Research On Path Planning And Key Technology Of Unmanned Bridge Crane

As a type of transportation machinery,bridge crane has been used extensively in modern production,and they are now seen in factories,docks,warehouses and plenty of other places.With the continuous maturity of computer technology and related technologies,hoisting machinery has become more intelligent and played an important role in automated production,greatly reducing the work intensity of crane operators and ensuring their personal safety.However,in the traditional working process of the bridge crane,the accuracy of the crane action and the work efficiency often solely depend on the proficiency of the operators,which is not always reliable.Also,in some harsh working environments,such as garbage treatment plants and nuclear power plants,there is an urgent need to realize unmanned bridge crane operation to ensure the safety and wellbeing of the workers.Therefore,based on the control theory of mobile robots,this paper proposes a global static path planning for bridge cranes with an improved ant colony algorithm,designs an intelligent operation system for unmanned bridge cranes,and builds an unmanned bridge crane platform,providing a theoretical basis for the realization of unmanned bridge crane.The article first chooses the grid method to establish an environmental model,and expands and embosses the grid with the purpose of increasing the capability and area of application of the system design.The path of the bridge crane in the global static environment is optimized through the integration of raster map modeling and the traditional ant colony algorithm.The traditional ant colony algorithm is improved by combining the operating characteristics of the bridge crane and the parameters of the ant colony algorithm.Through the analysis of the operating characteristics of the bridge crane,such as the start and stop of the large and small vehicles and the swing of the crane,the smoothness heuristic factor is introduced to reduce the number of turns and therefore,improve the stability of the bridge crane operation.The defects of the traditional ant colony algorithm are reduced by improving the pheromone allocation principle and updating the pheromone method,which boosts the convergence speed and avoids stepping into difficult situations such as local optimization.The MATLAB simulation test proves the feasibility of the improved ant colony algorithm to realize the use of global static path planning of the bridge crane in the complex working environment.Secondly,this article designs an unmanned bridge crane intelligent control system including a central control module,an information acquisition module,a motion control module,and a human-machine interaction module,and decides the intelligent operation of the bridge crane system structure and workflow on the basis of the control theory of mobile robots.Finally,with a full consideration of the working characteristics of the bridge crane,the hardware design scheme of the unmanned bridge crane was set,and the unmanned bridge crane platform was built.By simulating the working process of the bridge crane,the unmanned bridge crane platform was operated to verify the efficiency of path planning algorithm and the feasibility of the intelligent control system.