The invention relates to an automatic deviation correction control shutdown judgment method for a tire crane. The automatic deviation correction control shutdown judgment method is realized by the following steps of determining the maximum angle deviation delta alpha max of the tire crane during advancing and the maximum position deviation value D brake max of the tire crane during braking according to the relation among wheels, a ground safety area and a dangerous area during advancing of the tire crane; determining influences of image processing delay on the deviation of the advancing position of the tire crane according to the maximum angle deviation of the tire crane during advancing, and determining an influence distance Ddelay; determining a brake protection distance threshold valueYZ of the tire crane according to the maximum position deviation value and the influence distance of the tire crane during braking; determining an actual advancing track of the tire crane by using a K-S detection method according to the analytic expression of the movement track of the tire crane and the given position deviation in cooperation with the possible angle deviation of the two detectors;and determining the maximum deviation of the tire crane in the advancing process according to the actual track, and determining whether the tire crane is stopped or not according to the relation between the maximum deviation and a tire crane braking protection distance threshold value in combination with the vehicle speed in the advancing process.
本发明涉及一种轮胎吊自动纠偏控制停机判断方法,通过下述方式实现:根据轮胎吊行进时的车轮与地面安全区域和危险区域的关系,确定出轮胎吊行进时角度最大偏差Δα及制动期间轮胎吊位置偏差最大值D;根据轮胎吊行进时角度最大偏差确定图像处理延时对轮胎吊行进位置偏差影响,确定影响距离D;根据制动期间轮胎吊位置偏差最大值及影响距离,确定轮胎吊制动保护距离阈值YZ;根据轮胎吊运动轨迹的解析表达式,根据给定的位置偏差,结合两种探测器可能的角度偏差,使用K‑S检测方法确定轮胎吊行进实际轨迹;根据实际轨迹确定轮胎吊行进过程中的最大偏差,根据该最大偏差与轮胎吊制动保护距离阈值的关系结合行进过程中的车速确定轮胎吊是否停机。
Automatic deviation correction control shutdown judgment method for tire crane
一种轮胎吊自动纠偏控制停机判断方法
2020-04-17
Patent
Electronic Resource
Chinese
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