CN111196560A - Method and system for dynamically adjusting dangerous area range of bridge crane - Google Patents

Method and system for dynamically adjusting dangerous area range of bridge crane Download PDF

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Publication number
CN111196560A
CN111196560A CN202010005702.4A CN202010005702A CN111196560A CN 111196560 A CN111196560 A CN 111196560A CN 202010005702 A CN202010005702 A CN 202010005702A CN 111196560 A CN111196560 A CN 111196560A
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dangerous area
bridge crane
range
crane
data
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CN111196560B (en
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刘国良
陈惠力
田国会
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Shandong University
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Shandong University
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Priority to LU102026A priority patent/LU102026B1/en
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
    • B66C17/06—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports specially adapted for particular purposes, e.g. in foundries, forges; combined with auxiliary apparatus serving particular purposes
    • 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
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
    • B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical

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

Abstract

The utility model provides a bridge crane dangerous area range dynamic adjustment method and system, based on the MPC algorithm control scheme of angle constraint, obtaining the dangerous area range of the bridge crane under different speeds under the condition of small swing; repeating for multiple times, acquiring a group of data of corresponding dangerous area range areas at different speeds, and representing the data in a coordinate graph; constructing an analytic function by using a least square polynomial curve fitting method for the obtained data set, so that the analytic function is as close to a given value as possible on an original discrete point; and calculating the area of the range of the dangerous area in real time based on the analytic function and by combining the real-time running speed of the bridge crane in the normal running process. The method and the device have the advantages that the bridge crane can obtain the range area of the dangerous area in real time in the normal operation of the overhead travelling crane, the crane can plan a more efficient operation path through the range area of the dangerous area, and finally the obstacle avoidance of the optimal path is realized.

Description

Method and system for dynamically adjusting dangerous area range of bridge crane
Technical Field
The disclosure belongs to the technical field of dynamic adjustment of a dangerous area range of a bridge crane, and relates to a dynamic adjustment method and a dynamic adjustment system of the dangerous area range of the bridge crane based on MPC (Model Predictive Control) Model.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
With the rapid development of the industry, the bridge crane plays an increasingly important role in the modern production process, and therefore, the requirement on a dynamic adjustment mechanism of the dangerous area range in the bridge crane control process is higher and higher. At present, most factories operate the bridge crane to carry objects through workers, and sometimes the objects carried by the bridge crane collide with other important equipment in the factories due to insufficient operation capacity of the workers. The labor intensity of workers is high, the efficiency is low, and the safety factor is not high in the whole process. Particularly, in a working environment with more obstacles and a complex environment, it is difficult to find a technician with low cost and rich experience to reduce the collision probability of the bridge crane.
Disclosure of Invention
In order to solve the problems, the disclosure provides a method and a system for dynamically adjusting the dangerous area range of a bridge crane, and the dangerous area range of the bridge crane in the operation process can be obtained in real time. And planning the motion track of the crane in real time according to the load dangerous area range obtained at each moment. Compare in most overhead traveling crane control scheme at present, to a great extent ensured that the hoist can carry the load to appointed position more safely efficient.
According to some embodiments, the following technical scheme is adopted in the disclosure:
a method for dynamically adjusting the range of a dangerous area of a bridge crane comprises the following steps:
(1) obtaining the maximum stopping distance of the bridge crane in an off-line manner based on an MPC algorithm control scheme of angle constraint;
(2) repeating for multiple times, acquiring a group of corresponding maximum stopping distance data of the dangerous area range at different speeds, and representing the data in a coordinate graph;
(3) constructing an analytic function by using a least square polynomial curve fitting method for the obtained data set, so that the analytic function is as close to a given value as possible on an original discrete point;
(4) and calculating the area of the range of the dangerous area in real time based on the analytic function and by combining the real-time running speed of the bridge crane in the normal running process.
Alternatively, in step (1), the bridge crane is accelerated at a certain load swing angle by using the MPC control scheme, and when the locomotive reaches the target speed, the displacement x is recorded1And then the MPC control scheme is utilized to control the bridge crane to stop rapidly in small swing, and the displacement x at the moment is recorded2At the speed, the maximum stopping distance is equal to d ═ x2-x1。
In an alternative embodiment, in the step (2), the step (1) is repeated, the speed is measured off-line within a certain range, and the maximum stopping distance of the interval is set;
or, measuring for many times at each speed to obtain a group of maximum stopping distances, and then filtering to remove abnormal points; the specific filtering method comprises the following steps: and (3) arranging the group of data from small to large, taking the intermediate value x, if the group of data has points which are more than 1.5 times x, regarding the points as abnormal points, and deleting the abnormal points to achieve the effect of filtering the abnormal points.
As an alternative embodiment, the obtained data is used to construct an analytic function by using the least squares polynomial curve fitting principle and using the data set at the known discrete points, i.e. the function values at the known point set, so as to make the original discrete points in the coordinate graph as close to the given values as possible.
As an alternative embodiment, in the step (4), after obtaining the analytic function f (x) of the area of the dangerous area, during the normal operation of the bridge crane, the real-time area d ═ f (v) of the area of the dangerous area of the overhead crane is calculated by reading the running speed v of the overhead crane in real time.
As an alternative embodiment, in step (4), the calculation process of the real-time dangerous area range area includes:
acquiring the length l of the load according to the actual condition; a width w; high h and expansion coefficient k, the area of the hazardous area region S ═ (l ═ 1+ k) + d) × (1+ k).
A bridge crane danger area range dynamic adjustment system comprises:
the maximum stopping distance acquisition module based on the MPC algorithm is configured to acquire dangerous area ranges of the bridge crane under small swing conditions and at different speeds based on an MPC algorithm control scheme of angle constraint, repeat the dangerous area ranges for multiple times, acquire a group of data of corresponding dangerous area range areas under different speeds, and represent the data in a coordinate graph;
the analytical function building module is configured to build an analytical function by using a least square polynomial curve fitting method on the obtained data group, so that the analytical function is close to a given value on an original discrete point as much as possible;
and the calculation module is configured to calculate the area of the range of the dangerous area in real time based on the analytic function and in combination with the real-time running speed of the bridge crane in the normal running process.
A computer readable storage medium, wherein a plurality of instructions are stored, the instructions are suitable for being loaded by a processor of a terminal device and executing the steps of the bridge crane dangerous area range dynamic adjustment method.
A terminal device comprising a processor and a computer readable storage medium, the processor being configured to implement instructions; the computer readable storage medium is used for storing a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing the steps of the bridge crane dangerous area range dynamic adjustment method.
Compared with the prior art, the beneficial effect of this disclosure is:
the method and the device have the advantages that the bridge crane can obtain the range area of the dangerous area in real time in the normal operation of the overhead travelling crane, the crane can plan a more efficient operation path through the range area of the dangerous area, and finally the obstacle avoidance of the optimal path is realized.
According to the method, when the safety area is calculated, the anti-swing performance of the conveyed object of the bridge crane is set as a primary index, and the collision loss caused by swing of the load when the operation path is changed can be effectively avoided after the anti-swing index is guaranteed. The dynamic adjustment mechanism for the dangerous area range of the bridge crane can effectively reduce the technical difficulty of operators and also provides an important guarantee for safe operation. Meanwhile, the operation difficulty of the bridge crane is reduced, the transportation efficiency is improved, and the labor cost is reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
FIG. 1 is a maximum stopping distance data set graph;
FIG. 2 is a schematic diagram of an analytic function;
fig. 3(a) - (e) are schematic diagrams of the effect of the present disclosure;
FIG. 4 is a flow chart of an MPC control scheme.
The specific implementation mode is as follows:
the present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
A dynamic adjustment mechanism for the dangerous area range of a bridge crane. The mechanism can obtain the range of the dangerous area of the bridge crane in real time in the operation process. And planning the motion track of the crane in real time according to the load dangerous area range obtained at each moment. Compare in most overhead traveling crane control scheme at present, to a great extent ensured that the hoist can carry the load to appointed position under the condition of little rocking more safely efficient.
The method specifically comprises the following steps:
1: offline acquisition of dangerous area ranges meeting load small swing conditions at different speeds
The bridge crane is accelerated to move under the condition of small swing by utilizing an MPC control scheme, and when the overhead crane reaches the target speed, the displacement x at the moment is recorded1And then the MPC control scheme is utilized to control the bridge crane to stop rapidly in small swing, and the displacement x at the moment is recorded2. At this time, the maximum stopping distance d is x2-x1。
2: obtaining a maximum stopping distance dataset
Repeatedly using the step 1, measuring the speed at 0.01m/s off line2To 0.5m/s2At a measurement interval of 0.01m/s2A set of data of the maximum stopping distance corresponding to a set of different speeds is obtained, and a graph thereof is shown in fig. 1.
3: obtaining an analytical function of the range of the danger area
And (3) constructing an analytical function (the graph of the analytical function is a curve) by utilizing the data set on the known discrete points, namely the function values on the known point set by utilizing a least square polynomial curve fitting principle on the data obtained by the second method, so that the original discrete points are as close to the given values as possible. As shown in fig. 2.
4: calculating the area of the range of the dangerous area in real time
After obtaining the analytical function f (x) of the area of the dangerous area, the real-time area d (f (v)) of the dangerous area of the overhead travelling crane is calculated by reading the running speed v of the overhead travelling crane in real time during the normal running process of the overhead travelling crane.
As an alternative embodiment, in step (4), the calculation process of the real-time dangerous area range area includes:
acquiring the length l of the load according to the actual condition; a width w; high h and expansion coefficient k, the area of the hazardous area region S ═ (l ═ 1+ k) + d) × (1+ k).
According to the scheme, the bridge crane can obtain the area of the dangerous area range in real time in the normal operation of the overhead travelling crane, the crane can plan a more efficient operation path through the area of the dangerous area range, and finally the obstacle avoidance of the optimal path is realized.
When the safety area is calculated, the anti-swing performance of the conveyed object of the bridge crane is set as a primary index, and the collision loss caused by swing of the load when the operation path is changed can be effectively avoided after the anti-swing index is ensured. The pictures obtained by cutting the graphs in fig. 3(a) - (e) are used to show the area of the dangerous area range of the crown block moving 10m at 5 different time points. The black square represents the actual length and width of the equipment, the light color is an expansion range, the outer frame represents a dangerous area range, only one-dimensional conditions are considered in the part, the multidimensional rationale is the same, and the mutual influence of x, y and z in operation can be ignored. Therefore, the dynamic adjustment mechanism of the dangerous area range of the bridge crane can effectively reduce the technical difficulty of operators and also provides an important guarantee for the safety in a factory. Meanwhile, the operation difficulty of the bridge crane is reduced, the transportation efficiency is improved, and the labor cost is reduced.
The following product examples are also provided:
a bridge crane danger area range dynamic adjustment system comprises:
the maximum stopping distance acquisition module based on the MPC algorithm is configured to acquire dangerous area ranges of the bridge crane under small swing conditions and at different speeds based on an MPC algorithm control scheme of angle constraint, repeat the dangerous area ranges for multiple times, acquire a group of data of corresponding dangerous area range areas under different speeds, and represent the data in a coordinate graph;
the analytical function building module is configured to build an analytical function by using a least square polynomial curve fitting method on the obtained data group, so that the analytical function is close to a given value on an original discrete point as much as possible;
and the calculation module is configured to calculate the area of the range of the dangerous area in real time based on the analytic function and in combination with the real-time running speed of the bridge crane in the normal running process.
A computer readable storage medium, wherein a plurality of instructions are stored, the instructions are suitable for being loaded by a processor of a terminal device and executing the steps of the bridge crane dangerous area range dynamic adjustment method.
A terminal device comprising a processor and a computer readable storage medium, the processor being configured to implement instructions; the computer readable storage medium is used for storing a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing the steps of the bridge crane dangerous area range dynamic adjustment method.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.

Claims (9)

1. A method for dynamically adjusting the dangerous area range of a bridge crane is characterized by comprising the following steps: the method comprises the following steps:
(2) obtaining the maximum stopping distance of the bridge crane in an off-line manner based on an MPC algorithm control scheme of angle constraint;
(2) repeating for multiple times, acquiring a group of corresponding maximum stopping distance data of the dangerous area range at different speeds, and representing the data in a coordinate graph;
(3) constructing an analytic function by using a least square polynomial curve fitting method for the obtained data set, so that the analytic function is as close to a given value as possible on an original discrete point;
(4) and calculating the area of the range of the dangerous area in real time based on the analytic function and by combining the real-time running speed of the bridge crane in the normal running process.
2. The method for dynamically adjusting the dangerous area range of the bridge crane as claimed in claim 1, wherein: in the step (1), the bridge crane is accelerated to move within 2 degrees of the load swing angle by using an MPC control scheme, and when the locomotive reaches the target speed, the displacement x at the moment is recorded1And then the MPC control scheme is utilized to control the bridge crane to stop rapidly in small swing, and the displacement x at the moment is recorded2At the speed, the maximum stopping distance is equal to d ═ x2-x1。
3. The method for dynamically adjusting the dangerous area range of the bridge crane as claimed in claim 1, wherein: in the step (2), the step (1) is repeated, and a group of data with intervals is set when the speed is measured off line within a certain range.
4. The method for dynamically adjusting the dangerous area range of the bridge crane as claimed in claim 1, wherein: in the step (2), multiple measurements are performed at each speed to obtain a group of maximum stopping distances, and then filtering is performed to remove abnormal points; the specific filtering method comprises the following steps: and (3) arranging the group of data from small to large, taking the intermediate value x, if the group of data has points which are more than 1.5 times x, regarding the points as abnormal points, and deleting the abnormal points to achieve the effect of filtering the abnormal points.
5. The method for dynamically adjusting the dangerous area range of the bridge crane as claimed in claim 1, wherein: the obtained data is used for constructing an analytic function by using a least square polynomial curve fitting principle and using a data set on a known discrete point, namely a function value on the known point set, and the original discrete point in the coordinate graph is as close to a given value as possible.
6. The method for dynamically adjusting the dangerous area range of the bridge crane as claimed in claim 1, wherein: in the step (4), after the analytic function f (x) of the area of the dangerous area is obtained, the real-time area d ═ f (v) of the area of the dangerous area of the overhead traveling crane is calculated by reading the running speed v of the overhead traveling crane in real time during the normal running process of the overhead traveling crane.
7. A bridge crane danger area range dynamic adjustment system is characterized in that: the method comprises the following steps:
the maximum stopping distance acquisition module based on the MPC algorithm is configured to be an MPC algorithm control scheme based on angle constraint, acquire the dangerous area ranges of the bridge crane under the small swing condition and at different speeds in an off-line manner, repeat for many times, acquire a group of data of the corresponding dangerous area range areas under different speeds, and represent the data in a coordinate graph;
the analytical function building module is configured to build an analytical function by using a least square polynomial curve fitting method on the obtained data group, so that the analytical function is close to a given value on an original discrete point as much as possible;
and the calculation module is configured to calculate the area of the range of the dangerous area in real time based on the analytic function and in combination with the real-time running speed of the bridge crane in the normal running process.
8. A computer-readable storage medium characterized by: a plurality of instructions are stored, the instructions are suitable for being loaded by a processor of a terminal device and executing the steps of the bridge crane dangerous area range dynamic adjusting method according to any one of the claims 1-6.
9. A terminal device is characterized in that: the system comprises a processor and a computer readable storage medium, wherein the processor is used for realizing instructions; the computer readable storage medium is used for storing a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing the steps of the bridge crane dangerous area range dynamic adjustment method according to any one of the claims 1-6.
CN202010005702.4A 2020-01-03 2020-01-03 Method and system for dynamically adjusting dangerous area range of bridge crane Active CN111196560B (en)

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LU102026A LU102026B1 (en) 2020-01-03 2020-09-03 Dynamic adjustment method and system of dangerous area range of bridge crane

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Cited By (2)

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CN112365509A (en) * 2020-11-10 2021-02-12 山东大学 Ice early warning method and system
CN114047693A (en) * 2021-10-22 2022-02-15 合肥工业大学 Charging process-oriented fire self-adaptive prevention method and system for automobile battery

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CN108444488A (en) * 2018-02-05 2018-08-24 天津大学 Based on etc. steps sample A* algorithms unmanned local paths planning method
EP3476724A2 (en) * 2017-10-31 2019-05-01 The Boeing Company Adaptive feedback control of force fighting in hybrid actuation systems
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CN114047693B (en) * 2021-10-22 2023-12-22 合肥工业大学 Self-adaptive prevention method and system for fire disaster of automobile battery facing charging process

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