CN111332950B - Anti-collision control device and method for cantilever crane - Google Patents

Anti-collision control device and method for cantilever crane Download PDF

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CN111332950B
CN111332950B CN202010122689.0A CN202010122689A CN111332950B CN 111332950 B CN111332950 B CN 111332950B CN 202010122689 A CN202010122689 A CN 202010122689A CN 111332950 B CN111332950 B CN 111332950B
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machine
front arm
sinθ
cosθ
crane
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CN111332950A (en
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崔建平
李凯
李翔
程翔
张焕兵
张涛
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Wuhan Guide Electric Co Ltd
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Wuhan Guide Electric Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • 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
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • 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
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • 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
    • 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
    • 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
    • B66C15/06—Arrangements or use of warning devices
    • B66C15/065—Arrangements or use of warning devices electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/03—Cranes with arms or jibs; Multiple cranes
    • B66C2700/0392—Movement of the crane arm; Coupling of the crane arm with the counterweights; Safety devices for the movement of the arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
    • B66C2700/084—Protection measures

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

Abstract

The invention discloses an anti-collision control device of a cantilever crane, which comprises a single machine control system, a central control system and a wireless communication module; the invention also discloses an anti-collision control method of the cantilever crane, which comprises the following steps: uploading GPS data to a single-machine controller, reading a GPS message by the single-machine controller, extracting longitude, latitude and altitude, and sending the GPS message to a central control system through a wireless communication module, wherein the central control system calculates the position relation between two cantilever cranes, and if the distance between the two cantilever cranes is less than the sum of the lengths of the cantilever cranes, the two cantilever cranes are judged to be in interference with each other; the central control system transmits the data interfering with each other to the corresponding single machine control system; the central control system is connected with the display and alarm module through the communication module, and the display and alarm module displays the running states and parameters of all the cantilever cranes. The invention has the characteristics of rapidness, convenience and practicability, and can be widely applied to the field of engineering machinery.

Description

Anti-collision control device and method for cantilever crane
Technical Field
The invention relates to the field of engineering machinery, in particular to an anti-collision control device and method for an arm frame type crane.
Background
In order to meet the construction requirements, the jib crane is provided with an amplitude variation mechanism, a lifting mechanism and a slewing mechanism. In the cross-space operation, drivers are often limited by the visual limitation, visual errors, operation fatigue and other reasons, and the risk of collision is inevitably generated. The sensor or the video monitoring system is additionally arranged on the jib crane to assist a driver to judge, so that a certain effect can be achieved, but the sensor is limited by the technical characteristics of the sensor and can only perform local protection. At present, the collision is also prevented by a zone dividing mode, and the early warning is carried out when the crane enters the zone, so that the working zone of the crane is limited. However, if the speed of the crane entering the area is not well known, the speed is too high, the crane is difficult to brake in time, and collision can occur; on the other hand, under the condition that collision is not possible, the alarm is given every time the crane enters the area, the working efficiency of the crane is seriously influenced, the construction is inconvenient, and the popularization of the technology is influenced.
Disclosure of Invention
The invention aims to overcome the defects of the background technology and provides an anti-collision control device and method for a cantilever crane, so that the anti-collision control device has the characteristics of rapidness, convenience and practicability.
The invention provides an anti-collision control device of a cantilever crane, which comprises a single machine control system, a central control system and a wireless communication module for connecting the single machine control system and the central control system; each cantilever crane is provided with a set of stand-alone control system, each stand-alone control system comprises a GPS module of a rotation center, a GPS module on a luffing mechanism, a GPS module on a lifting hook, a stand-alone controller, a display and alarm module and a communication module, and the GPS module, the display and alarm module and the communication module are connected with the stand-alone controller; the message information of each GPS module is uploaded to a single-machine controller, longitude, latitude and altitude information is extracted, and the display and alarm module is a man-machine interaction carrier and can perform parameter setting, alarm inquiry and collision alarm; the control device is subjected to background management by a central control system, the central control system comprises a central controller and a host, the central controller receives information of each single machine control system, information exchange is completed between the single machine controllers and the central controller through a communication module, the central controller calculates the distance between every two cantilever crane, and if the distance between the two cantilever cranes is smaller than the sum of the lengths of the cantilever cranes of the two cantilever cranes, collision risk is judged to exist; the cantilever cranes with collision risks form an anti-collision network, data exchange is carried out between the cantilever cranes in the anti-collision network through the wireless communication module, and the single-machine control system runs an anti-collision strategy according to the exchange data sent by the wireless communication module to carry out collision alarm.
The invention also provides an anti-collision control method of the cantilever crane, which comprises the following steps: the GPS module of each cantilever crane uploads GPS data to a corresponding single-machine controller, the single-machine controller reads GPS messages and extracts longitude, latitude and altitude information, then the single-machine controller sends the information to a central control system through a wireless communication module, the central control system calculates the position relation between every two cantilever cranes, and if the distance between the two cantilever cranes is smaller than the sum of the lengths of the cantilever cranes, the two cantilever cranes are judged to be mutually interfered; the central control system transmits the data of the boom cranes interfering with each other to the single machine control system of the corresponding boom crane; the central control system is connected with a display and alarm module of the stand-alone control system through a communication module, and the display and alarm module displays the running states and parameters of all the jib cranes in the control device.
In the above technical solution, the method comprises the following steps: step one, establishing a plane coordinate system by taking a rotation center of each cantilever crane as a coordinate origin, taking an east-west direction as an X axis and taking a north-south direction as a Y axis; setting the east-righting direction as the X-axis forward direction, increasing the zero point of a rotation angle, increasing an anticlockwise angle, reducing a clockwise angle, limiting the rotation angle at 0-2 pi, establishing an independent plane coordinate system for each cantilever crane, and enabling the X axis and the Y axis of the plane coordinate system of each cantilever crane to be parallel to the X axis and the Y axis of the plane coordinate systems of other cantilever cranes respectively; step two, calculating the distance between any two jib crane rotation centers according to the longitude and the latitude of each jib crane rotation center GPS module: is provided with an arm supportThe crane is a machine 1, and the longitude of the GPS of the rotation center of the machine 1 is JaLatitude of WaSetting another cantilever crane as a machine 2, wherein the GPS longitude of the rotation center of the machine 2 is JbLatitude of WbAnd calculating the distance D between the rotation centers of the two cantilever crane, wherein the calculation formula is as follows:
Figure BDA0002393461760000031
step three, calculating the angle theta of the connecting line of the rotation center of the machine 1 and the rotation center of the machine 2 in the machine 1 coordinate systemabAnd an angle theta of a connecting line between the rotation center of the machine 2 and the rotation center of the machine 1 in a machine 2 coordinate systemba: the distance between a point which has the same latitude with the rotation center of the machine 1 and has the same longitude with the rotation center of the machine 2 and the rotation center of the machine 1 and the rotation center of the machine 2 is respectively as follows:
Figure BDA0002393461760000032
d2＝R*|Wa-Wb|；
then the included angle between the connecting line of the rotation center of the machine 1 and the rotation center of the machine 2 and the X axis of the machine 1 is as follows:
Figure BDA0002393461760000033
the connecting line of the rotation center of the machine 1 and the rotation center of the machine 2 is at an angle theta in the machine 1ab:
Figure BDA0002393461760000034
Similarly, the angle theta between the connecting line of the rotation center of the machine 2 and the rotation center of the machine 1 in the machine 2 can be calculatedba：
Figure BDA0002393461760000041
Step four, judging whether a cross area exists between the jib cranes according to the distance between the rotation centers of any two jib cranes and the arm length of each jib crane: let the forearm length of the machine 1 be LaThe front arm of the machine 2 has a length LbIf L isa+LbD is greater than D, wherein D is the distance between the rotation centers of the two cantilever crane, the two cantilever cranes have a cross region, otherwise, no cross region exists, and the cross region between each cantilever crane and the surrounding cantilever cranes can be judged; step five, according to the extracted GPS altitude at the slewing center of the jib crane or the luffing mechanism, the height H of the slewing arm can be obtainedc(ii) a According to the extracted GPS altitude at the lifting hook, the lifting hook height H can be obtainedh(ii) a Calculating a rotation angle theta according to the extracted rotation center and the GPS longitude and latitude of the luffing mechanismrAssuming that the curve of the slewing speed and the deceleration time of the jib crane is n ═ f (t), the angle of the deceleration stop position can be determined:
θpre＝θr(+/-) 2 pi n t formula (3),
wherein, the "-" is taken clockwise, the "+" is taken counterclockwise, and theta is takenpreThe value of (d) is limited to 0-2 pi, n is the rotation speed, t is the deceleration time,
according to the equal and unequal heights of the arm supports, the collision conditions are divided into the following categories:
firstly, the front arms of the tower crane are equal in height and collide with each other; secondly, the front arm and the rear arm of the tower crane are collided at the same height; thirdly, the steel wire rope of the high tower crane collides with the front arm of the low tower crane; fourthly, the height is unequal, and the steel wire rope of the high tower crane collides with the rear arm of the low tower crane; and step six, according to the four conditions of collision, the single-machine controller runs a control algorithm to judge whether to alarm or take measures.
In the above technical solution, in the sixth step, the specific process is as follows: s61, cases of the first and second types described above: the front arm of the machine 1 collides with the front arm or the rear arm of the machine 2, and the following anti-collision control strategies are adopted: s611, equidirectional movement: the deceleration stop positions of the front arm or the rear arm of the machine 1 and the machine 2 are both in the crossing area; if the smaller value of the distance from the end point of the front arm of the crane 1 to the front arm or the rear arm of the crane 2 and the distance from the end point of the front arm or the rear arm of the crane 2 to the front arm of the crane 1 is smaller than the distance D between the rotation centers of the two cantilever cranes, the two cranes give an early warning, and the control systems of the two cranes cut off the rotation motion in the current direction; or the deceleration stop position of the front arm or the rear arm of the machine 2 is not in the crossing area; and the front arm or the rear arm of the machine 2 and the front arm of the machine 1 are in the crossing area at the deceleration stop positions, the machine 1 gives an early warning, and the single machine control system of the machine 1 cuts off the rotation action in the current direction; s612, movement in different directions: firstly, judging which deceleration stop position enters the intersection area; if the front arm or the rear arm of the machine 2 is decelerated and stopped, the machine enters a crossing area; the front arm or the rear arm of the machine 2 is decelerated and stopped at the crossing area, and the front arm or the rear arm of the machine 2 is not at the crossing area; and the front arm deceleration stop position of the machine 1 is in the cross area, the machine 1 gives an early warning, and a control system of the machine 1 cuts off the rotation action in the current direction; or the front arm deceleration stop position of the machine 1 and the front arm or the rear arm of the machine 2 are both in the crossing area; if the smaller value of the distance from the end point of the front arm of the crane 1 to the front arm or the rear arm of the crane 2 and the distance from the end point of the front arm or the rear arm of the crane 2 to the front arm deceleration stop position of the crane 1 is smaller than the distance D between the rotation centers of the two cantilever crane, the crane 1 gives an early warning, and the crane 1 control system cuts off the rotation action in the current direction; if the front arm deceleration stop position of the machine 1 enters the intersection area firstly; the front arm of the machine 1 and the front arm or the rear arm of the machine 2 are in the crossing area at the speed reduction stopping positions; and the distance from the end point of the front arm of the crane 1 to the deceleration stop position of the front arm or the rear arm of the crane 2 and the deceleration stop position of the front arm or the rear arm of the crane 2, if the smaller value of the distance from the end point of the front arm or the rear arm of the crane 2 to the front arm of the crane 1 is smaller than the distance D between the rotation centers of the two cantilever cranes, the crane 2 gives an early warning, and the crane 2 single machine control system cuts off the rotation action in the current direction; if the front arm deceleration stop position of the machine 1 and the front arm or rear arm deceleration stop position of the machine 2 enter the intersection area simultaneously; and the front arm deceleration stop position of the machine 1 and the front arm or rear arm deceleration stop position of the machine 2 are both in a cross area, both machines give early warning, and the control systems of both machines cut off the rotary motion in the current direction; s62, the third and fourth cases: the serial numbers of the high-low jib crane and the low-low jib crane are respectively machine 1 and machine 2, the steel wire rope of the machine 1 collides with the front arm or the rear arm of the machine 2, and the following anti-collision control strategies are adopted: s621, equidirectional movement: the front arm or rear arm deceleration stop positions of the machine 1 and the machine 2 are both in the crossing area; and the distance from the amplitude changing mechanism of the aircraft 1 to the deceleration stop position of the front arm or the rear arm of the aircraft 2 is less than the safety distance; and the deceleration stop position of the front arm of the machine 1, the amplitude variation mechanism of the machine 1 is in the crossing area or the height of the lifting hook of the machine 1 is less than the sum of the height of the arm support of the machine 2 and the safety height, both machines give an early warning, the control systems of both machines cut off the rotation action in the current direction, and the control system of the machine 1 cuts off the actions of the descending and amplitude increase of the lifting hook; or the front arm or the rear arm of the machine 2 is not in the crossing area at the deceleration stop position, and the front arm or the rear arm of the machine 2 is in the crossing area; the front arm deceleration stop position of the machine 1 is in the crossing area; and the deceleration stop position of the front arm of the aircraft 1, the height of the luffing mechanism of the aircraft 1 in the crossing area or the height of the lifting hook of the aircraft 1 is less than the sum of the tower height of the aircraft 2 and the safety height, the aircraft 1 gives an early warning, and the control system of the aircraft 1 cuts off the actions of rotation in the current direction, lifting hook descending and luffing increasing; s622, movement in different directions: firstly, judging which deceleration stop position enters the intersection area; if the front arm or the rear arm of the machine 2 is decelerated and stopped, the machine enters a crossing area; the front arm or the rear arm of the machine 2 is decelerated and stopped at the crossing area, and the front arm or the rear arm of the machine 2 is not at the crossing area; the front arm deceleration stop position of the machine 1 is in the crossing area; and the deceleration stop position of the front arm of the aircraft 1, the height of the luffing mechanism of the aircraft 1 in the crossing area or the height of the lifting hook of the aircraft 1 is less than the sum of the tower height of the aircraft 2 and the safety height, the aircraft 1 gives an early warning, and the control system of the aircraft 1 cuts off the actions of rotation, lifting hook descending and luffing increasing in the current direction; or the front arm or the rear arm of the machine 1 and the machine 2 are in the crossing area at the deceleration stop positions; and the distance from the amplitude variation mechanism of the aircraft 1 to the front arm or the rear arm of the aircraft 2 is less than the safety distance at the deceleration stop position of the front arm of the aircraft 1; and the deceleration stop position of the front arm of the aircraft 1, the height of the luffing mechanism of the aircraft 1 in the crossing area or the height of the lifting hook of the aircraft 1 is less than the sum of the tower height of the aircraft 2 and the safety height, the aircraft 1 gives an early warning, and the control system of the aircraft 1 cuts off the actions of rotation in the current direction, lifting hook descending and luffing increasing; if the front arm deceleration stop position of the machine 1 enters the intersection area firstly; the front arm of the machine 1 and the front arm or the rear arm of the machine 2 are in the crossing area at the speed reduction stopping positions; and the distance from the amplitude changing mechanism of the crane 1 to the deceleration stop position of the front arm or the rear arm of the crane 2 is less than the safety distance; and the amplitude changing mechanism of the machine 1 is in the crossing area or the height of the lifting hook of the machine 1 is less than the sum of the tower height of the machine 2 and the safety height, the machine 2 gives an early warning, and the control system of the machine 2 cuts off the rotation action in the current direction; if the front arm deceleration stop position of the machine 1 and the front arm or rear arm deceleration stop position of the machine 2 enter the intersection area simultaneously; the front arm deceleration stop position of the machine 1 and the front arm or rear arm deceleration stop position of the machine 2 are both in a cross area; and the deceleration stop position of the front arm of the machine 1, the height of the amplitude variation mechanism of the machine 1 in the crossing area or the height of the lifting hook of the machine 1 is less than the sum of the tower height of the machine 2 and the safety height, the two machines give an early warning, the control systems of the two machines cut off the rotary motion in the current direction, and the control system of the machine 1 cuts off the actions of the descending and amplitude increase of the lifting hook.
In the above technical solution, in the fourth step, the intersection area is defined as follows: the working areas of the machine 1 and the machine 2 are represented by circles, and the intersected area of the two circles is a crossed area; o is1Is the center of rotation of the machine 1, O2The distance D between the rotation centers of the machine 2 and the arm support of the machine 1 is obtained according to the formula (1)1Height H of arm support of crane 22(ii) a Front arm length L of machine 11Length of rear arm L3(ii) a Front arm length L of machine 22Length of rear arm L4And L is1+L2D is greater than the total weight of the steel; the amplitude of the machine 1 is A, the height of the lifting hook is H, and the rotation angle is thetar1(ii) a The rotation angle of the machine 2 is thetar2(ii) a The angles of the deceleration stop positions of the machine 1 and the machine 2 calculated according to the equation (3) are respectively thetapre1、θpre2And (one) for the cases of the above-mentioned third and fourth types, the intersection area is calculated as follows: the cross-over area of machine 1 is: the rotation angle of the machine 1 is more than or equal to thetaz2And is not more than thetaz1Wherein:
Figure BDA0002393461760000071
Figure BDA0002393461760000072
the cross-over area of machine 2 is:
the rotation angle of the machine 2 is more than or equal to thetaz3And is not more than thetaz4Wherein:
Figure BDA0002393461760000073
Figure BDA0002393461760000074
(II) for the second and fourth cases, the intersection area is calculated as follows: the cross-over area of machine 1 is: the rotation angle of the machine 1 is more than or equal to thetaz2And is not more than thetaz1Wherein:
Figure BDA0002393461760000081
Figure BDA0002393461760000082
the cross-over area of machine 2 is: the rotation angle of the machine 2 is more than or equal to thetaz3And is not more than thetaz4Wherein:
Figure BDA0002393461760000083
Figure BDA0002393461760000084
in the above technical solution, in the flow S62 of the sixth step, the method for determining whether the horn is in the intersection region for the third and fourth cases is as follows: (ii) the third case: real time position of machine 1, length of O1B ″:
Figure BDA0002393461760000085
deceleration stop position of machine 1, length of O1B ″:
Figure BDA0002393461760000086
(ii) the fourth case: real time position of machine 1, length of O1B ″:
Figure BDA0002393461760000087
deceleration stop position of machine 1, length of O1B ″:
Figure BDA0002393461760000088
in the above technical solution, in the sixth step, various calculation methods of the end-to-arm distance are as follows: in the process S621, the deceleration stop positions of the machine 1 and the machine 2, the distance from the luffing mechanism of the machine 1 to the forearm of the machine 2:
D1＝|D*(sinθab*cosθpre2-sinθpre2*cosθab)+A*(sinθpre2*cosθpre1-sinθpre1*cosθpre2)|，
deceleration stop position of the aircraft 1, distance of the horn 1 luffing mechanism to the forearm of the aircraft 2:
D2＝|D*(sinθab*cosθr2-sinθr2*cosθab)+A*(sinθr2*cosθpre1-sinθpre1*cosθr2)|；
(II) in the flow S622, the deceleration stop position of the engine 2, the distance from the amplitude changing mechanism of the engine 1 to the front arm of the engine 2 are as follows:
D3＝|D*(sinθab*cosθpre2-sinθpre2*cosθab)+A*(sinθpre2*cosθr1-sinθr1*cosθpre2)|；
(III) in the flow S611, the deceleration stop positions of the machine 1 and the machine 2, the distance from the end point of the forearm of the machine 1 to the forearm of the machine 2:
D4＝|D*(sinθab*cosθpre2-sinθpre2*cosθab)+L1(sinθpre2*cosθpre1-sinθpre1*cosθpre2)|；
deceleration stop position of machine 1 and machine 2, distance from end point of forearm of machine 2 to forearm of machine 1:
D5＝|D*(sinθpre1*cosθab-sinθab*cosθpre1)+L2(sinθpre1*cosθpre2-sinθpre2*cosθpre1)|；
deceleration stop position of machine 1, distance from end point of forearm of machine 1 to forearm of machine 2:
D6＝|D*(sinθab*cosθr2-sinθr2*cosθab)+L1(sinθr2*cosθpre1-sinθpre1*cosθr2)|；
deceleration stop position of machine 1, distance from end point of forearm of machine 2 to forearm of machine 1:
D7＝|D*(sinθpre1*cosθab-sinθab*cosθpre1)+L2(sinθpre1*cosθr2-sinθr2*cosθpre1)|；
deceleration stop position of machine 2, distance from end point of forearm of machine 1 to forearm of machine 2:
D8＝|D*(sinθab*cosθpre2-sinθprU2*cosθab)+L1(sinθpre2*cosθr1-sinθr1*cosθpre2)|；
deceleration stop position of machine 2, distance from end point of forearm of machine 2 to forearm of machine 1:
D9＝|D*(sinθr1*cosθab-sinθab*cosθr1)+L2(sinθr1*cosθpre2-sinθpre2*cosθr1)|；
deceleration stop position of machine 1 and machine 2, distance from end point of rear arm of machine 2 to front arm of machine 1:
D10＝|D*(sinθpre1*cosθab-sinθab*cosθpre1)+L4(sinθpre2*cosθpre1-sinθpre1*cosθpre2)|；
deceleration stop position of machine 1, distance from end point of rear arm of machine 2 to front arm of machine 1:
D11＝|D*(sinθpre1*cosθab-sinθab*cosθpre1)+L4(sinθr2*cosθpre1-sinθpre1*cosθr2)|；
deceleration stop position of machine 2, distance from end point of rear arm of machine 2 to front arm of machine 1:
D12＝|D*(sinθr1*cosθab-sinθab*cosθr1)+L4(sinθpre2*cosθr1-sinθr1*cosθpre2)|。
the anti-collision control device and method for the cantilever crane have the following beneficial effects:
the collision risk can be accurately predicted and a third-level alarm can be given; real-time collision avoidance does not affect normal operation efficiency; the redundancy design is adopted, so that the reliability is high; simple structure and low cost.
Drawings
Fig. 1 is a schematic diagram of the general structure of the anti-collision control device for the jib crane according to the present invention;
FIG. 2 is a schematic structural diagram of a single-machine control system in the anti-collision control device for the jib crane according to the present invention;
FIG. 3 is a schematic structural diagram of a central control system in the anti-collision control device for the jib crane according to the present invention;
FIG. 4 is a schematic flow chart of an anti-collision control method for the jib crane according to the present invention;
FIG. 5 is a plan view of a cross area between the front arm of the crane 1 or the steel wire rope and the front arm of the crane 2 in the anti-collision control method for the jib crane according to the present invention;
FIG. 6 is a plan view of a cross region between a front arm or a steel wire rope of a crane 1 and a rear arm of a crane 2 in the anti-collision control method for the jib crane according to the present invention;
fig. 7 is a plan view of a cross region between a steel wire rope of the crane 1 and a front arm or a rear arm of the crane 2 in the anti-collision control method of the jib crane according to the invention.
Detailed Description
The invention is described in further detail below with reference to the following figures and examples, which should not be construed as limiting the invention.
Referring to fig. 1 to 3, the anti-collision control device for the jib crane according to the present invention includes a stand-alone control system, a central control system, and a wireless communication module connecting the stand-alone control system and the central control system;
each cantilever crane is provided with a set of stand-alone control system, each stand-alone control system comprises a GPS module of a rotation center, a GPS module on a luffing mechanism, a GPS module on a lifting hook, a stand-alone controller, a display and alarm module and a communication module, and the GPS module, the display and alarm module and the communication module are connected with the stand-alone controller; the message information of each GPS module is uploaded to a single-machine controller, longitude, latitude and altitude information is extracted, and the display and alarm module is a man-machine interaction carrier and can perform parameter setting, alarm inquiry and collision alarm;
the control device is subjected to background management by a central control system, the central control system comprises a central controller and a host, the central controller receives information of each single machine control system, information exchange is completed between the single machine controllers and the central controller through a communication module, the central controller calculates the distance between every two cantilever crane, and if the distance between the two cantilever cranes is smaller than the sum of the lengths of the cantilever cranes of the two cantilever cranes, collision risk is judged to exist; the cantilever cranes with collision risks form an anti-collision network, data exchange is carried out between the cantilever cranes in the anti-collision network through the wireless communication module, and the single-machine control system runs an anti-collision strategy according to the exchange data sent by the wireless communication module to carry out collision alarm.
Referring to fig. 4, the anti-collision control method for the jib crane according to the present invention has the following technical principles:
the GPS module of each cantilever crane uploads GPS data to a corresponding single-machine controller, the single-machine controller reads GPS messages and extracts longitude, latitude and altitude information, then the single-machine controller sends the information to a central control system through a wireless communication module, the central control system calculates the position relation between every two cantilever cranes, and if the distance between the two cantilever cranes is smaller than the sum of the lengths of the cantilever cranes, the two cantilever cranes are judged to be mutually interfered; the central control system transmits the data of the boom cranes interfering with each other to the single machine control system of the corresponding boom crane; the central control system is connected with a display and alarm module of the stand-alone control system through a communication module, and the display and alarm module displays the running states and parameters of all the jib cranes in the control device.
The invention discloses an anti-collision control method of a cantilever crane, which comprises the following specific steps:
step one, establishing a plane coordinate system by taking a rotation center of each cantilever crane as a coordinate origin, taking an east-west direction as an X axis and taking a north-south direction as a Y axis; setting the east-righting direction as the X-axis forward direction, increasing the zero point of a rotation angle, increasing an anticlockwise angle, reducing a clockwise angle, limiting the rotation angle at 0-2 pi, establishing an independent plane coordinate system for each cantilever crane, and enabling the X axis and the Y axis of the plane coordinate system of each cantilever crane to be parallel to the X axis and the Y axis of the plane coordinate systems of other cantilever cranes respectively;
step two, calculating the distance between any two jib crane rotation centers according to the longitude and the latitude of each jib crane rotation center GPS module:
setting a cantilever crane as a machine 1, wherein the longitude of a GPS (global positioning system) of the rotation center of the machine 1 is JaLatitude of WaAnd another jib crane is set as a machine 2,the GPS longitude of the rotation center of the machine 2 is JbLatitude of WbAnd calculating the distance D between the rotation centers of the two cantilever crane, wherein the calculation formula is as follows:
Figure BDA0002393461760000121
step three, calculating the angle theta of the connecting line of the rotation center of the machine 1 and the rotation center of the machine 2 in the machine 1 coordinate systemabAnd an angle theta of a connecting line between the rotation center of the machine 2 and the rotation center of the machine 1 in a machine 2 coordinate systemba：
The distance between a point which has the same latitude with the rotation center of the machine 1 and has the same longitude with the rotation center of the machine 2 and the rotation center of the machine 1 and the rotation center of the machine 2 is respectively as follows:
Figure BDA0002393461760000122
d2＝R*|Wa-Wb|；
then the included angle between the connecting line of the rotation center of the machine 1 and the rotation center of the machine 2 and the X axis of the machine 1 is as follows:
Figure BDA0002393461760000131
the connecting line of the rotation center of the machine 1 and the rotation center of the machine 2 is at an angle theta in the machine 1ab:
Figure BDA0002393461760000132
Similarly, the angle theta between the connecting line of the rotation center of the machine 2 and the rotation center of the machine 1 in the machine 2 can be calculatedba：
Figure BDA0002393461760000133
Referring to fig. 5 to 7, in step four, whether a crossing area exists between the jib cranes is judged according to the distance between the rotation centers of any two jib cranes and the arm length of each jib crane:
let the forearm length of the machine 1 be LaThe front arm of the machine 2 has a length LbIf L isa+LbD, wherein D is the distance between the rotation centers of the two cantilever cranes, the two cantilever cranes have a cross area, otherwise, no cross area exists, and the cross area between each cantilever crane and the surrounding cantilever cranes can be judged, and is defined as follows:
the working areas of the machine 1 and the machine 2 are represented by circles, and the intersected area of the two circles is a crossed area;
O1is the center of rotation of the machine 1, O2The distance D between the rotation centers of the machine 2 and the arm support of the machine 1 is obtained according to the formula (1)1Height H of arm support of crane 22(ii) a Front arm length L of machine 11Length of rear arm L3(ii) a Front arm length L of machine 22Length of rear arm L4And L is1+L2D is greater than the total weight of the steel; the amplitude of the machine 1 is A, the height of the lifting hook is H, and the rotation angle is thetar1(ii) a The rotation angle of the machine 2 is thetar2(ii) a The angles of the deceleration stop positions of the machine 1 and the machine 2 calculated according to the equation (3) are respectively thetapre1、θpre2，
(one) for the first and third cases above, the intersection area is calculated as follows:
the cross-over area of machine 1 is:
the rotation angle of the machine 1 is more than or equal to thetaz2And is not more than thetaz1Wherein:
Figure BDA0002393461760000141
Figure BDA0002393461760000142
the cross-over area of machine 2 is:
the machine 2 has large rotation angleIs equal to thetaz3And is not more than thetaz4Wherein:
Figure BDA0002393461760000143
Figure BDA0002393461760000144
(II) for the second and fourth cases, the intersection area is calculated as follows:
the cross-over area of machine 1 is:
the rotation angle of the machine 1 is more than or equal to thetaz2And is not more than thetaz1Wherein:
Figure BDA0002393461760000145
Figure BDA0002393461760000146
the cross-over area of machine 2 is: the rotation angle of the machine 2 is more than or equal to thetaz3And is not more than thetaz4Wherein:
Figure BDA0002393461760000147
Figure BDA0002393461760000148
step five, according to the extracted GPS altitude at the slewing center of the jib crane or the luffing mechanism, the height H of the slewing arm can be obtainedc(ii) a According to the extracted GPS altitude at the lifting hook, the lifting hook height H can be obtainedh(ii) a Calculating a rotation angle theta according to the extracted rotation center and the GPS longitude and latitude of the luffing mechanismrSlewing of crane with jibThe speed and deceleration time curve is n ═ f (t), and the angle of the deceleration stop position can be found:
θpre＝θr(+/-) 2 pi n t formula (3),
wherein, the "-" is taken clockwise, the "+" is taken counterclockwise, and theta is takenpreThe value of (d) is limited to 0-2 pi, n is the rotation speed, t is the deceleration time,
according to the equal and unequal heights of the arm supports, the collision conditions are divided into the following categories:
firstly, the front arms of the tower crane are equal in height and collide with each other; secondly, the front arm and the rear arm of the tower crane are collided at the same height; thirdly, the steel wire rope of the high tower crane collides with the front arm of the low tower crane; fourthly, the height is unequal, and the steel wire rope of the high tower crane collides with the rear arm of the low tower crane;
and step six, according to the four conditions of collision, the single-machine controller runs a control algorithm to judge whether to give an alarm or take measures, and the specific flow is as follows:
s61, cases of the first and second types described above: the front arm of the machine 1 collides with the front arm or the rear arm of the machine 2, the following anti-collision control strategies are adopted, and various calculation methods of the distance from the end point to the arm are also included as follows:
s611, equidirectional movement:
the deceleration stop positions of the front arm or the rear arm of the machine 1 and the machine 2 are both in the crossing area; if the smaller value of the distance from the end point of the front arm of the crane 1 to the front arm or the rear arm of the crane 2 and the distance from the end point of the front arm or the rear arm of the crane 2 to the front arm of the crane 1 is smaller than the distance D between the rotation centers of the two cantilever cranes, the two cranes give an early warning, and the control systems of the two cranes cut off the rotation motion in the current direction;
or the deceleration stop position of the front arm or the rear arm of the machine 2 is not in the crossing area; and the front arm or the rear arm of the machine 2 and the front arm of the machine 1 are in the crossing area at the deceleration stop positions, the machine 1 gives an early warning, and the single machine control system of the machine 1 cuts off the rotation action in the current direction;
s612, movement in different directions:
firstly, judging which deceleration stop position enters the intersection area;
if the front arm or the rear arm of the machine 2 is decelerated and stopped, the machine enters a crossing area; the front arm or the rear arm of the machine 2 is decelerated and stopped at the crossing area, and the front arm or the rear arm of the machine 2 is not at the crossing area; and the front arm deceleration stop position of the machine 1 is in the cross area, the machine 1 gives an early warning, and a control system of the machine 1 cuts off the rotation action in the current direction;
or the front arm deceleration stop position of the machine 1 and the front arm or the rear arm of the machine 2 are both in the crossing area; if the smaller value of the distance from the end point of the front arm of the crane 1 to the front arm or the rear arm of the crane 2 and the distance from the end point of the front arm or the rear arm of the crane 2 to the front arm deceleration stop position of the crane 1 is smaller than the distance D between the rotation centers of the two cantilever crane, the crane 1 gives an early warning, and the crane 1 control system cuts off the rotation action in the current direction;
if the front arm deceleration stop position of the machine 1 enters the intersection area firstly; the front arm of the machine 1 and the front arm or the rear arm of the machine 2 are in the crossing area at the speed reduction stopping positions; and the distance from the end point of the front arm of the crane 1 to the deceleration stop position of the front arm or the rear arm of the crane 2 and the deceleration stop position of the front arm or the rear arm of the crane 2, if the smaller value of the distance from the end point of the front arm or the rear arm of the crane 2 to the front arm of the crane 1 is smaller than the distance D between the rotation centers of the two cantilever cranes, the crane 2 gives an early warning, and the crane 2 single-machine control system cuts off the rotation action in the current direction, specifically as follows:
deceleration stop position of machine 1 and machine 2, distance from end point of forearm of machine 1 to forearm of machine 2:
D4＝|D*(sinθab*cosθpre2-sinθpre2*cosθab)+L1(sinθpre2*cosθprU1-sinθpre1*cosθprU2)|；
deceleration stop position of machine 1 and machine 2, distance from end point of forearm of machine 2 to forearm of machine 1:
D5＝|D*(sinθpre1*cosθab-sinθab*cosθpre1)+L2(sinθpre1*cosθpre2-sinθpre2*cosθpre1)|；
deceleration stop position of machine 1, distance from end point of forearm of machine 1 to forearm of machine 2:
D6＝|D*(sinθab*cosθr2-sinθr2*cosθab)+L1(sinθr2*cosθpre1-sinθpre1*cosθr2)|；
deceleration stop position of machine 1, distance from end point of forearm of machine 2 to forearm of machine 1:
D7＝|D*(sinθpre1*cosθab-sinθab*cosθpre1)+L2(sinθpre1*cosθr2-sinθr2*cosθprU1)|；
deceleration stop position of machine 2, distance from end point of forearm of machine 1 to forearm of machine 2:
D8＝|D*(sinθab*cosθpre2-sinθpre2*cosθab)+L1(sinθpre2*cosθr1-sinθr1*cosθpre2)|；
deceleration stop position of machine 2, distance from end point of forearm of machine 2 to forearm of machine 1:
D9＝|D*(sinθr1*cosθab-sinθab*cosθr1)+L2(sinθr1*cosθpre2-sinθpre2*cosθr1)|；
deceleration stop position of machine 1 and machine 2, distance from end point of rear arm of machine 2 to front arm of machine 1:
D10＝|D*(sinθpre1*cosθab-sinθab*cosθpre1)+L4(sinθpre2*cosθpre1-sinθpre1*cosθpre2)|；
deceleration stop position of machine 1, distance from end point of rear arm of machine 2 to front arm of machine 1:
D11＝|D*(sinθpre1*cosθab-sinθab*cosθpre1)+L4(sinθr2*cosθpre1-sinθpre1*cosθr2)|；
deceleration stop position of machine 2, distance from end point of rear arm of machine 2 to front arm of machine 1:
D12＝|D*(sinθr1*cosθab-sinθab*cosθr1)+L4(sinθpre2*cosθr1-sinθr1*cosθpre2)|；
if the front arm deceleration stop position of the machine 1 and the front arm or rear arm deceleration stop position of the machine 2 enter the intersection area simultaneously; and the front arm deceleration stop position of the machine 1 and the front arm or rear arm deceleration stop position of the machine 2 are both in a cross area, both machines give early warning, and the control systems of both machines cut off the rotary motion in the current direction;
s62, the third and fourth cases: the serial numbers of the high-low jib crane and the low-low jib crane are respectively machine 1 and machine 2, the steel wire rope of the machine 1 collides with the front arm or the rear arm of the machine 2, and the following anti-collision control strategies are adopted:
s621, equidirectional movement:
the front arm or rear arm deceleration stop positions of the machine 1 and the machine 2 are both in the crossing area; and the distance from the amplitude variation mechanism of the machine 1 to the deceleration stop position of the front arm or the rear arm of the machine 2 is less than a safety distance, namely the deceleration stop positions of the machine 1 and the machine 2, and the distance from the amplitude variation mechanism of the machine 1 to the front arm of the machine 2 is as follows: d1＝|D*(sinθab*cosθpre2-sinθpre2*cosθab)+A*(sinθpre2*cosθpre1-sinθpre1*cosθpre2) |, deceleration stop position of the machine 1, distance from the luffing mechanism of the machine 1 to the forearm of the machine 2: d2＝|D*(sinθab*cosθr2-sinθr2*cosθab)+A*(sinθr2*cosθpre1-sinθpre1*cosθr2) L, |; and the deceleration stop position of the front arm of the machine 1, the amplitude variation mechanism of the machine 1 is in the crossing area or the height of the lifting hook of the machine 1 is less than the sum of the height of the arm support of the machine 2 and the safety height, both machines give an early warning, the control systems of both machines cut off the rotation action in the current direction, and the control system of the machine 1 cuts off the actions of the descending and amplitude increase of the lifting hook;
or the front arm or the rear arm of the machine 2 is not in the crossing area at the deceleration stop position, and the front arm or the rear arm of the machine 2 is in the crossing area; the front arm deceleration stop position of the machine 1 is in the crossing area; and the deceleration stop position of the front arm of the aircraft 1, the height of the luffing mechanism of the aircraft 1 in the crossing area or the height of the lifting hook of the aircraft 1 is less than the sum of the tower height of the aircraft 2 and the safety height, the aircraft 1 gives an early warning, and the control system of the aircraft 1 cuts off the actions of rotation in the current direction, lifting hook descending and luffing increasing;
s622, movement in different directions:
firstly, judging which deceleration stop position enters the intersection area;
if the front arm or the rear arm of the machine 2 is decelerated and stopped, the machine enters a crossing area; the front arm or the rear arm of the machine 2 is decelerated and stopped at the crossing area, and the front arm or the rear arm of the machine 2 is not at the crossing area; the front arm deceleration stop position of the machine 1 is in the crossing area; and the deceleration stop position of the front arm of the aircraft 1, the height of the luffing mechanism of the aircraft 1 in the crossing area or the height of the lifting hook of the aircraft 1 is less than the sum of the tower height of the aircraft 2 and the safety height, the aircraft 1 gives an early warning, and the control system of the aircraft 1 cuts off the actions of rotation, lifting hook descending and luffing increasing in the current direction;
or the front arm or the rear arm of the machine 1 and the machine 2 are in the crossing area at the deceleration stop positions; and the deceleration stop position of the front arm of the machine 1, the distance from the amplitude variation mechanism of the machine 1 to the front arm or the rear arm of the machine 2 is less than the safety distance, namely the distance from the amplitude variation mechanism of the machine 1 to the front arm of the machine 2: d3＝|D*(sinθab*cosθprU2-sinθpre2*cosθab)+A*(sinθpre2*cosθr1-sinθr1*cosθpre2) L, |; (ii) a And the deceleration stop position of the front arm of the aircraft 1, the height of the luffing mechanism of the aircraft 1 in the crossing area or the height of the lifting hook of the aircraft 1 is less than the sum of the tower height of the aircraft 2 and the safety height, the aircraft 1 gives an early warning, and the control system of the aircraft 1 cuts off the actions of rotation in the current direction, lifting hook descending and luffing increasing;
if the front arm deceleration stop position of the machine 1 enters the intersection area firstly; the front arm of the machine 1 and the front arm or the rear arm of the machine 2 are in the crossing area at the speed reduction stopping positions; and the distance from the amplitude changing mechanism of the crane 1 to the deceleration stop position of the front arm or the rear arm of the crane 2 is less than the safety distance; and the amplitude changing mechanism of the machine 1 is in the crossing area or the height of the lifting hook of the machine 1 is less than the sum of the tower height of the machine 2 and the safety height, the machine 2 gives an early warning, and the control system of the machine 2 cuts off the rotation action in the current direction;
if the front arm deceleration stop position of the machine 1 and the front arm or rear arm deceleration stop position of the machine 2 enter the intersection area simultaneously; the front arm deceleration stop position of the machine 1 and the front arm or rear arm deceleration stop position of the machine 2 are both in a cross area; and the deceleration stop position of the forearm of the machine 1, the amplitude variation mechanism of the machine 1 is in the crossing area or the height of the lifting hook of the machine 1 is less than the sum of the tower height of the machine 2 and the safety height, then both machines give an early warning, the control systems of both machines cut off the rotary motion in the current direction, the control system of the machine 1 cuts off the actions of descending and increasing the amplitude of the lifting hook, and for the third and fourth conditions, the method for judging whether the amplitude variation mechanism is in the crossing area is as follows:
(ii) the third case:
real time position of machine 1, O1The length of B' is:
Figure BDA0002393461760000191
deceleration stop position of machine 1, O1The length of B' is:
Figure BDA0002393461760000192
(ii) the fourth case:
real time position of machine 1, O1The length of B' is:
Figure BDA0002393461760000193
deceleration stop position of machine 1, O1The length of B' is:
Figure BDA0002393461760000201
in summary, the early warning judgment is made according to the following control strategy:
set a safety distance of DgWith a safety height of HsAnd then, the basis for judging early warning and controlling is as follows:
for the first case described above:
(1) if the motion is the same direction motion, the early warning condition is as follows:
①θz1≥θpre1≥θz2，
②θz4≥θpre2≥θz3，
③min(D4,Da)≤Ds，
or:
①θz1≥θpre1≥θz2，
②θz3＞θpre2> 0 or 2 pi > thetapre2＞θz4，
③θz4≥θr2≥θz3，
(2) If the movement is the opposite movement, the early warning condition is as follows:
if the front arm deceleration stop position of the machine 2 enters the intersection area first:
①θz1≥θpre1≥θz2，
②θz4≥θpre2≥θz3，
③θz3＞θr2> 0 or 2 pi > thetar2＞θz4，
Or:
①θz1≥θpre1≥θz2，
②θz4≥θr2≥θz3，
③min(D6,D7)≤Ds，
if the front arm deceleration stop position of the machine 1 enters the intersection area first:
①θz1≥θr1≥θz2，
②θz4≥θpre2≥θz3，
③min(D8,D9)≤Dg，
if the deceleration stop position of the forearm of the machine 1 and the deceleration stop position of the forearm of the machine 2 enter the crossing area simultaneously:
①θz1≥θpre1≥θz2，
②θz4≥θpre2≥θz3，
for the second case described above:
(1) if the motion is the same direction motion, the early warning condition is as follows:
①θz1≥θprU1≥θz2，
②θz4≥θprU2≥θz3，
③min(D4,D10)≤Ds，
or:
①θz1≥θpre1≥θz2，
②θz3＞θpre2> 0 or 2 pi > thetapre2＞θz4，
③θz4≥θr2≥θz3，
(2) If the movement is the opposite movement, the early warning condition is as follows:
if the front arm deceleration stop position of the machine 2 enters the intersection area first:
①θz1≥θpre1≥θz2，
②θz4≥θpre2≥θz3，
③θz3＞θr2> 0 or 2 pi > thetar2＞θz4，
Or:
①θz1≥θpre1≥θz2，
②θz4≥θr2≥θz3，
③min(D6,D11)≤Ds，
if the front arm deceleration stop position of the machine 1 enters the intersection area first:
①θz1≥θr1≥θz2，
②θz4≥θpre2≥θz3，
③min(D8,D12)≤Ds，
if the deceleration stop position of the forearm of the machine 1 and the deceleration stop position of the forearm of the machine 2 enter the crossing area simultaneously:
①θz1≥θpre1≥θz2，
②θz4≥θpre2≥θz3，
for the third and fourth cases above:
(1) if the motion is the same direction motion, the early warning condition is as follows:
①θz1≥θpre1≥θz2，
②θz4≥θpre2≥θz3，
③D1≤Ds，
④A≥D′aor H is less than or equal to (H)2+Hs)，
Or:
①θz1≥θpre1≥θz2，
②θz3＞θpre2> 0 or 2 pi > thetapre2＞θz4，
③θz4≥θr2≥θz3，
④D1≤Ds，
⑤A≥D′aOr H is less than or equal to (H)2+Hs)，
(2) If the movement is the opposite movement, the early warning condition is as follows:
if the front arm deceleration stop position of the machine 2 enters the intersection area first:
①θz1≥θpre1≥θz2，
②θz4≥θpre2≥θz3，
③θz3＞θr2> 0 or 2 pi > thetar2＞θz4，
④A≥D′aOr H is less than or equal to (H)2+Hs)，
Or:
①θz1≥θpre1≥θz2，
②θz4≥θr2≥θz3，
③D2≤Ds，
④A≥D′aor H is less than or equal to (H)2+Hg)，
If the front arm deceleration stop position of the machine 1 enters the intersection area first:
①θz1≥θr1≥θz2，
②θz4≥θpre2≥θz3，
③D3≤Ds，
④A≥Daor H is less than or equal to (H)2+Hg)，⑤A≥DaOr H is less than or equal to (H)2+Hg)，
If the deceleration stop position of the forearm of the machine 1 and the deceleration stop position of the forearm of the machine 2 enter the crossing area simultaneously:
①θz1≥θpre1≥θz2，
②θz4≥θpre2≥θz3，
③A≥D′aor H is less than or equal to (H)2+Hs)。
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Those not described in detail in this specification are within the skill of the art.

Claims (5)

1. The anti-collision control method of the cantilever crane is characterized by comprising the following steps: the process is as follows:
the GPS module of each cantilever crane uploads GPS data to a corresponding single-machine controller, the single-machine controller reads GPS messages and extracts longitude, latitude and altitude information, then the single-machine controller sends the information to a central control system through a wireless communication module, the central control system calculates the position relation between every two cantilever cranes, and if the distance between the two cantilever cranes is smaller than the sum of the lengths of the cantilever cranes, the two cantilever cranes are judged to be mutually interfered; the central control system transmits the data of the boom cranes interfering with each other to the single machine control system of the corresponding boom crane; the central control system is connected with a display and alarm module of the stand-alone control system through a communication module, and the display and alarm module displays the running states and parameters of all the cantilever cranes in the control device;
the method comprises the following steps:
step one, establishing a plane coordinate system by taking a rotation center of each cantilever crane as a coordinate origin, taking an east-west direction as an X axis and taking a north-south direction as a Y axis; setting the east-righting direction as the X-axis forward direction, increasing the zero point of a rotation angle, increasing an anticlockwise angle, reducing a clockwise angle, limiting the rotation angle at 0-2 pi, establishing an independent plane coordinate system for each cantilever crane, and enabling the X axis and the Y axis of the plane coordinate system of each cantilever crane to be parallel to the X axis and the Y axis of the plane coordinate systems of other cantilever cranes respectively;
step two, calculating the distance between any two jib crane rotation centers according to the longitude and the latitude of each jib crane rotation center GPS module:
setting a cantilever crane as a machine 1, wherein the longitude of a GPS (global positioning system) of the rotation center of the machine 1 is JaLatitude of WaSetting another cantilever crane as a machine 2, wherein the GPS longitude of the rotation center of the machine 2 is JbLatitude of WbAnd calculating the distance D between the rotation centers of the two cantilever crane, wherein the calculation formula is as follows:
Figure FDA0003114351910000011
step three, calculating a connecting line between the rotation center of the machine 1 and the rotation center of the machine 2 in a machine 1 coordinate systemAngle theta ofabAnd an angle theta of a connecting line between the rotation center of the machine 2 and the rotation center of the machine 1 in a machine 2 coordinate systemba：
The distance between a point which has the same latitude with the rotation center of the machine 1 and has the same longitude with the rotation center of the machine 2 and the rotation center of the machine 1 and the rotation center of the machine 2 is respectively as follows:
Figure FDA0003114351910000021
d2＝R*|Wa-Wb|；
then the included angle between the connecting line of the rotation center of the machine 1 and the rotation center of the machine 2 and the X axis of the machine 1 is as follows:
Figure FDA0003114351910000022
the connecting line of the rotation center of the machine 1 and the rotation center of the machine 2 is at an angle theta in the machine 1ab:
Figure FDA0003114351910000023
Similarly, the angle theta between the connecting line of the rotation center of the machine 2 and the rotation center of the machine 1 in the machine 2 can be calculatedba：
Figure FDA0003114351910000024
Step four, judging whether a cross area exists between the jib cranes according to the distance between the rotation centers of any two jib cranes and the arm length of each jib crane:
let the forearm length of the machine 1 be LaThe front arm of the machine 2 has a length LbIf L isa+LbD, wherein the two cantilever cranes have a cross area, otherwise, no cross area exists, and each cantilever crane and the surrounding cantilever cranes can be judgedA cross region is arranged;
step five, according to the extracted GPS altitude at the slewing center of the jib crane or the luffing mechanism, the height H of the slewing arm can be obtainedc(ii) a According to the extracted GPS altitude at the lifting hook, the lifting hook height H can be obtainedh(ii) a Calculating a rotation angle theta according to the extracted rotation center and the GPS longitude and latitude of the luffing mechanismrAssuming that the curve of the slewing speed and the deceleration time of the jib crane is n ═ f (t), the angle of the deceleration stop position can be determined:
θpre＝θr(+/-) 2 pi n t formula (3),
wherein, the "-" is taken clockwise, the "+" is taken counterclockwise, and theta is takenpreThe value of (d) is limited to 0-2 pi, n is the rotation speed, t is the deceleration time,
according to the equal and unequal heights of the arm supports, the collision conditions are divided into the following categories:
firstly, the front arms of the tower crane are equal in height and collide with each other; secondly, the front arm and the rear arm of the tower crane are collided at the same height; thirdly, the steel wire rope of the high tower crane collides with the front arm of the low tower crane; fourthly, the height is unequal, and the steel wire rope of the high tower crane collides with the rear arm of the low tower crane;
and step six, according to the four conditions of collision, the single-machine controller runs a control algorithm to judge whether to alarm or take measures.
2. The anti-collision control method for the jib crane according to claim 1, wherein the anti-collision control method comprises the following steps: in the sixth step, the specific process is as follows:
s61, cases of the first and second types described above: the front arm of the machine 1 collides with the front arm or the rear arm of the machine 2, and the following anti-collision control strategies are adopted:
s611, equidirectional movement:
the deceleration stop positions of the front arm or the rear arm of the machine 1 and the machine 2 are both in the crossing area; if the smaller value of the distance from the end point of the front arm of the crane 1 to the front arm or the rear arm of the crane 2 and the distance from the end point of the front arm or the rear arm of the crane 2 to the front arm of the crane 1 is smaller than the distance D between the rotation centers of the two cantilever cranes, the two cranes give an early warning, and the control systems of the two cranes cut off the rotation motion in the current direction;
or the deceleration stop position of the front arm or the rear arm of the machine 2 is not in the crossing area; and the front arm or the rear arm of the machine 2 and the front arm of the machine 1 are in the crossing area at the deceleration stop positions, the machine 1 gives an early warning, and the single machine control system of the machine 1 cuts off the rotation action in the current direction;
s612, movement in different directions:
firstly, judging which deceleration stop position enters the intersection area;
if the front arm or the rear arm of the machine 2 is decelerated and stopped, the machine enters a crossing area; the front arm or the rear arm of the machine 2 is decelerated and stopped at the crossing area, and the front arm or the rear arm of the machine 2 is not at the crossing area; and the front arm deceleration stop position of the machine 1 is in the cross area, the machine 1 gives an early warning, and a control system of the machine 1 cuts off the rotation action in the current direction;
or the front arm deceleration stop position of the machine 1 and the front arm or the rear arm of the machine 2 are both in the crossing area; if the smaller value of the distance from the end point of the front arm of the crane 1 to the front arm or the rear arm of the crane 2 and the distance from the end point of the front arm or the rear arm of the crane 2 to the front arm deceleration stop position of the crane 1 is smaller than the distance D between the rotation centers of the two cantilever crane, the crane 1 gives an early warning, and the crane 1 control system cuts off the rotation action in the current direction;
if the front arm deceleration stop position of the machine 1 enters the intersection area firstly; the front arm of the machine 1 and the front arm or the rear arm of the machine 2 are in the crossing area at the speed reduction stopping positions; and the distance from the end point of the front arm of the crane 1 to the deceleration stop position of the front arm or the rear arm of the crane 2 and the deceleration stop position of the front arm or the rear arm of the crane 2, if the smaller value of the distance from the end point of the front arm or the rear arm of the crane 2 to the front arm of the crane 1 is smaller than the distance D between the rotation centers of the two cantilever cranes, the crane 2 gives an early warning, and the crane 2 single machine control system cuts off the rotation action in the current direction;
if the front arm deceleration stop position of the machine 1 and the front arm or rear arm deceleration stop position of the machine 2 enter the intersection area simultaneously; and the front arm deceleration stop position of the machine 1 and the front arm or rear arm deceleration stop position of the machine 2 are both in a cross area, both machines give early warning, and the control systems of both machines cut off the rotary motion in the current direction;
s62, the third and fourth cases: the serial numbers of the high-low jib crane and the low-low jib crane are respectively machine 1 and machine 2, the steel wire rope of the machine 1 collides with the front arm or the rear arm of the machine 2, and the following anti-collision control strategies are adopted:
s621, equidirectional movement:
the front arm or rear arm deceleration stop positions of the machine 1 and the machine 2 are both in the crossing area; and the distance from the amplitude changing mechanism of the aircraft 1 to the deceleration stop position of the front arm or the rear arm of the aircraft 2 is less than the safety distance; and the deceleration stop position of the front arm of the machine 1, the amplitude variation mechanism of the machine 1 is in the crossing area or the height of the lifting hook of the machine 1 is less than the sum of the height of the arm support of the machine 2 and the safety height, both machines give an early warning, the control systems of both machines cut off the rotation action in the current direction, and the control system of the machine 1 cuts off the actions of the descending and amplitude increase of the lifting hook;
or the front arm or the rear arm of the machine 2 is not in the crossing area at the deceleration stop position, and the front arm or the rear arm of the machine 2 is in the crossing area; the front arm deceleration stop position of the machine 1 is in the crossing area; and the deceleration stop position of the front arm of the aircraft 1, the height of the luffing mechanism of the aircraft 1 in the crossing area or the height of the lifting hook of the aircraft 1 is less than the sum of the tower height of the aircraft 2 and the safety height, the aircraft 1 gives an early warning, and the control system of the aircraft 1 cuts off the actions of rotation in the current direction, lifting hook descending and luffing increasing;
s622, movement in different directions:
firstly, judging which deceleration stop position enters the intersection area;
if the front arm or the rear arm of the machine 2 is decelerated and stopped, the machine enters a crossing area; the front arm or the rear arm of the machine 2 is decelerated and stopped at the crossing area, and the front arm or the rear arm of the machine 2 is not at the crossing area; the front arm deceleration stop position of the machine 1 is in the crossing area; and the deceleration stop position of the front arm of the aircraft 1, the height of the luffing mechanism of the aircraft 1 in the crossing area or the height of the lifting hook of the aircraft 1 is less than the sum of the tower height of the aircraft 2 and the safety height, the aircraft 1 gives an early warning, and the control system of the aircraft 1 cuts off the actions of rotation, lifting hook descending and luffing increasing in the current direction;
or the front arm or the rear arm of the machine 1 and the machine 2 are in the crossing area at the deceleration stop positions; and the distance from the amplitude variation mechanism of the aircraft 1 to the front arm or the rear arm of the aircraft 2 is less than the safety distance at the deceleration stop position of the front arm of the aircraft 1; and the deceleration stop position of the front arm of the aircraft 1, the height of the luffing mechanism of the aircraft 1 in the crossing area or the height of the lifting hook of the aircraft 1 is less than the sum of the tower height of the aircraft 2 and the safety height, the aircraft 1 gives an early warning, and the control system of the aircraft 1 cuts off the actions of rotation in the current direction, lifting hook descending and luffing increasing;
if the front arm deceleration stop position of the machine 1 enters the intersection area firstly; the front arm of the machine 1 and the front arm or the rear arm of the machine 2 are in the crossing area at the speed reduction stopping positions; and the distance from the amplitude changing mechanism of the crane 1 to the deceleration stop position of the front arm or the rear arm of the crane 2 is less than the safety distance; and the amplitude changing mechanism of the machine 1 is in the crossing area or the height of the lifting hook of the machine 1 is less than the sum of the tower height of the machine 2 and the safety height, the machine 2 gives an early warning, and the control system of the machine 2 cuts off the rotation action in the current direction;
if the front arm deceleration stop position of the machine 1 and the front arm or rear arm deceleration stop position of the machine 2 enter the intersection area simultaneously; the front arm deceleration stop position of the machine 1 and the front arm or rear arm deceleration stop position of the machine 2 are both in a cross area; and the deceleration stop position of the front arm of the machine 1, the height of the amplitude variation mechanism of the machine 1 in the crossing area or the height of the lifting hook of the machine 1 is less than the sum of the tower height of the machine 2 and the safety height, the two machines give an early warning, the control systems of the two machines cut off the rotary motion in the current direction, and the control system of the machine 1 cuts off the actions of the descending and amplitude increase of the lifting hook.
3. The anti-collision control method for the jib crane according to claim 2, wherein: in the fourth step, the intersection area is defined as follows:
the working areas of the machine 1 and the machine 2 are represented by circles, and the intersected area of the two circles is a crossed area;
O1is the center of rotation of the machine 1, O2The distance D between the rotation centers of the machine 2 and the arm support of the machine 1 is obtained according to the formula (1)1Height H of arm support of crane 22(ii) a Front arm length L of machine 11Length of rear arm L3(ii) a Front arm length L of machine 22Length of rear arm L4And L is1+L2D is greater than the total weight of the steel; the amplitude of the machine 1 is A, the height of the lifting hook is H, and the rotation angle is thetar1(ii) a The rotation angle of the machine 2 is thetar2(ii) a The angles of the deceleration stop positions of the machine 1 and the machine 2 calculated according to the equation (3) are respectively thetapre1、θpre2，
(one) for the first and third cases above, the intersection area is calculated as follows:
the cross-over area of machine 1 is:
the rotation angle of the machine 1 is more than or equal to thetaz2And is not more than thetaz1Wherein:
Figure FDA0003114351910000061
Figure FDA0003114351910000062
the cross-over area of machine 2 is:
the rotation angle of the machine 2 is more than or equal to thetaz3And is not more than thetaz4Wherein:
Figure FDA0003114351910000071
Figure FDA0003114351910000072
(II) for the second and fourth cases, the intersection area is calculated as follows:
the cross-over area of machine 1 is:
the rotation angle of the machine 1 is more than or equal to thetaz2And is not more than thetaz1Wherein:
Figure FDA0003114351910000073
Figure FDA0003114351910000074
the cross-over area of machine 2 is: the rotation angle of the machine 2 is more than or equal to thetaz3And is not more than thetaz4Wherein:
Figure FDA0003114351910000075
Figure FDA0003114351910000076
4. the anti-collision control method for the jib crane according to claim 3, wherein: in the flow S62 of the sixth step, the method of determining whether the luffing mechanism is in the intersection region for the third and fourth cases is as follows:
(ii) the third case:
real time position of machine 1, length of O1B ″:
Figure FDA0003114351910000077
deceleration stop position of machine 1, length of O1B ″:
Figure FDA0003114351910000078
(ii) the fourth case:
real time position of machine 1, length of O1B ″:
Figure FDA0003114351910000081
deceleration stop position of machine 1, length of O1B ″:
Figure FDA0003114351910000082
5. the anti-collision control method for the jib crane according to claim 4, wherein the anti-collision control method comprises the following steps: in the sixth step, various calculation methods of the distance from the end point to the arm are as follows:
in the flow S621, the deceleration stop positions of the machine 1 and the machine 2, the distance from the amplitude variation mechanism of the machine 1 to the front arm of the machine 2 are as follows:
D1＝|D*(sinθab*cosθpre2-sinθpre2*cosθab)+A*(sinθpre2*cosθpre1-sinθpre1*cosθpre2)|，
deceleration stop position of the aircraft 1, distance of the horn 1 luffing mechanism to the forearm of the aircraft 2:
D2＝|D*(sinθab*cosθr2-sinθr2*cosθab)+A*(sinθr2*cosθpre1-sinθpre1*cosθr2)|；
(II) in the flow S622, the deceleration stop position of the engine 2, the distance from the amplitude changing mechanism of the engine 1 to the front arm of the engine 2:
D3＝|D*(sinθab*cosθpre2-sinθpre2*cosθab)+A*(sinθpre2*cosθr1-sinθr1*cosθpre2)|；
(III) in the flow S611, the deceleration stop positions of the machine 1 and the machine 2, the distance from the end point of the forearm of the machine 1 to the forearm of the machine 2:
D4＝|D*(sinθab*cosθpre2-sinθpre2*cosθab)+L1(sinθpre2*cosθpre1-sinθpre1*cosθpre2)|；
deceleration stop position of machine 1 and machine 2, distance from end point of forearm of machine 2 to forearm of machine 1:
D5＝|D*(sinθpre1*cosθab-sinθab*cosθpre1)+L2(sinθpre1*cosθpre2-sinθpre2*cosθpre1)|；
deceleration stop position of machine 1, distance from end point of forearm of machine 1 to forearm of machine 2:
D6＝|D*(sinθab*cosθr2-sinθr2*cosθab)+L1(sinθr2*cosθpre1-sinθpre1*cosθr2)|；
deceleration stop position of machine 1, distance from end point of forearm of machine 2 to forearm of machine 1:
D7＝|D*(sinθpre1*cosθab-sinθab*cosθpre1)+L2(sinθpre1*cosθr2-sinθr2*cosθpre1)|；
deceleration stop position of machine 2, distance from end point of forearm of machine 1 to forearm of machine 2:
D8＝|D*(sinθab*cosθpre2-sinθpre2*cosθab)+L1(sinθpre2*cosθr1-sinθr1*cosθpre2)|；
deceleration stop position of machine 2, distance from end point of forearm of machine 2 to forearm of machine 1:
D9＝|D*(sinθr1*cosθab-sinθab*cosθr1)+L2(sinθr1*cosθpre2-sinθpre2*cosθr1)|；
deceleration stop position of machine 1 and machine 2, distance from end point of rear arm of machine 2 to front arm of machine 1:
D10＝|D*(sinθpre1*cosθab-sinθab*cosθpre1)+L4(sinθpre2*cosθpre1-sinθpre1*cosθpre2)|；
deceleration stop position of machine 1, distance from end point of rear arm of machine 2 to front arm of machine 1:
D11＝|D*(sinθpre1*cosθab-sinθab*cosθpre1)+L4(sinθr2*cosθpre1-sinθpre1*cosθr2)|；
deceleration stop position of machine 2, distance from end point of rear arm of machine 2 to front arm of machine 1:
D12＝|D*(sinθr1*cosθab-sinθab*cosθr1)+L4(sinθpre2*cosθr1-sinθr1*cosθpre2)|。
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