CN-116946882-B - Multi-door machine automatic collaborative operation method

CN116946882BCN 116946882 BCN116946882 BCN 116946882BCN-116946882-B

Abstract

The invention provides a multi-door machine automatic collaborative operation method which comprises the following steps of S1 planning and deploying the positions of doors and discharge hoppers according to scheduling arrangement, cabin positions, door machine track positions and discharge hopper allowed placement areas, S2 planning a first running track from a starting point to an ending point for each door machine, S3 judging whether collision risks exist in the current door machine according to each position of the planned first running track and the corresponding state of the adjacent door machine, if not, directly running, and if not, entering into the next step, S4 adjusting the first running track of the current door machine by adopting a collaborative track planning method to obtain an adjusted second running track, judging whether collision risks exist again until collision risks exist between the current door machine and the adjacent door machine, and S5 repeating the steps S2-S4 to enable all door machines in the area to realize collaborative operation.

Inventors

LIU ZHIMEI
ZHANG TAO
Tu zheng
YANG QIANG
LI HENG
SHI XIANCHENG
CAO ZHIJUN

Assignees

武汉港迪智能技术有限公司

Dates

Publication Date: 20260508
Application Date: 20230608

Claims (4)

1. The multi-door machine automatic collaborative operation method is characterized by comprising the following steps of: S1, planning and deploying station positions of a gantry crane and a discharge hopper according to scheduling, cabin positions, gantry crane track positions and a discharge hopper allowable placement area; The scheduling in the step S1 is to determine cabins needing to be operated and assign at least one gantry crane to each cabin needing to be operated, wherein the cabin position is to acquire four corner coordinates of each ship hatch, and the station planning is to set the cart position of the gantry crane, the rotation direction of the gantry crane between the cabin and the discharge hopper and the position of the discharge hopper according to the scheduling, the cabin position, the gantry crane track position and the allowable placement area of the discharge hopper; S2, planning a first running track from a start position to an end position of the operation for each door machine; Step S2, for each portal crane, planning a first running track from a starting point position to an end point position, namely obtaining the running track with highest running efficiency from the starting point position to the end point position of portal crane operation, and obtaining the outline and the radius of a virtual cylinder corresponding to the first running track; S3, judging whether collision risks exist in the current door machine according to each position of the planned first running track and the corresponding state of the adjacent door machine for at least one door machine which stops running, if the collision risks do not exist, running the current door machine, and if the collision risks exist, entering a step S4; S4, adjusting a first running track and/or starting time of the current door machine by adopting a collaborative track planning method, obtaining an adjusted second running track, judging whether the second running track of the current door machine has collision risk with the corresponding state of the adjacent door machine again, and enabling the current door machine to run according to the adjusted second running track until the second running track has no collision risk with the adjacent door machine, so that mutual avoidance among the door machines is realized; step S4, a first running track and/or starting time of each gantry crane are adjusted by adopting a collaborative track planning method, an adjusted second running track is obtained, each gantry crane aims at efficiency and safety, and a second running track of each gantry crane is obtained by adopting an A-algorithm based on a local motion rule and anti-shake control constraint; The motion rule of the crane is that 1) three-dimensional laser point clouds of environments of all the cranes are obtained, three-dimensional maps of operation objects and barriers of the cranes are built, 2) the cranes and grab buckets thereof do not collide with any barrier in real time in the operation process, 3) the lifting mechanism, the rotating mechanism or the amplitude changing mechanism of the cranes have minimum acceleration and deceleration times, 4) the grab buckets of the cranes have minimum swinging requirements in the operation process, 5) if collision is possible, the lifting mechanism or the amplitude changing mechanism of the current crane meets the operation conditions is firstly operated, then the rotation of the rotating mechanism of the cranes is carried out, so that the virtual cylindrical surface formed by the rotation of the rotating mechanism and the radius thereof are shifted, and 6) the cumulative value of the virtual cylindrical surface area change caused by the radius change of the virtual cylindrical surface corresponding to the bypassing the barrier of the cranes is minimum; And S5, repeating the steps S2-S4 to enable all the door machines in the area to realize cooperative operation.
2. The method according to claim 1, wherein the constraint of anti-shake control is to obtain the direction, the speed and the acceleration of the lifting mechanism, the luffing mechanism or the rotating mechanism during the rotation motion through the LQR linear quadratic array, and minimize the deviation between the grab bucket and the end point of the gantry crane.
3. The automatic collaborative operation method of a multi-door machine according to claim 2, wherein the real-time position comprises a door machine cart position, a door machine rotation angle, a door machine amplitude and a door machine grab bucket height, the door machine operation state comprises a stop state and an operation state, the collision is that any part of two adjacent door machines collide or the distance between any part of the two adjacent door machines is smaller than a set distance threshold, and the set distance threshold is 5% -10% of the sum of the amplitude of the rotation motion of the rotation mechanisms of the two adjacent door machines.
4. The method for automatically cooperating with multiple door machines according to claim 1, wherein in step S5, all door machines in the area realize cooperative operation, and the scheme of shortest time for completing one operation of the lifting mechanism, the rotating mechanism and the luffing mechanism is provided on the premise of no collision when each door machine executes the first operation track or the second operation track.

Description

Multi-door machine automatic collaborative operation method Technical Field The invention relates to the technical field of port automation control, in particular to a multi-door machine automation collaborative operation method. Background With the continuous development of port automation degree, the degree of port automation operation is continuously improved. Among the numerous lifting devices at ports and piers, gantry cranes, for short, gantry cranes, are of great importance. The automatic operation of the gantry crane is a trend of the current port development, not only the automation of single gantry crane operation is realized, but also the automation of the collaborative operation of a plurality of gantry cranes is required to be realized, the operation efficiency is improved, and meanwhile, the safety of each gantry crane device is ensured. The Chinese patent application with publication number of CN101526617A discloses an automatic detection method of a two-dimensional laser radar of a ship loader level, which is only suitable for a single hatch and a single ship loader, and is not suitable when a plurality of door machines are required to be used for cooperative operation. Therefore, it is necessary to provide an automatic collaborative operation method for multiple door machines, which improves the safety and reliability of the collaboration of the multiple door machines by reasonably planning the running track of each door machine. Disclosure of Invention In view of the above, the invention provides a multi-door machine automatic cooperative operation method capable of eliminating potential collision risks during multi-door machine cooperation and realizing mutual avoidance of door machines. The technical scheme of the invention is realized in such a way that the invention provides a multi-door machine automatic collaborative operation method, which comprises the following steps: S1, planning and deploying station positions of a gantry crane and a discharge hopper according to scheduling, cabin positions, gantry crane track positions and a discharge hopper allowable placement area; S2, planning a first running track from a start position to an end position of the operation for each door machine; S3, judging whether collision risks exist in the current door machine according to each position of the planned first running track and the corresponding state of the adjacent door machine for at least one door machine which stops running, if the collision risks do not exist, running the current door machine, and if the collision risks exist, entering a step S4: S4, adjusting a first running track and/or starting time of the current door machine by adopting a collaborative track planning method, obtaining an adjusted second running track, judging whether the second running track of the current door machine has collision risk with the corresponding state of the adjacent door machine again, and enabling the current door machine to run according to the adjusted second running track until the second running track has no collision risk with the adjacent door machine, so that mutual avoidance among the door machines is realized; And S5, repeating the steps S2-S4 to enable all the door machines in the area to realize cooperative operation. On the basis of the technical scheme, preferably, the scheduling in the step S1 refers to determining cabins needing to be operated and designating at least one gantry crane for each cabin needing to be operated, the cabin positions refer to acquiring four corner coordinates of each ship hatch, and the station planning refers to setting the gantry crane cart positions, the rotation directions of the gantry crane between the cabin and the discharge hopper and the positions of the discharge hopper according to the scheduling, the cabin positions, the gantry crane track positions and the allowable placement areas of the discharge hopper. Preferably, in step S2, a first running track from the start position to the end position of each gantry crane is planned, which is a running track with highest running efficiency from the start position to the end position of the gantry crane operation, and a contour and a radius of a virtual cylinder corresponding to the first running track are obtained. Further preferably, in step S4, the first running track and/or the starting time of each door machine are adjusted by adopting a collaborative track planning method, so as to obtain an adjusted second running track, and each door machine aims at efficiency and safety, and based on a local movement rule and anti-rolling control constraint, the second running track of each door machine is obtained by adopting an a-x algorithm. Still more preferably, the local motion rule is that 1) three-dimensional laser point clouds of environments of all gantry cranes are obtained to construct a three-dimensional map of an operation object and an obstacle of the gantry crane, 2) real-time positions of the