| Based on intelligent lifting machinery method, the composition principle of intelligent operation system of overhead crane and path planning algorithm are proposed in the paper by studied the robot technology. In unknown and complex environment, the overhead crane is made with the ability that planning out avoidance obstacle path from any start to any target location through its own perception of the environment. And the purpose is achieved that overhead crane is operated by itself.Firstly, assembly proposal of intelligent operation system of overhead crane is proposed by studied working principle of robot control system, the functions and relationship between various model of system. In the paper, the function of system’s each module is stated and working flow chart is drawn. The layout scheme of sensors is also proposed in the paper.Secondly, the method global static environment path planning of overhead crane that based on global shortest path as the objective function is studied by using genetic algorithm combined with the grid method. By MATLAB simulated, it is proved that using the planning algorithm method that proposed in the paper can get the global optimal or sub-optimal obstacle avoidance path. And the result of obstacle avoidance is well.Finally, it is studied that local path planning method in unknown or partially unknown environment for overhead crane by used of vector method based on rolling window. Although the local path planning is difficult to limit the distance that overhead crane moved in global environment, it is properly limited in the paper by quoted shortest path heuristic function. The results of MATLAB simulated shown that the algorithm of local path planning have well obstacle avoidance efficiency and the distance that overhead crane move in global environment is properly limited.In this paper, using of the robotics not only achieves the purpose that overhead crane automatically running, but also the intelligent and automation of overhead crane is improved. In the future, research intelligent overhead crane can refer to the system which is designed in the paper. At same time, it is fully proved the feasibility that the engineering machinery can be intelligented by using of robotics. |
