The invention relates to a multi-vehicle coordinated motion control method, device and system. The method comprises the following steps: constructing a crane motion coordinate system, and obtaining real-time position coordinates of a crane, goods to be loaded and unloaded and a destination on the coordinate system; constructing a dynamic motion model according to the real-time position coordinates on the coordinate system; the driving priority is judged according to the dynamic motion model; and driving the cranes to sequentially execute loading and unloading tasks according to the priorities of the cranes. The relative distance between the travelling crane and the loaded and unloaded goods is determined by constructing the travelling crane motion coordinate system and is used for judging the travelling crane priority; by constructing a dynamic motion model, whether the motion trails of the crane during loading and unloading task execution are crossed or not is judged in advance; according to the working state of the travelling crane and the dynamic motion model, the travelling crane priority is judged, and the travelling crane is planned and regulated in advance based on the travelling crane priority, so that the working efficiency and the safety coefficient of the travelling crane control system are improved, the labor force is liberated, and the production benefit is improved.
本申请涉及一多行车协调运动控制方法、装置及系统。该方法包括:构建行车运动坐标系,获取行车、待装卸货物和目的地在坐标系上的实时位置坐标;根据坐标系上的实时位置坐标,构建动态运动模型;根据动态运动模型判断行车的优先级;根据行车的优先级,驱动行车依次执行装卸任务。本申请通过构建行车运动坐标系,确定行车及其装卸货物的相对距离,用于判断行车优先级;通过构建动态运动模型,提前判断行车在执行装卸任务的运动轨迹是否存在交叉;通过根据行车的工作状态和动态运动模型,对行车优先级进行判断,基于行车优先级对行车进行运动进行提前规划调控,提高行车控制系统工作效率和安全系数,解放劳动力,提高生产效益。
Multi-vehicle coordinated motion control method, device and system
一种多行车协调运动控制方法、装置及系统
2023-03-07
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
European Patent Office | 2021
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