钢卷库中桥式起重机路径规划的研究

Research on path planning of bridge crane in steel coil warehouse

随着库房管理系统和桥式起重机自动化运行技术研究和发展,实现钢卷库智能化吊装成为可能。吊装的路径规划是迫切需要解决的问题。目前路径规划多应用于二维平面,桥式起重机吊装在三维空间内展开。文中根据钢卷库中钢卷的位置,对桥式起重机吊运过程进行多方案路径规划,方案一起升高度小于钢卷高度,方案二起升高度大于钢卷高度,采用蚁群算法分别规划出各方案的轨迹路线,再以吊运时间、驱动机构的有效能为评价标准优选出最佳轨迹路线。经案例分析,证明了路径规划方法的合理性与可行性。为钢卷库中桥式起重机实现智能节能高效运行提供了一种方法。

With the research and development of warehouse management system and automatic operation technology of bridge crane,it is possible to realize intelligent hoisting of steel coil warehouse.The urgent problem to be solved at present is to plan the hoisting path.Currently,path planning is mostly applied to two-dimensional plane,while bridge crane hoisting is carried out in three-dimensional space.In this paper,according to the position of steel coils in the steel coil warehouse,several paths are planned for the lifting process of the bridge crane through several schemes.The lifting height in scheme 1 is less than the height of steel coil,and that in scheme 2 is greater than the height of steel coil.The ant colony algorithm is used to plan the routes of each scheme respectively,and then the lifting time and the effective energy of the driving mechanism are used as evaluation criteria to select the best track route.Case analysis proves the rationality and feasibility of the path planning method.It provides a method for the intelligent,energy-saving and efficient operation of the bridge crane in the steel coil warehouse.