Research On Automatic Operation And Spatial Path Planning Of Overhead Crane

The overhead crane realizes the unmanned and automatic operation in a dangerous environment,which is of great significance to ensure the safety of the workers in the workshop and improve the productivity.According to the characteristics of the overhead crane operation and the robot system design technology,this paper designs the automatic operation system of the overhead crane.In order to achieve its high efficiency,energy saving and safe automatic operation,a spatial hierarchical path planning method is proposed.Different from the previous optimization method with the shortest path as the optimization goal,the proposed method optimizes the optimal trajectory route by using the running time,the effective energy of the driving mechanism and the number of obstacle avoidance points that can characterize the collision risk.It provides a feasible method for intelligent,energy-saving and efficient operation of the overhead cranes.Firstly,the basic composition of the overhead crane is analyzed,the basic structure of the automatic operation system of the overhead crane is designed,and the hardware design scheme of the main controller of the overhead crane is determined.The function of the overhead crane automatic running system software is analyzed,and the structure and flow of the overhead crane automatic running system software are determined.The laboratory model of the overhead crane is built,and its hardware and software parts are explained.Then,a spatial hierarchical path planning method is proposed to complete the path planning of the overhead crane lifting.The grid method is used to divide the map in each layer space,and the ant colony algorithm is used to search for the optimization path of this layer.The optimal trajectory path is optimized by the running time,the effective energy and the number of obstacle avoidance points.Taking a model workshop as an example,the path planning analysis is carried out,the lifting time of each trajectory route,the effective energy of the driving mechanism and the number of obstacle avoidance points are calculated.The weight of the evaluation criteria is determined by the coefficient of variation method,and the optimal lifting trajectory is determined by the evaluation values of the trajectory paths of each layer.The rationality of the spatial hierarchical path planning method is verified.Finally,design obstacles to simulate the workshop environment.The experimental model of the overhead crane is run and the experimental results are analyzed to verify the feasibility of the automatic operation system of the overhead crane model.