-time target slot position
When less than minimum safe slot position α, current overhead traveling crane moves on to minimum safe slot position α；If current overhead traveling crane real-time target slot position is greater than maximum
When safe slot position β, current overhead traveling crane moves on to maximum safe slot position β；
Current overhead traveling crane minimum evacuation position is not equal to 0 and when maximum evacuation position is not equal to 0: current overhead traveling crane real-time target slot
When position is less than minimum safe slot position α, if current overhead traveling crane minimum evacuation position is less than maximum evacuation position, current overhead traveling crane is moved to most
Small evacuation position；
If current overhead traveling crane minimum evacuation position is more than or equal to maximum evacuation position, current overhead traveling crane is moved to minimum safe
Slot position α；
When current overhead traveling crane real-time target slot position is greater than maximum safe slot position β, if current overhead traveling crane minimum evacuation position is less than most
Big evacuation position, current overhead traveling crane are moved to maximum evacuation position；
If current overhead traveling crane minimum evacuation position is more than or equal to maximum evacuation position, current overhead traveling crane is moved to maximum safety
Slot position β；
For BCFG overhead traveling crane, current overhead traveling crane is not working,
Current overhead traveling crane minimum evacuation position is equal to 0 and when maximum evacuation position is not equal to 0: if the current slot position of current overhead traveling crane is big
When maximum avoids position, current overhead traveling crane moves on to maximum evacuation position；
Current overhead traveling crane minimum evacuation position is not equal to 0 and when maximum evacuation position is equal to 0: if the current slot position of current overhead traveling crane is small
When minimum avoids position, current overhead traveling crane moves on to minimum evacuation position；
Current overhead traveling crane minimum evacuation position is equal to 0 and when maximum evacuation position is equal to 0:
Current overhead traveling crane attonity；
Current overhead traveling crane minimum evacuation position is not equal to 0 and when maximum evacuation position is not equal to 0: when overhead traveling crane minimum avoids position
Less than maximum evacuation position and when the current slot position of overhead traveling crane is less than overhead traveling crane minimum evacuation position, current overhead traveling crane is moved to minimum evacuation
Position；
When overhead traveling crane minimum evacuation position is less than, maximum avoids position and the current slot position of overhead traveling crane is greater than overhead traveling crane maximum and avoids position
When setting, current overhead traveling crane is moved to maximum evacuation position；
When overhead traveling crane maximum evacuation position is more than or equal to minimum evacuation position and the current slot position of overhead traveling crane most greater than overhead traveling crane
When big evacuation position, current overhead traveling crane is moved to maximum evacuation position.
By avoiding mode above, based on overhead traveling crane scheduling system, PLC and overhead traveling crane, overhead traveling crane is overcome by the way that preventing collision method is arranged
Dispatch difficult problem, realize and is avoided in real time in anode line production overhead traveling crane scheduling, guarantee overhead traveling crane scheduling by set production process into
Enter each immersion slot position.Anode production line human cost is greatly reduced, realizes that anode automated production can save 16 person/days/line.
Artificial car accident is avoided, safety guarantee is provided, realizes overhead traveling crane scheduling automatic running control, program-controlled process time, production capacity is stablized,
It is bad that product caused by more bar and soaking technology time time-out/time deficiency etc. can be eliminated, quality is stablized.Solves existing anode
Production line does not have compatible preventing collision method, many times needs by manually carrying out manually controlling completion evacuation, and different
The evacuation mode of operator's selection has differences, and a large amount of manpower is needed to carry out overhead traveling crane transfer when anode production line being caused to work,
The problem of safety accident easily occurs when human cost being caused to increase and manually avoid.
Claims (9)
1. a kind of preventing collision method of anode line overhead traveling crane, it is characterised in that: the following steps are included:
S1 determines the minimal risk slot position of traveling overhead traveling crane；
S2 determines the greatest danger slot position of traveling overhead traveling crane；
S3 determines the minimum safe slot position of two traveling overhead traveling cranes by the minimal risk slot position of traveling overhead traveling crane；
S4 determines the safe slot position of maximum of two traveling overhead traveling cranes by the greatest danger slot position of traveling overhead traveling crane；
S5 determines the minimum evacuation position of traveling overhead traveling crane；
S6 determines the maximum evacuation position of traveling overhead traveling crane；
S7 is avoided.
2. a kind of preventing collision method of anode line overhead traveling crane according to claim 1, it is characterised in that: traveling overhead traveling crane is two in S1
Platform, including A overhead traveling crane and B overhead traveling crane, A overhead traveling crane is located on the left of B overhead traveling crane, and for B overhead traveling crane, A overhead traveling crane is in work and target slot position is not equal to
When real-time target slot position, then minimal risk slot position is A vehicle real-time target slot position.
3. a kind of preventing collision method of anode line overhead traveling crane according to claim 1, it is characterised in that: traveling overhead traveling crane is two in S1
Platform, including A overhead traveling crane and B overhead traveling crane, A overhead traveling crane is located on the left of B overhead traveling crane, and for B overhead traveling crane, A overhead traveling crane is in manual mode, and B overhead traveling crane is minimum
Dangerous slot position is A overhead traveling crane maximum running position.
4. a kind of preventing collision method of anode line overhead traveling crane according to claim 2 or 3, it is characterised in that: B overhead traveling crane is certainly in S2
When dynamic model formula moving condition, the greatest danger slot position of A overhead traveling crane is B vehicle real-time target position.
5. a kind of preventing collision method of anode line overhead traveling crane according to claim 2 or 3, it is characterised in that: B overhead traveling crane is in S2
Manual mode, A overhead traveling crane the greatest danger slot position are B overhead traveling crane minimum running position.
6. a kind of preventing collision method of anode line overhead traveling crane according to claim 5, it is characterised in that: pass through minimal risk in S3
Slot position looks for minimum safe slot position α.
7. a kind of preventing collision method of anode line overhead traveling crane according to claim 6, it is characterised in that: determining maximum danger in S4
After dangerous slot position, slot position is reduced since the greatest danger slot position, every length for reducing slot position increases in home length: working as peace
When all positon length is greater than dangerous length, then the slot position and the run channel bit comparison of A vehicle maximum reduced to, if current slot position is greater than A days
Vehicle maximum runs slot position, and maximum safe slot position β is maximum operation slot position, otherwise current slot position is maximum safe slot position β.
8. a kind of preventing collision method of anode line overhead traveling crane according to claim 7, it is characterised in that: when left side, overhead traveling crane exists in S5
It works and target slot position is not equal to real-time target slot position, a minimum safe slot position is found by the target slot position of left side overhead traveling crane
α1, compared with minimum safe slot position α, take the two the larger value；Again compared with maximum safe slot position β, if minimum safe slot position is larger
When, minimum evacuation position is 0；If the safe slot position β of maximum is larger, minimum evacuation position is minimum safe position.
9. a kind of preventing collision method of anode line overhead traveling crane according to claim 8, it is characterised in that: when right side, overhead traveling crane exists in S6
It works and target slot position is not equal to real-time target slot position, the safe slot position of maximum is found by the target slot position of right side overhead traveling crane
β1, compared with maximum safe slot position β, take the two smaller value.Again compared with minimum safe slot position α, if maximum safe slot position is smaller
When, maximum evacuation position is 0；If minimum safe slot position is larger, maximum evacuation position is maximum home.
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| CN201910668217.2A CN110356974B (en) | 2019-07-23 | 2019-07-23 | Method for avoiding crown block with anode line |
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| CN201910668217.2A CN110356974B (en) | 2019-07-23 | 2019-07-23 | Method for avoiding crown block with anode line |
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