The invention discloses an unmanned crown block hoisting path planning method based on an improved rapid exploration random tree, which comprises the following steps: acquiring layout information of a steel coil reservoir area, constructing a search space according to the layout information, and initializing an empty search tree; iteratively searching an optimal path from the current position of the steel coil to the target hoisting position by adding a new node in the search tree; when the maximum number of iterations is reached, the optimal path cost is converged to a preset threshold value or the search time reaches a preset upper limit, the optimal path is output, and planning of the hoisting path of the unmanned crown block is achieved; according to the method, the path is continuously optimized in the process of constructing the search tree, so that the path closer to the optimal solution is found, and an elliptical range is introduced, so that the sampling process is more targeted; in addition, the algorithm randomness is reduced, the unmanned operation efficiency and the production rhythm of the crown block are effectively improved, manual operation is optimized, operation safety risks are avoided, and important driving force is brought to production and operation of enterprises.
本发明公开了基于改进快速探索随机树的无人天车吊运路径规划方法,包括:获取钢卷库区的布局信息,根据布局信息构建搜索空间并初始化空的搜索树;通过在搜索树中添加新节点迭代寻找从钢卷当前位置到目标吊运位置的最优路径;当达到最大迭代次数、最优路径成本收敛到预设阈值或搜索时间达到预设上限时输出最优路径,实现对无人天车吊运路径的规划;本发明在构建搜索树的过程中会不断优化路径,以便找到更接近最优解的路径,并引入了椭圆范围使得采样过程更有针对性;此外本发明降低了算法的随机性,有效提升天车的无人化作业效率与生产节奏,优化人工作业,规避操作安全风险,为企业的生产运营带来了重要的推动力。
Unmanned crown block hoisting path planning method based on improved rapid exploration random tree
基于改进快速探索随机树的无人天车吊运路径规划方法
22.03.2024
Patent
Elektronische Ressource
Chinesisch
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