LU102026B1 - Dynamic adjustment method and system of dangerous area range of bridge crane - Google Patents
Dynamic adjustment method and system of dangerous area range of bridge crane Download PDFInfo
- Publication number
- LU102026B1 LU102026B1 LU102026A LU102026A LU102026B1 LU 102026 B1 LU102026 B1 LU 102026B1 LU 102026 A LU102026 A LU 102026A LU 102026 A LU102026 A LU 102026A LU 102026 B1 LU102026 B1 LU 102026B1
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- Prior art keywords
- area range
- dangerous area
- bridge crane
- crane
- dynamic adjustment
- Prior art date
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Classifications
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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
- B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
- B66C17/06—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports specially adapted for particular purposes, e.g. in foundries, forges; combined with auxiliary apparatus serving particular purposes
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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
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
- B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
- B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The present disclosure provides a dynamic adjustment method and system of a dangerous area range of a bridge crane. The method includes: obtaining the dangerous area range of the bridge crane at different speeds in the case of small swing by using an MFC algorithm control scheme based on angle constraints; repeating the operation for several times to obtain a group of corresponding data of the area of the dangerous area range at different speeds, and showing the same in a coordinate chart; constructing an analytic function via the obtained data set by using a least square method polynomial curve fitting method, so as to make values at original discrete points as close as possible to given values; and based on the analytic function, combined with a real-time operating speed of the bridge crane during normal operation, calculating the area of the dangerous area range in real time. The present disclosure enables the bridge crane to obtain the area of the dangerous area range in real time during the normal operation of the crane, and the bridge crane can plan a more efficient operating path through the area of the dangerous area range to realize optimal path obstacle avoidance at last.
Description
LU102026 | Field of the Invention | The present disclosure belongs to the technical field of dynamic adjustment of a . dangerous area range of a bridge crane, and relates to an MPC (Model Predictive . Control)-based dynamic adjustment method and system of a dangerous area range of a | bridge crane. | Background of the Invention | The statements in this section merely mention the background art related to the | present disclosure, and do not necessarily constitute the prior art. | With the rapid development of industry, bridge cranes play an increasingly important | role in the modern production process, so the requirements for dynamic adjustment E mechanisms of dangerous area ranges in the control process of the bridge cranes are | becoming higher and higher. At present, in most factories, workers operate the bridge . cranes to move objects. Sometimes, the objects carried by the bridge cranes may A collide with other important equipment in the factories due to the insufficient | operating ability of the workers. In the whole process, the labor intensity of the | workers is high, the efficiency is low, and the safety factor is not high. Especially in a ; relatively complex working environment with many obstacles, it is difficult to find ; low-cost and experienced technicians to reduce the collision probability of the bridge | cranes.
Summary of the Invention | In order to solve the above problems, the present disclosure proposes a dynamic | adjustment method and system of a dangerous area range of a bridge crane. The | present disclosure can obtain the dangerous area range of the bridge crane in real time | during the operation. The movement of the crane is planned in real time according to |
. . LU102026 |: the dangerous area range of a load obtained at each instant.
Compared with most | current crane control schemes, it is greatly guaranteed that the crane can transport the : load to a designated position more safely and efficiently. | According to some embodiments, the present disclosure adopts the following | technical solutions: / A dynamic adjustment method of a dangerous area range of a bridge crane includes | the following steps: | (1) obtaining a maximum stop distance of the bridge crane at different speeds offline | by using an MPC algorithm control scheme based on angle constraints; |
(2) repeating the operation for several times to obtain a group of corresponding | maximum stop distance data of the dangerous area range at different speeds, and | showing the same in a coordinate chart; | (3) constructing an analytic function via the obtained data set by using a least square | method polynomial curve fitting method, so as to make values at original discrete | points as close as possible to given values; and | (4) based on the analytic function, combined with a real-time operating speed of the | bridge crane during normal operation, calculating the area of the dangerous area range | in real time. | As an optional embodiment, in the step (1), the MPC control scheme is used to | accelerate the bridge crane to move at a certain swing angle of the load; when the | crane reaches a target speed, the displacement x; at this time is recorded, and then the | MPC control scheme is used to control the bridge crane to stop quickly with a small | swing, the displacement x2 at this time is recorded, and the maximum stop distance at | this time is d=x2-x1. | As an optional embodiment, in the step (2), the step (1) is repeated, the maximum stop | distance of a set interval is measured offline when the speed is within a certain range; | or, multiple measurements are performed at each speed to obtain a group of maximum | stop distances, and then filtering is performed to remove abnormal points; and the | specific filtering method includes: arranging the group of data from small to large; |
| ; | LU102026 | taking a middle value x; regarding the points as the abnormal points and removing the | same if the group of data contains points larger than 1.5 times x, so as to achieve the | effect of filtering the abnormal points. | As an optional embodiment, an analytic function is constructed via the obtained data | set by using the least square method polynomial curve fitting principle and by using a | data set on a known discrete point, that is, a known function value on a point set, So as | to make the value at the original discrete point in the coordinate chart as close as possible to the given value. | As an optional embodiment, in the step (4), after the analytic function f(x) for the area | of the dangerous area range is obtained, in the normal operation of the bridge crane, | by reading the opearting speed v of the crane in real time, the area of the real-time | dangerous area range of the crane is calculated d=f(v). / As an optional embodiment, in the step (4), the calculation process of the area of the | real-time dangerous area range includes: | obtaining the length 1, width w, height h and expansion coefficient k of the load | according to the actual situation, the area of the dangerous area range being | S=(I*(1-Hk) Hd) wH (14K). | A dynamic adjustment system of a dangerous area range of a bridge crane includes: | a maximum stop distance obtaining module based on the MPC algorithm, configured | to obtain the dangerous area range of the bridge crane at different speeds in the case of small swing by using an MPC algorithm control scheme based on angle constraints, repeat the operation for several times to obtain a group of corresponding data of the area of the dangerous area range at different speeds, and show the same in a coordinate chart; an analytic function construction module, configured to construct an analytic function via the obtained data set by using a least square method polynomial curve fitting method, so as to make values at original discrete points as close as possible to given values; and a calculation module configured to, based on the analytic function, combined with a
. . . . . LU102026 real-time operating speed of the bridge crane during normal operation, calculate the area of the dangerous area range in real time.
A computer-readable storage medium stores a plurality of instructions, and the instructions are adapted to be loaded by a processor of a terminal device and execute the steps of the dynamic adjustment method of the dangerous area range of the bridge crane.
A terminal device includes a processor and a computer-readable storage medium, and the processor is used for implementing various instructions; and the computer-readable storage medium is used for storing a plurality of instructions, and | 10 the instructions are adapted to be loaded by the processor and execute the steps of the | dynamic adjustment method of the dangerous area range of the bridge crane. | Compared with the prior art, the present disclosure has the following beneficial | effects: | The present disclosure enables the bridge crane to obtain the area of the dangerous | 15 area range in real time during the normal operation of the crane, and the bridge crane | can plan a more efficient operating path through the area of the dangerous area range | to realize optimal path obstacle avoidance at last. | In the present disclosure, when a safety area is calculated, the anti-swing performance | of the carried object of the bridge crane is set as the primary indicator, and after the | 20 anti-swing index is guaranteed, collision loss caused by the swing when the load changes the operating path can be effectively avoided.
The dynamic adjustment | mechanism of the dangerous area range of the bridge crane can effectively reduce the | technical difficulty of operators, and also provides an important guarantee for safe | operation.
At the same time, the operating difficulty of the bridge crane is reduced, the | 25 transportation efficiency is improved, and the labor cost is reduced. | Brief Description of the Drawings | The drawings constituting a part of the present disclosure are used for providing a | further understanding of the present disclosure.
The exemplary embodiments of the present disclosure and descriptions thereof are used for explaining the present disclosure, but do not constitute an improper limitation to the present disclosure.
Fig. 1 is a coordinate chart of a maximum stop distance data set; Fig. 2 is a schematic diagram of an analytic function; 5 Figs. 3(a)-(e) are schematic diagrams of effects of the present disclosure; Fig. 4 is a flow chart of an MPC control scheme.
Detailed Description of the Embodiments The present disclosure will be further described below in conjunction with the drawings and embodiments.
It should be pointed out that the following detailed descriptions are all exemplary and are intended to provide further descriptions of the present disclosure. Unless otherwise specified, all technical and scientific terms used herein have the same | meaning as commonly understood by those of ordinary skill in the technical field of | 15 the present disclosure. | It should be noted that the terms used here are only for describing specific | embodiments, and are not intended to limit the exemplary embodiments according to | the present disclosure. As used herein, unless the context clearly indicates otherwise, | the singular form is also intended to include the plural form. In addition, it should also | 20 be understood that when the terms "comprising" and/or "including" are used in the | present specification, they indicate the presence of features, steps, operations, devices, | components and/or combinations thereof. | The present disclosure proposes a dynamic adjustment mechanism of a dangerous | area range of a bridge crane. The mechanism can obtain the dangerous area range of | 25 the bridge crane in real time during the operation. The movement trajectory of the crane is planned in real time through the dangerous area range of a load obtained at each instant. Compared with most current crane control schemes, it is greatly guaranteed that the crane can transport the load to a designated position more safely and efficiently in the case of small swing. | |
. . . LU102026 The method specifically includes the following steps: 1: Obtaining the dangerous area range at different speeds offline in the case of small swing of the load An MPC control scheme is used to accelerate the bridge crane to move in the case of small swing, when the crane reaches a target speed, the displacement x; at this time is recorded, and then the MPC control scheme is used to control the bridge crane to stop quickly with a small swing, the displacement xa at this time is recorded, and the maximum stop distance under the speed at this time is d=x2-x1. 2: Obtaining a maximum stop distance data set The step 1 is repeated to measure the speed from 0.01m/s° to 0.5m/s?, the measurement interval is 0.01m/s*, a group of data corresponding to the maximum stop distance at different speeds is obtained, and the coordinate chart thereof is shown in Fig. 1. 3: Obtaining an analytic function of the dangerous area range An analytic function (its graph is a curve) is constructed via the data obtained by the second method by using the least square method polynomial curve fitting principle and by using a data set on a known discrete point, that is, a known function value on a point set, so as to make the value at the original discrete point in the coordinate chart as close as possible to a given value, as shown in Fig. 2.
4: Calculating the area of the dangerous area range in real time After the analytic function f(x) for the area of the dangerous area range is obtained, in the normal operation of the bridge crane, by reading the operating speed v of the crane in real time, the area of the real-time dangerous area range of the crane is calculated d=f{v).
As an optional embodiment, in the step (4), the calculation process of the area of the real-time dangerous area range includes: obtaining the length 1, width w, height h and expansion coefficient k of the load according to the actual situation, the area of the dangerous area range being S=(1*(1+k)+d)*w*(1+k).
. . LU102026 Through the above scheme, the bridge crane can obtain the area of the dangerous area range in real time during the normal operation of the crane. Through the area of the dangerous area range, the bridge crane can plan a more efficient operating path to realize the optimal path obstacle avoidance at last.
When the safety area is calculated, the anti-swing performance of the carried object of the bridge crane is set as the primary indicator, and after the anti-swing index is guaranteed, collision loss caused by the swing when the load changes the operating path can be effectively avoided. Pictures taken from the moving diagrams of Figs. 3(a)-(e) are used to show the areas of the dangerous area range at 5 different moments when the crane moves 10m. The black square represents the sizes of the actual length and width of the device, the light color represents the expansion range, the outer frame represents the dangerous area range, this section only considers the | one-dimensional situation, the multi-dimensional principles are the same, and the | mutual influence of x, y, and z during the operation can be ignored. It can be seen that | 15 the dynamic adjustment mechanism of the dangerous area range of the bridge crane | can effectively reduce the technical difficulty of the operating staff, and also provides | an important guarantee for safe operation. At the same time, the operating difficulty of | the bridge crane is reduced, the transportation efficiency is improved, and the labor | cost is reduced.
| 20 The following product embodiments are further provided: | A dynamic adjustment system of a dangerous area range of a bridge crane includes: | a maximum stop distance obtaining module based on the MPC algorithm, configured | to obtain the dangerous area range of the bridge crane at different speeds in the case | of small swing by using an MPC algorithm control scheme based on angle constraints, | 25 repeat the operation for several times to obtain a group of corresponding data of the | area of the dangerous area range at different speeds, and show the same in a | coordinate chart; | an analytic function construction module, configured to construct an analytic function | via the obtained data set by using a least square method polynomial curve fitting |
. . . . . LU102026 method, so as to make values at original discrete points as close as possible to given values; and a calculation module configured to, based on the analytic function, combined with a real-time operating speed of the bridge crane during normal operation, calculate the area of the dangerous area range in real time.
A computer-readable storage medium stores a plurality of instructions, and the instructions are adapted to be loaded by a processor of a terminal device and execute the steps of the dynamic adjustment method of the dangerous area range of the bridge | crane. | 10 A terminal device includes a processor and a computer-readable storage medium, and | the processor is used for implementing various instructions; and the | computer-readable storage medium is used for storing a plurality of instructions, and | the instructions are adapted to be loaded by the processor and execute the steps of the | dynamic adjustment method of the dangerous area range of the bridge crane. | 15 These computer program instructions can also be loaded on a computer or other | programmable data processing devices, so that a series of operation steps are executed | on the computer or the other programmable devices to produce | computer-implemented processing, in this way, the instructions executed on the | computer or the other programmable devices provide steps for implementing specific | 20 functions in one or more flows of a flow chart and/or in one or more blocks of a block | diagram. | The above descriptions are only preferred embodiments of the present disclosure, and are not used to limit the present disclosure. For those skilled in the art, the present | disclosure can have various modifications and changes. Any modifications, equivalent | 25 substitutions, improvements and the like, made within the spirit and principle of the | present disclosure, shall all be included in the protection scope of the present | disclosure. | Although the specific embodiments of the present disclosure are described above in | conjunction with the drawings, the protection scope of the present disclosure is not
| limited thereto.
Those skilled i 7102026 || . ed in the art of the present disclosure should understand hoa * | that, on the basis of the te I ; | chnical solutions of the present disclosure, various | modifications or deform: b d ; ; || ations that can be made by those skilled in the art without any | creative work are still within the protecti fth i | p ion scope of the present disclosure.
Claims (9)
1. A dynamic adjustment method of a dangerous area range of a bridge crane, comprising the following steps: - (1) obtaining a maximum stop distance of the bridge crane at different speeds offline by using an MPC algorithm control scheme based on angle constraints; (2) repeating the operation for several times to obtain a group of corresponding maximum stop distance data of the dangerous area range at different speeds, and showing the same in a coordinate chart; (3) constructing an analytic function via the obtained data set by using a least square method polynomial curve fitting method, so as to make values at original discrete points as close as possible to given values; and (4) based on the analytic function, combined with a real-time operating speed of the bridge crane during normal operation, calculating the area of the dangerous area range in real time.
2. The dynamic adjustment method of the dangerous area range of the bridge crane of claim 1, wherein in the step (1), the MPC control scheme is used to accelerate the bridge crane to move at a swing angle of the load within 2 degrees, when the crane | reaches a target speed, the displacement x; at this time is recorded, and then the MPC control scheme is used to control the bridge crane to stop quickly with a small swing, the displacement x» at this time is recorded, and the maximum stop distance at this time is d=x2-x1.
3. The dynamic adjustment method of the dangerous area range of the bridge crane of claim 1, wherein in the step (2), the step (1) is repeated, a group of data of a set 1 interval is measured offline when the speed is within a certain range.
4. The dynamic adjustment method of the dangerous area range of the bridge crane of claim 1, wherein in the step (2), multiple measurements are performed at each speed to obtain a group of maximum stop distances, and then filtering is performed to remove abnormal points; and the specific filtering method comprises: arranging the group of data from small to large; taking a middle value x; regarding the points as the abnormal points and removing the same if the group of data contains points larger than 1.5 times x, so as to achieve the effect of filtering the abnormal points. LU102026 |
5. The dynamic adjustment method of the dangerous area range of the bridge crane of | claim 1, wherein an analytic function is constructed via the obtained data by using the : least square method polynomial curve fitting principle and by using a data set on a | known discrete point, that is, a known function value on a point set, so as to make | values on original discrete points in the coordinate chart as close as possible to given | values. |
6. The dynamic adjustment method of the dangerous area range of the bridge crane of : claim 1, wherein in the step (4), after the analytic function f(x) for the area of the | dangerous area range is obtained, in the normal operation of the bridge crane, by | reading the operating speed v of the crane in real time, the area of the real-time | dangerous area range of the crane is calculated d=f(v). |
7. A dynamic adjustment system of a dangerous area range of a bridge crane, | comprising: ; a maximum stop distance obtaining module based on an MPC algorithm, configured | to obtain the dangerous area range of the bridge crane at different speeds in the case | of small swing by using an MPC algorithm control scheme based on angle constraints, | repeat the operation for several times to obtain a group of corresponding data of the | area of the dangerous area range at different speeds, and show the same in a | coordinate chart; | an analytic function construction module, configured to construct an analytic function | via the obtained data set by using a least square method polynomial curve fitting | method, so as to make values at original discrete points as close as possible to given | values; and | a calculation module configured to, based on the analytic function, combined with a | real-time operating speed of the bridge crane during normal operation, calculate the | area of the dangerous area range in real time. |
8. A computer-readable storage medium, wherein a plurality of instructions are stored | therein, and the instructions are adapted to be loaded by a processor of a terminal | device and execute the steps of the dynamic adjustment method of the dangerous area range of the bridge crane of any one of claims 1-6. LU102026 |
9. A terminal device, comprising a processor and a computer-readable storage | medium, wherein the processor is used for implementing various instructions; and the | computer-readable storage medium is used for storing a plurality of instructions, and . the instructions are adapted to be loaded by the processor and execute the steps of the dynamic adjustment method of the dangerous area range of the bridge crane of any one of claims 1-6. |
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| CN202010005702.4A CN111196560B (en) | 2020-01-03 | 2020-01-03 | Method and system for dynamically adjusting dangerous area range of bridge crane |
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| CN112365509B (en) * | 2020-11-10 | 2023-10-27 | 山东大学 | Ice early warning method and system |
| CN114047693B (en) * | 2021-10-22 | 2023-12-22 | 合肥工业大学 | Self-adaptive prevention method and system for fire disaster of automobile battery facing charging process |
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| DE102008024513B4 (en) * | 2008-05-21 | 2017-08-24 | Liebherr-Werk Nenzing Gmbh | Crane control with active coast sequence |
| CN204643623U (en) * | 2015-03-31 | 2015-09-16 | 江苏鼎盛重工有限公司 | A kind of swinging weight-lifting equipment suspender anti roll device |
| US10759519B2 (en) * | 2017-10-31 | 2020-09-01 | The Boeing Company | Adaptive feedback control of force fighting in hybrid actuation systems |
| CN108444488B (en) * | 2018-02-05 | 2021-09-28 | 天津大学 | Unmanned local path planning method based on equal-step sampling A-x algorithm |
| CN110471408B (en) * | 2019-07-03 | 2022-07-29 | 天津大学 | Unmanned vehicle path planning method based on decision process |
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