The invention discloses a port mobile crane multi-machine anti-collision method which comprises the following steps: S1, acquiring static parameters of a main mobile crane, monitoring the surrounding environment by arranging a plurality of ultrasonic sensors on a suspension arm, and establishing a global coordinate system by taking the mobile crane as a center; s2, obtaining an anti-collision model of the mobile crane according to a local coordinate system homogeneous transformation matrix included in the global coordinate system, and constructing the model through a spatial distance algorithm; and S3, carrying out multi-source information fusion on a plurality of mobile crane operation state detection sensors through a 3D-based mobile crane anti-collision virtual monitoring system, and then driving the crane three-dimensional model to act in real time. The method has the advantages that the action of the movable crane is monitored in real time through the real-time action of the three-dimensional model, and collision reminding is achieved by detecting the distance between the lifting arm and the nearest collision point and between the machine body and the nearest collision point.
本发明公开了一种港口移动吊机多机防撞方法,包括如下步骤:S1、获取主移动吊机的静态参数,并通过在吊臂上设置若干超声波传感器监测周围环境,以移动吊机为中心建立全局坐标系;S2、根据全局坐标系内包括的局部坐标系齐次变换矩阵,得到移动吊机防碰撞模型,通过空间距离算法进行模型构建;S3、通过基于3D的移动吊机防碰撞虚拟监控系统,对多个移动吊机运行状态检测传感器进行多源信息融合后驱动吊机三维模型实时动作。本发明的优点在于通过三维模型实时动作实现移动吊机动作的实时监控,并通过检测吊臂与机身到最近碰撞点的距离实现碰撞提醒。
Multi-machine collision prevention method for port mobile crane
一种港口移动吊机多机防撞方法
2024-11-15
Patent
Electronic Resource
Chinese
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