The invention provides an anti-collision method for a portal crane boom. The anti-collision method comprises the following steps that motion state parameters of all portal cranes are obtained; a laser scanning unit is installed on the portal crane to scan the movement area of the arm frame in real time to obtain the point cloud of an obstacle; according to the obtained motion state parameters of the single portal crane, a protection area of a single portal crane boom is obtained through calculation; counting the number of point clouds of obstacles in the protection area in real time, judging whether the number of point clouds of the obstacles is larger than a set threshold value or not, giving an alarm if yes, and controlling the portal crane to stop running; according to the obtained motion state parameters of the two adjacent portal cranes, the moving track position of the cantilever crane in a period of time in the future is obtained through calculation; according to the method, whether the two adjacent portal crane arm frames collide at the same time point within the time period or not is judged, if yes, an alarm is given out, and the portal crane is controlled to stop running, the method can prevent the portal crane arm frames from colliding with surrounding obstacles, can also prevent the two portal cranes from colliding, and improves the operation safety of the portal crane.

    本发明提出了一种门机臂架防撞方法,包括以下步骤:获取各门机的运动状态参数;在门机上安装激光扫描单元,实时对臂架运动区域进行扫描,获取障碍物的点云;根据获取单个门机的运动状态参数,计算得到单个门机臂架的防护区域;实时统计防护区域内的障碍物的点云数量,判断障碍物的点云数量是否大于设定的阈值,大于发出报警,并控制门机停止运行;根据获取相邻的两个门机运动状态参数,计算得到在未来一段时间内臂架的运行轨迹位置;判断在该时间段内相邻两门机臂架在同一时间点是否存在相撞,存在则发出报警,并控制门机停止运行,该方法不仅可防止本门机臂架与周围障碍物发生碰撞,还可防止两门机之间发生碰撞,提高门机作业的安全性。


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    Title :

    Anti-collision method and system for portal crane boom


    Additional title:

    一种门机臂架防撞方法及系统


    Contributors:
    SUN KAIPENG (author) / ZHAO MING (author) / CHEN BO (author) / SHI XIANCHENG (author) / CAO ZHIJUN (author) / ZHANG TAO (author)

    Publication date :

    2024-01-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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