Study On Space Automatic Path Planning Of Overhead Crane

The unmanned workshop is an important part of an intelligent factory,which is of greatsignificance in improving production efficiency,ensuring the safety of workers,and improving the reliability of equipment.As the main lifting and handling equipment,overhead cranes play an indispensable part of the modern workshop.Therefore,the intelligent and unmanned control of overhead cranes play an important role to achieve the unattended operation of the workshop.Based on the research of mobile robot control technology,this paper designs a sensor layout scheme for the intelligent operation of overhead crane,and proposes two-dimensional plane and three-dimensional space path planning algorithms to provide theoretical basis of self-perception,self-planning and self-operational capabilities for overhead cranes in unmanned complex environments.Firstly,the unmanned workshop environment modeling and overhead crane positioning technology were studied.The grid working method was used to establish a map of the working environment of the crane.The computer was used to provide simulated operating environment and scenarios.The positioning technology of the overhead crane was analyzed and the sensors were selected to collect the location information of grider,cart and hoists,selecting and comparing the sensors,designing sensor layout solutions and positioning system control scheme.Based on this,the ant colony algorithm is adopted as the path planning algorithm for overhead crane,and the planar path planning algorithm based on ant colony algorithm is designed in the two-dimensional plane.Compared with the two-dimensional plane environment,the three-dimensional space environment increases the high direction information.The information on the environment can be expressed more intuitively and more accurately.In the three-dimensional space,the space path planning algorithm based on the ant colony algorithm is designed.The simulation results of two-dimensional plane and three-dimensional space show that the path planning method based on ant colony algorithm is simple,easy to operate,robust and adaptable to the environment,and it can ensure that the overhead crane can get a better path under various circumstances.Finally,the overhead crane experimental model scheme was designed,the simulation experiment model was built,the position information of the optimal path point was obtained in MATLAB,passed to the SCM,and then the SCM controlled the stepper motor driver to drive the motor movement by means of the cooperative movement of the grider,cart andlifting mechanism,to makes the hook move according to the planned path to verify the feasibility of the algorithm.