The invention provides an automatic collaborative operation method for multiple portal cranes. The automatic collaborative operation method comprises the following steps that S1, station planning and deployment of the portal cranes and discharge hoppers are carried out according to scheduling arrangement, cabin positions, portal crane rail positions and discharge hopper allowed placement areas; s2, for each portal crane, planning a first moving track from a starting point to a terminal point; s3, judging whether a collision risk exists between each position of the current portal crane according to the planned first moving track and the corresponding state of the adjacent portal crane or not, and if not, directly operating; s4, adjusting the first moving trajectory of the current door machine by adopting a trajectory planning method based on collaboration to obtain an adjusted second moving trajectory, and judging whether the risk of collision exists or not again until the adjacent door machine has no risk of collision; and S5, the steps S2-S4 are repeated, so that all the portal cranes in the area achieve collaborative operation.
本发明提供了一种多门机自动化协同作业方法,包括如下步骤:S1:根据调度安排、船舱位置、门机轨道位置和卸料斗允许放置区域进行门机和卸料斗的站位规划和部署;S2:对于每台门机,规划其从起点到终点的第一运行轨迹;S3:判断当前门机按照规划的第一运行轨迹的每个位置和相邻的门机的相应状态是否存在碰撞的风险,如否,则直接运行;如是则进入下一步:S4:采用基于协同的轨迹规划方法调整当前门机的第一运行轨迹,获得调整后的第二运行轨迹,再次判断是否存在碰撞的风险,直到与相邻的门机没有碰撞风险;S5:重复上述步骤S2‑S4,使区域的所有门机实现协同作业。
Automatic collaborative operation method for multiple portal cranes
一种多门机自动化协同作业方法
2023-10-27
Patent
Elektronische Ressource
Chinesisch
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