CN112897346A - Crane operation route planning method - Google Patents
Crane operation route planning method Download PDFInfo
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- CN112897346A CN112897346A CN202110347911.1A CN202110347911A CN112897346A CN 112897346 A CN112897346 A CN 112897346A CN 202110347911 A CN202110347911 A CN 202110347911A CN 112897346 A CN112897346 A CN 112897346A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
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Abstract
The invention discloses a method for planning a running route of a crane, which belongs to the technical field of electrical control of the crane and is characterized by comprising the following steps of: a. a three-dimensional coordinate system is established; b. setting the passing space of the objects allowed to be hoisted of each orifice in the PLC according to a three-dimensional coordinate system through a human-computer interface, and setting the overall dimension of the objects with the maximum size to be hoisted in the PLC according to the three-dimensional coordinate system; c. writing a PLC program; d. comparing and judging whether the hoisted object is in a safe area in the orifice according to real-time traveling coordinate values of the cart and the trolley detected by the PLC; e. and calculating the distance between the positions of the lifting hook and the steel wire rope and the edge of the opening through formulas 6 to 9. The invention can ensure that the crane safely bypasses the barrier in the operation interval, and simultaneously releases a larger allowable operation area to the crane, thereby greatly improving the operation space and the operation efficiency.
Description
Technical Field
The invention relates to the technical field of electrical control of cranes, in particular to a method for planning a running route of a crane.
Background
Generally, in the running process of hoisting operation, the running limit positions of hoisting of a crane, a cart and a trolley are preset to control each mechanism of the crane not to exceed the normal running working range in the running process. And a small part of cranes realize further related area forbidden protection besides the extreme position protection by increasing a part of forbidden areas. For the hoisting operation of the crane on some specific occasions, special requirements are made on forbidden areas of each mechanism of the crane. If temporary supports are required to be arranged in different height directions of the orifices on the site in different time periods of project construction, after the object hoisted by the crane is placed at the lower part of the orifice along a safety region between the temporary supports, the object needs to slightly move for a certain distance along the track direction, so that the object can be conveniently installed in place. A simple method of setting the forbidden area cannot satisfy such a requirement.
Chinese patent publication No. CN 105883623a, publication No. 2016, 08, month 24, discloses a control method for automatically planning crane operation route, which is characterized in that: the method comprises the following steps:
step (1), acquiring coordinates of obstacle points, and recording the coordinates into a database;
step (2), establishing a running path database, wherein the running path comprises an initial position, a preselection device, a preset running speed, a running target position, a running direction and a running curve parameter;
step (3), according to the position of the on-site obstacle, the initial position and the running target position of the crane, a WINCC process monitoring module on the industrial personal computer calculates the position of the passing point of the crane and the optimal path capable of avoiding the obstacle;
step (4), downloading the path to the PLC by using a WINCC configuration downloading button;
and (5) compiling a PLC program to enable the crane to automatically run according to a specified path.
The control method for automatically planning the crane operation route disclosed in the patent document plans the crane operation route according to the field condition and stores the crane operation route in the database, automatically selects the operation route according to the starting and stopping positions when the crane automatically operates, downloads the operation route into the PLC, automatically operates according to the planned route by writing a program in the PLC, and has high automation degree. However, the crane cannot be guaranteed to safely bypass the obstacle in the operation interval, and a larger allowable operation area is released for the crane, so that the operation efficiency is influenced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a method for planning the running route of the crane, which can release a larger allowable running area to the crane while ensuring that the crane safely bypasses the obstacle in a running interval, thereby greatly improving the working space and the working efficiency.
The invention is realized by the following technical scheme:
a method for planning a running route of a crane is characterized by comprising the following steps:
a. defining the running position relation of the crane along different directions by adopting a three-dimensional coordinate model, and establishing a three-dimensional coordinate system by using position data of lifting, a cart and a trolley;
b. setting the passing space of the objects allowed to be hoisted of each orifice in the PLC according to a three-dimensional coordinate system through a human-computer interface, and setting the overall dimension of the objects with the maximum size to be hoisted in the PLC according to the three-dimensional coordinate system;
c. compiling a PLC program, detecting a lifting height value of the crane in real time in the running process of the crane, and judging whether the lifted object of the crane is close to or lower than the upper plane of the orifice or not through formula 1 by combining the lifting height of the largest object arranged in a PLC controller;
Y-C≤Y1formula 1
Wherein Y is the real-time position coordinate value of the hoisting mechanism of the crane,c is the lifting height of the largest-size object set through the human-computer interface, Y1Is an orifice elevation set by a human-machine interface;
d. when the crane runs to an orifice area, if the PLC detects that the hoisted object is close to or lower than the orifice elevation, whether the hoisted object is in a safe area in the orifice or not is judged according to the real-time traveling coordinate values of the cart and the trolley detected by the PLC by comparing;
e. when the PLC detects that the hoisted object passes through the obstacle above the orifice, the PLC controls to cancel the size calculation of the hoisted object along the length and width directions of the orifice, and calculates the distance between the positions of the lifting hook and the steel wire rope and the edge of the orifice according to the formulas 6 to 9;
Xm＝X-Max(X1，X2) Formula 6
Xn＝Min(X3，X4) -X formula 7
Zm＝Z-Max(Z1，Z2) Formula 8
Zn＝Min(Z3，Z4) -Z formula 9
Wherein Xm is the distance from the object to the left edge of the orifice, Xn is the distance from the object to the right edge of the orifice, Zm is the distance from the object to the rear edge of the orifice, Zn is the distance from the object to the front edge of the orifice, X1Is the X axial coordinate, X, of the front left side of the orifice2Is the X axial coordinate, X, of the left rear of the orifice3Is the X axial coordinate, X, of the front of the right side of the orifice4Is the X axial coordinate, Z, of the rear right side of the orifice1Is the Z axial coordinate of the front left side of the orifice, Z2Is the Z axial coordinate behind the left side of the orifice, Z3Z axial coordinate of the front of the right side of the orifice, Z4And Z axial coordinate is arranged behind the right side of the orifice, X is a real-time position coordinate value of a crane-operated cart, and Z is a real-time position coordinate value of a crane-operated cart.
In the step a, establishing a three-dimensional stereo coordinate system specifically means that the cart direction is taken as an x axis, the left limit position is taken as a starting point zero, and the right direction is taken as a data positive direction; positioning a y axis in a lifting direction, taking a lower limit position as a starting point zero, and taking an upward direction as a positive direction of data; the direction of the trolley is defined as the z axis, the rear limit position is zero, and the forward direction is the positive direction of the data.
And d, in the step d, when the safety region of the hoisted object in the orifice is judged to be specifically the entrance orifice, calling a parameter setting model of the orifice, and calculating the safety distance of the hoisted object from each edge of the orifice in real time according to the orifice model data and the detected real-time traveling coordinate values of the cart and the trolley by combining the preset maximum size object outline size.
The real-time calculation of the safe distance between the hoisted object and each edge of the orifice is obtained by calculation according to the formula 2-formula 5;
Xm＝X-B/2-Max(X1，X2) Formula 2
Xn＝Min(X3，X4) -X-B/2 formula 3
Zm＝Z-A/2-Max(Z1，Z2) Formula 4
Zn＝Min(Z3，Z4) -Z-A/2 formula 5
Wherein Xm is the distance from the object to the left edge of the orifice, Xn is the distance from the object to the right edge of the orifice, Zm is the distance from the object to the rear edge of the orifice, Zn is the distance from the object to the front edge of the orifice, X1Is the X axial coordinate, X, of the front left side of the orifice2Is the X axial coordinate, X, of the left rear of the orifice3Is the X axial coordinate, X, of the front of the right side of the orifice4Is the X axial coordinate, Z, of the rear right side of the orifice1Is the Z axial coordinate of the front left side of the orifice, Z2Is the Z axial coordinate behind the left side of the orifice, Z3Z axial coordinate of the front of the right side of the orifice, Z4And a Z axial coordinate is arranged behind the right side of the orifice, A is the length of the trolley in the direction, B is the width of the trolley in the direction, X is a real-time position coordinate value of the trolley operated by the crane, and Z is a real-time position coordinate value of the trolley operated by the crane.
The beneficial effects of the invention are mainly shown in the following aspects:
1. the method comprises the following steps that a, a three-dimensional coordinate model is adopted to define the running position relation of a crane along different directions, and a three-dimensional coordinate system is established by using position data of lifting, a cart and a trolley; b. setting the passing space of the objects allowed to be hoisted of each orifice in the PLC according to a three-dimensional coordinate system through a human-computer interface, and setting the overall dimension of the objects with the maximum size to be hoisted in the PLC according to the three-dimensional coordinate system; c. compiling a PLC program, detecting a lifting height value of the crane in real time in the running process of the crane, and judging whether the lifted object of the crane is close to or lower than the upper plane of the orifice or not through formula 1 by combining the lifting height of the largest object arranged in a PLC controller; d. when the crane runs to an orifice area, if the PLC detects that the hoisted object is close to or lower than the orifice elevation, whether the hoisted object is in a safe area in the orifice or not is judged according to the real-time traveling coordinate values of the cart and the trolley detected by the PLC by comparing; e. when the PLC detects that the hoisting object passes through the obstacle above the orifice, the PLC controls to cancel size calculation of the hoisting object along the length direction and the width direction of the orifice, and calculates the distance between the positions of the lifting hook and the steel wire rope and the edge of the orifice through the formulas 6 to 9.
2. According to the invention, on the premise of keeping a certain safety distance, the PLC limits the traveling mechanisms of the cart and the trolley in the area to only operate at a low speed, so that the safety is ensured, and the hoisted objects can be smoothly hoisted in place.
3. According to the temporary supports arranged in different height directions of the orifices on the site in different periods of project construction, the temporary supports are redefined through the arrangement of the forbidden areas, so that the hoisted object of the crane can be placed on the lower portion of the orifices along the safe area between the supports and then slightly moved for a certain distance along the track direction, the hoisted object is installed in place, and the hoisting operation is safe and reliable.
Drawings
The invention will be further described in detail with reference to the drawings and the detailed description, wherein:
FIG. 1 is a schematic diagram of the operating conditions for which the route planning of the present invention is applicable;
FIG. 2 is a schematic diagram of the calculation parameters of the present invention.
Detailed Description
Example 1
Referring to fig. 1 and 2, a method for planning a crane operation route includes the following steps:
a. defining the running position relation of the crane along different directions by adopting a three-dimensional coordinate model, and establishing a three-dimensional coordinate system by using position data of lifting, a cart and a trolley;
b. setting the passing space of the objects allowed to be hoisted of each orifice in the PLC according to a three-dimensional coordinate system through a human-computer interface, and setting the overall dimension of the objects with the maximum size to be hoisted in the PLC according to the three-dimensional coordinate system;
c. compiling a PLC program, detecting a lifting height value of the crane in real time in the running process of the crane, and judging whether the lifted object of the crane is close to or lower than the upper plane of the orifice or not through formula 1 by combining the lifting height of the largest object arranged in a PLC controller;
Y-C≤Y1formula 1
Wherein Y is the real-time position coordinate value of a hoisting mechanism operated by the crane, C is the hoisting height of the largest-size object set through a human-computer interface, and Y1Is an orifice elevation set by a human-machine interface;
d. when the crane runs to an orifice area, if the PLC detects that the hoisted object is close to or lower than the orifice elevation, whether the hoisted object is in a safe area in the orifice or not is judged according to the real-time traveling coordinate values of the cart and the trolley detected by the PLC by comparing;
e. when the PLC detects that the hoisted object passes through the obstacle above the orifice, the PLC controls to cancel the size calculation of the hoisted object along the length and width directions of the orifice, and calculates the distance between the positions of the lifting hook and the steel wire rope and the edge of the orifice according to the formulas 6 to 9;
Xm＝X-Max(X1，X2) Formula 6
Xn＝Min(X3，X4) -X formula 7
Zm＝Z-Max(Z1，Z2) Formula 8
Zn＝Min(Z3，Z4) -Z formula 9
Wherein Xm is the distance from the object to the left edge of the orifice, Xn is the distance from the object to the right edge of the orifice, Zm is the distance from the object to the rear edge of the orifice, Zn is the distance from the object to the front edge of the orifice, X1Is the X axial coordinate, X, of the front left side of the orifice2Is the X axial coordinate, X, of the left rear of the orifice3Is the X axial coordinate, X, of the front of the right side of the orifice4Is the X axial coordinate, Z, of the rear right side of the orifice1Is the Z axial coordinate of the front left side of the orifice, Z2Is the Z axial coordinate behind the left side of the orifice, Z3Z axial coordinate of the front of the right side of the orifice, Z4And Z axial coordinate is arranged behind the right side of the orifice, X is a real-time position coordinate value of a crane-operated cart, and Z is a real-time position coordinate value of a crane-operated cart.
a. Defining the running position relation of the crane along different directions by adopting a three-dimensional coordinate model, and establishing a three-dimensional coordinate system by using position data of lifting, a cart and a trolley; b. setting the passing space of the objects allowed to be hoisted of each orifice in the PLC according to a three-dimensional coordinate system through a human-computer interface, and setting the overall dimension of the objects with the maximum size to be hoisted in the PLC according to the three-dimensional coordinate system; c. compiling a PLC program, detecting a lifting height value of the crane in real time in the running process of the crane, and judging whether the lifted object of the crane is close to or lower than the upper plane of the orifice or not through formula 1 by combining the lifting height of the largest object arranged in a PLC controller; d. when the crane runs to an orifice area, if the PLC detects that the hoisted object is close to or lower than the orifice elevation, whether the hoisted object is in a safe area in the orifice or not is judged according to the real-time traveling coordinate values of the cart and the trolley detected by the PLC by comparing; e. when the PLC detects that the hoisting object passes through the obstacle above the orifice, the PLC controls to cancel size calculation of the hoisting object along the length direction and the width direction of the orifice, and calculates the distance between the positions of the lifting hook and the steel wire rope and the edge of the orifice through the formulas 6 to 9.
Example 2
Referring to fig. 1 and 2, a method for planning a crane operation route includes the following steps:
a. defining the running position relation of the crane along different directions by adopting a three-dimensional coordinate model, and establishing a three-dimensional coordinate system by using position data of lifting, a cart and a trolley;
b. setting the passing space of the objects allowed to be hoisted of each orifice in the PLC according to a three-dimensional coordinate system through a human-computer interface, and setting the overall dimension of the objects with the maximum size to be hoisted in the PLC according to the three-dimensional coordinate system;
c. compiling a PLC program, detecting a lifting height value of the crane in real time in the running process of the crane, and judging whether the lifted object of the crane is close to or lower than the upper plane of the orifice or not through formula 1 by combining the lifting height of the largest object arranged in a PLC controller;
Y-C≤Y1formula 1
Wherein Y is the real-time position coordinate value of a hoisting mechanism operated by the crane, C is the hoisting height of the largest-size object set through a human-computer interface, and Y1Is an orifice elevation set by a human-machine interface;
d. when the crane runs to an orifice area, if the PLC detects that the hoisted object is close to or lower than the orifice elevation, whether the hoisted object is in a safe area in the orifice or not is judged according to the real-time traveling coordinate values of the cart and the trolley detected by the PLC by comparing;
e. when the PLC detects that the hoisted object passes through the obstacle above the orifice, the PLC controls to cancel the size calculation of the hoisted object along the length and width directions of the orifice, and calculates the distance between the positions of the lifting hook and the steel wire rope and the edge of the orifice according to the formulas 6 to 9;
Xm＝X-Max(X1，X2) Formula 6
Xn＝Min(X3，X4) -X formula 7
Zm＝Z-Max(Z1，Z2) Formula 8
Zn＝Min(Z3，Z4) -Z formula 9
Wherein Xm is the distance from the object to the left edge of the orifice, Xn is the distance from the object to the right edge of the orifice, Zm is the distance from the object to the rear edge of the orifice, Zn is the distance from the object to the front edge of the orifice, X1Is the X axial coordinate, X, of the front left side of the orifice2Is the X axial coordinate, X, of the left rear of the orifice3Is the X axial coordinate, X, of the front of the right side of the orifice4Is the X axial coordinate, Z, of the rear right side of the orifice1Is the Z axial coordinate of the front left side of the orifice, Z2Is the Z axial coordinate behind the left side of the orifice, Z3Z axial coordinate of the front of the right side of the orifice, Z4And Z axial coordinate is arranged behind the right side of the orifice, X is a real-time position coordinate value of a crane-operated cart, and Z is a real-time position coordinate value of a crane-operated cart.
In the step a, establishing a three-dimensional stereo coordinate system specifically means that the cart direction is taken as an x axis, the left limit position is taken as a starting point zero, and the right direction is taken as a data positive direction; positioning a y axis in a lifting direction, taking a lower limit position as a starting point zero, and taking an upward direction as a positive direction of data; the direction of the trolley is defined as the z axis, the rear limit position is zero, and the forward direction is the positive direction of the data.
Example 3
Referring to fig. 1 and 2, a method for planning a crane operation route includes the following steps:
a. defining the running position relation of the crane along different directions by adopting a three-dimensional coordinate model, and establishing a three-dimensional coordinate system by using position data of lifting, a cart and a trolley;
b. setting the passing space of the objects allowed to be hoisted of each orifice in the PLC according to a three-dimensional coordinate system through a human-computer interface, and setting the overall dimension of the objects with the maximum size to be hoisted in the PLC according to the three-dimensional coordinate system;
c. compiling a PLC program, detecting a lifting height value of the crane in real time in the running process of the crane, and judging whether the lifted object of the crane is close to or lower than the upper plane of the orifice or not through formula 1 by combining the lifting height of the largest object arranged in a PLC controller;
Y-C≤Y1formula 1
Wherein Y is the real-time position coordinate value of a hoisting mechanism operated by the crane, C is the hoisting height of the largest-size object set through a human-computer interface, and Y1Is an orifice elevation set by a human-machine interface;
d. when the crane runs to an orifice area, if the PLC detects that the hoisted object is close to or lower than the orifice elevation, whether the hoisted object is in a safe area in the orifice or not is judged according to the real-time traveling coordinate values of the cart and the trolley detected by the PLC by comparing;
e. when the PLC detects that the hoisted object passes through the obstacle above the orifice, the PLC controls to cancel the size calculation of the hoisted object along the length and width directions of the orifice, and calculates the distance between the positions of the lifting hook and the steel wire rope and the edge of the orifice according to the formulas 6 to 9;
Xm＝X-Max(X1，X2) Formula 6
Xn＝Min(X3，X4) -X formula 7
Zm＝Z-Max(Z1，Z2) Formula 8
Zn＝Min(Z3，Z4) -Z formula 9
Wherein Xm is the distance from the object to the left edge of the orifice, Xn is the distance from the object to the right edge of the orifice, Zm is the distance from the object to the rear edge of the orifice, Zn is the distance from the object to the front edge of the orifice, X1Is the X axial coordinate, X, of the front left side of the orifice2Is the X axial coordinate, X, of the left rear of the orifice3Is the X axial coordinate, X, of the front of the right side of the orifice4Is the X axial coordinate, Z, of the rear right side of the orifice1Is the Z axial coordinate of the front left side of the orifice, Z2Is the Z axial coordinate behind the left side of the orifice, Z3Z axial coordinate of the front of the right side of the orifice, Z4And Z axial coordinate is arranged behind the right side of the orifice, X is a real-time position coordinate value of a crane-operated cart, and Z is a real-time position coordinate value of a crane-operated cart.
In the step a, establishing a three-dimensional stereo coordinate system specifically means that the cart direction is taken as an x axis, the left limit position is taken as a starting point zero, and the right direction is taken as a data positive direction; positioning a y axis in a lifting direction, taking a lower limit position as a starting point zero, and taking an upward direction as a positive direction of data; the direction of the trolley is defined as the z axis, the rear limit position is zero, and the forward direction is the positive direction of the data.
And d, in the step d, when the safety region of the hoisted object in the orifice is judged to be specifically the entrance orifice, calling a parameter setting model of the orifice, and calculating the safety distance of the hoisted object from each edge of the orifice in real time according to the orifice model data and the detected real-time traveling coordinate values of the cart and the trolley by combining the preset maximum size object outline size.
On the premise of keeping a certain safety distance, the PLC limits the traveling mechanisms of the cart and the trolley in the area to only operate at a low speed, so that the safety is ensured, and the hoisted objects can be smoothly hoisted in place.
Example 4
Referring to fig. 1 and 2, a method for planning a crane operation route includes the following steps:
a. defining the running position relation of the crane along different directions by adopting a three-dimensional coordinate model, and establishing a three-dimensional coordinate system by using position data of lifting, a cart and a trolley;
b. setting the passing space of the objects allowed to be hoisted of each orifice in the PLC according to a three-dimensional coordinate system through a human-computer interface, and setting the overall dimension of the objects with the maximum size to be hoisted in the PLC according to the three-dimensional coordinate system;
c. compiling a PLC program, detecting a lifting height value of the crane in real time in the running process of the crane, and judging whether the lifted object of the crane is close to or lower than the upper plane of the orifice or not through formula 1 by combining the lifting height of the largest object arranged in a PLC controller;
Y-C≤Y1formula 1
Wherein Y is the real-time position coordinate value of a hoisting mechanism operated by the crane, and C is the hoisting height of the largest-size object set through a human-computer interface，Y1Is an orifice elevation set by a human-machine interface;
d. when the crane runs to an orifice area, if the PLC detects that the hoisted object is close to or lower than the orifice elevation, whether the hoisted object is in a safe area in the orifice or not is judged according to the real-time traveling coordinate values of the cart and the trolley detected by the PLC by comparing;
e. when the PLC detects that the hoisted object passes through the obstacle above the orifice, the PLC controls to cancel the size calculation of the hoisted object along the length and width directions of the orifice, and calculates the distance between the positions of the lifting hook and the steel wire rope and the edge of the orifice according to the formulas 6 to 9;
Xm＝X-Max(X1，X2) Formula 6
Xn＝Min(X3，X4) -X formula 7
Zm＝Z-Max(Z1，Z2) Formula 8
Zn＝Min(Z3，Z4) -Z formula 9
Wherein Xm is the distance from the object to the left edge of the orifice, Xn is the distance from the object to the right edge of the orifice, Zm is the distance from the object to the rear edge of the orifice, Zn is the distance from the object to the front edge of the orifice, X1Is the X axial coordinate, X, of the front left side of the orifice2Is the X axial coordinate, X, of the left rear of the orifice3Is the X axial coordinate, X, of the front of the right side of the orifice4Is the X axial coordinate, Z, of the rear right side of the orifice1Is the Z axial coordinate of the front left side of the orifice, Z2Is the Z axial coordinate behind the left side of the orifice, Z3Z axial coordinate of the front of the right side of the orifice, Z4And Z axial coordinate is arranged behind the right side of the orifice, X is a real-time position coordinate value of a crane-operated cart, and Z is a real-time position coordinate value of a crane-operated cart.
In the step a, establishing a three-dimensional stereo coordinate system specifically means that the cart direction is taken as an x axis, the left limit position is taken as a starting point zero, and the right direction is taken as a data positive direction; positioning a y axis in a lifting direction, taking a lower limit position as a starting point zero, and taking an upward direction as a positive direction of data; the direction of the trolley is defined as the z axis, the rear limit position is zero, and the forward direction is the positive direction of the data.
And d, in the step d, when the safety region of the hoisted object in the orifice is judged to be specifically the entrance orifice, calling a parameter setting model of the orifice, and calculating the safety distance of the hoisted object from each edge of the orifice in real time according to the orifice model data and the detected real-time traveling coordinate values of the cart and the trolley by combining the preset maximum size object outline size.
The real-time calculation of the safe distance between the hoisted object and each edge of the orifice is obtained by calculation according to the formula 2-formula 5;
Xm＝X-B/2-Max(X1，X2) Formula 2
Xn＝Min(X3，X4) -X-B/2 formula 3
Zm＝Z-A/2-Max(Z1，Z2) Formula 4
Zn＝Min(Z3，Z4) -Z-A/2 formula 5
Wherein Xm is the distance from the object to the left edge of the orifice, Xn is the distance from the object to the right edge of the orifice, Zm is the distance from the object to the rear edge of the orifice, Zn is the distance from the object to the front edge of the orifice, X1Is the X axial coordinate, X, of the front left side of the orifice2Is the X axial coordinate, X, of the left rear of the orifice3Is the X axial coordinate, X, of the front of the right side of the orifice4Is the X axial coordinate, Z, of the rear right side of the orifice1Is the Z axial coordinate of the front left side of the orifice, Z2Is the Z axial coordinate behind the left side of the orifice, Z3Z axial coordinate of the front of the right side of the orifice, Z4And a Z axial coordinate is arranged behind the right side of the orifice, A is the length of the trolley in the direction, B is the width of the trolley in the direction, X is a real-time position coordinate value of the trolley operated by the crane, and Z is a real-time position coordinate value of the trolley operated by the crane.
According to different time periods of project construction, temporary supports arranged in different height directions of orifices on site are redefined through arrangement of forbidden areas, so that a crane can place a hoisting object in place after the hoisting object is placed on the lower portion of the orifice along a safe area between the supports and slightly moves for a certain distance along the track direction, and hoisting operation is safe and reliable.
Claims (4)
1. A method for planning a running route of a crane is characterized by comprising the following steps:
a. defining the running position relation of the crane along different directions by adopting a three-dimensional coordinate model, and establishing a three-dimensional coordinate system by using position data of lifting, a cart and a trolley;
b. setting the passing space of the objects allowed to be hoisted of each orifice in the PLC according to a three-dimensional coordinate system through a human-computer interface, and setting the overall dimension of the objects with the maximum size to be hoisted in the PLC according to the three-dimensional coordinate system;
c. compiling a PLC program, detecting a lifting height value of the crane in real time in the running process of the crane, and judging whether the lifted object of the crane is close to or lower than the upper plane of the orifice or not through formula 1 by combining the lifting height of the largest object arranged in a PLC controller;
Y-C≤Y1formula 1
Wherein Y is the real-time position coordinate value of a hoisting mechanism operated by the crane, C is the hoisting height of the largest-size object set through a human-computer interface, and Y1Is an orifice elevation set by a human-machine interface;
d. when the crane runs to an orifice area, if the PLC detects that the hoisted object is close to or lower than the orifice elevation, whether the hoisted object is in a safe area in the orifice or not is judged according to the real-time traveling coordinate values of the cart and the trolley detected by the PLC by comparing;
e. when the PLC detects that the hoisted object passes through the obstacle above the orifice, the PLC controls to cancel the size calculation of the hoisted object along the length and width directions of the orifice, and calculates the distance between the positions of the lifting hook and the steel wire rope and the edge of the orifice according to the formulas 6 to 9;
Xm＝X-Max(X1，X2) Formula 6
Xn＝Min(X3，X4) -X formula 7
Zm＝Z-Max(Z1，Z2) Formula 8
Zn＝Min(Z3，Z4) -Z formula 9
Wherein Xm is the distance from the object to the left edge of the orifice, Xn is the distance from the object to the right edge of the orifice, Zm is the distance from the object to the rear edge of the orifice, Zn is the distance from the object to the front edge of the orifice, X1Is the X axial coordinate, X, of the front left side of the orifice2Is the X axial coordinate, X, of the left rear of the orifice3Is the X axial coordinate, X, of the front of the right side of the orifice4Is the X axial coordinate, Z, of the rear right side of the orifice1Is the Z axial coordinate of the front left side of the orifice, Z2Is the Z axial coordinate behind the left side of the orifice, Z3Z axial coordinate of the front of the right side of the orifice, Z4And Z axial coordinate is arranged behind the right side of the orifice, X is a real-time position coordinate value of a crane-operated cart, and Z is a real-time position coordinate value of a crane-operated cart.
2. The crane operation route planning method according to claim 1, wherein: in the step a, establishing a three-dimensional stereo coordinate system specifically means that the cart direction is taken as an x axis, the left limit position is taken as a starting point zero, and the right direction is taken as a data positive direction; positioning a y axis in a lifting direction, taking a lower limit position as a starting point zero, and taking an upward direction as a positive direction of data; the direction of the trolley is defined as the z axis, the rear limit position is zero, and the forward direction is the positive direction of the data.
3. The crane operation route planning method according to claim 1, wherein: and d, in the step d, when the safety region of the hoisted object in the orifice is judged to be specifically the entrance orifice, calling a parameter setting model of the orifice, and calculating the safety distance of the hoisted object from each edge of the orifice in real time according to the orifice model data and the detected real-time traveling coordinate values of the cart and the trolley by combining the preset maximum size object outline size.
4. A crane operation route planning method according to claim 3, wherein: the real-time calculation of the safe distance between the hoisted object and each edge of the orifice is obtained by calculation according to the formula 2-formula 5;
Xm＝X-B/2-Max(X1，X2) Formula 2
Xn＝Min(X3，X4) -X-B/2 formula 3
Zm＝Z-A/2-Max(Z1，Z2) Formula 4
Zn＝Min(Z3，Z4) -Z-A/2 formula 5
Wherein Xm is the distance from the object to the left edge of the orifice, Xn is the distance from the object to the right edge of the orifice, Zm is the distance from the object to the rear edge of the orifice, Zn is the distance from the object to the front edge of the orifice, X1Is the X axial coordinate, X, of the front left side of the orifice2Is the X axial coordinate, X, of the left rear of the orifice3Is the X axial coordinate, X, of the front of the right side of the orifice4Is the X axial coordinate, Z, of the rear right side of the orifice1Is the Z axial coordinate of the front left side of the orifice, Z2Is the Z axial coordinate behind the left side of the orifice, Z3Z axial coordinate of the front of the right side of the orifice, Z4And a Z axial coordinate is arranged behind the right side of the orifice, A is the length of the trolley in the direction, B is the width of the trolley in the direction, X is a real-time position coordinate value of the trolley operated by the crane, and Z is a real-time position coordinate value of the trolley operated by the crane.
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