CN112249909A - Intelligent crane control system and control method - Google Patents
Intelligent crane control system and control method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
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Abstract
The invention relates to an intelligent crane control system and a control method, wherein the control system is additionally provided with an intelligent control system on the basis of a general control system; the intelligent control system calculates, analyzes and plans sensed and acquired data information through various embedded special intelligent planning software such as cargo carrying sequence optimization, carrying operation path planning and the like and an analysis decision platform, finishes an operation scheme and an operation execution instruction matched with an operation task and transmits the operation scheme and the operation execution instruction to a general control system; the general control system receives the operation execution instruction and is responsible for executing and monitoring the operation instruction of the crane; meanwhile, the intelligent control system predicts the problems of safety, efficiency and the like which may be encountered when the crane executes the operation scheme, and perfects, adapts and updates the operation scheme according to the environmental change. The intelligent crane control system provided by the invention enables the crane to really have intelligent capabilities of self-prediction, self-learning, self-evaluation, self-simulation, self-decision, self-adaptation, self-compensation and the like.
Description
Technical Field
The invention relates to the field of intelligent crane control, in particular to an intelligent crane control system and a control method.
Background
The crane is an indispensable key logistics device in the traditional manufacturing industry, particularly the mechanical equipment manufacturing industry, and the crane is taken as an important logistics equipment in the manufacturing industry and goes through the development process from the traditional crane, the semi-automatic crane to the automatic crane. Along with the intelligentized pace of the manufacturing industry, the intelligent crane becomes one of key intelligent equipment which is urgently needed to be developed and needs key breakthrough after the manufacturing industry enters the large times of intelligent manufacturing.
At present, the research of China in the field of intelligent cranes is in a starting stage, because the profit rate of products in the crane industry is generally not high and most products in the crane industry are single-piece small-batch customized production modes, most enterprises have to put main research and development force into the development and design work of non-standard contract products in order to solve the survival problem of the enterprises at first, so that the general investment of common basic research, key core technology and high-end product development of the cranes is insufficient, leading to the accumulation of leading-edge key technology in the crane industry in China and certain limitation on the innovation research capability including the intelligent cranes.
In addition, at present, no universal standard which can standardize and lead the research of the intelligent crane and the development, design and manufacture of products exists in China, and the knowledge of some industrial enterprises on key characteristics of the intelligent crane, an intelligent realization method of the crane, the composition of an intelligent control system, key function modules and the like has certain difference, so that the research resultant force of key core technologies cannot be formed, and the technical progress and the robust development of the intelligent crane products in China are influenced to a certain extent.
Disclosure of Invention
In order to solve the problems, the invention provides an intelligent crane control system and a control method, which can really realize the autonomous operation of a crane, and have the advantages of high operation efficiency, high operation agility and good comprehensive performance.
The invention is realized by the following technical scheme: an intelligent crane control system comprises a general control system for controlling and connecting a crane, and also comprises an intelligent control system for receiving operation tasks and sending operation execution instructions to the general control system, wherein the intelligent control system is in data connection with the general control system;
the intelligent control system comprises a knowledge database for storing data information and an intelligent analysis decision unit for analyzing according to the data information and obtaining an operation scheme for realizing the operation instruction and a corresponding operation execution instruction, wherein the data information comprises prestored empirical data, real-time acquired working state information and working environment information of the crane and new data generated by the intelligent crane control system in the execution process.
The control system of the invention is additionally provided with an intelligent control system with self-learning, self-decision and self-adaptive capabilities on the basis of the general control system of the traditional crane, the working state and the working environment of the crane are analyzed by the intelligent control system to obtain an operation scheme capable of realizing an operation task, and the crane is controlled to correspondingly work by the general control system, so that the autonomous operation of the crane can be really realized, the operation efficiency is high, the operation agility is high, and the comprehensive performance is good.
In a further improvement of the intelligent crane control system of the present invention, the intelligent analysis decision unit comprises:
the data processing subsystem is used for analyzing and processing the data information and accurately transmitting the analyzed and processed data information according to a specified format;
the environment recognition subsystem has intelligent judgment and analysis strategy capability on the trend of the dynamic change of the environment and is used for extracting the three-dimensional dynamic environment state of the crane according to the analyzed and processed data information;
the operation planning subsystem is used for searching adaptive experience data from the knowledge database when the operation task is received, calling an operation scheme corresponding to the experience data and outputting a corresponding operation execution instruction; and the number of the first and second groups,
and the task planning subsystem is used for acquiring the analyzed and processed data information and the three-dimensional dynamic environment state when the adaptive empirical data is not searched by the operation planning subsystem, and calculating, analyzing and planning to obtain an operation scheme and an operation execution instruction adaptive to the operation task.
A further improvement of the intelligent crane control system according to the present invention is that the intelligent crane control system is connected to a wide-area intelligent system, the wide-area intelligent system comprising:
the human-computer interaction management layer is used for sending the operation task;
the sensing layer is used for sensing the working state information and the working environment information of the crane;
the wide area interconnection layer is used for acquiring working environment information related to crane operation from an external system;
and the data interaction layer is used for uploading and downloading the data of the wide area intelligent system and transmitting and sharing the data of each layer in the wide area intelligent system.
The intelligent crane control system of the invention is further improved in that:
the general control system comprises a motion control module in control connection with the crane and a monitoring module which is used for receiving the operation execution instruction, correcting the operation execution instruction and outputting the corrected operation execution instruction to the motion control module, wherein the monitoring module is connected between the motion control module and the intelligent control system;
the motion control module comprises a communication management module, a driving control module, a data acquisition module and a safety guarantee module, wherein the communication management module is used for data connection and communication management between the monitoring module and the motion control module and inside the motion control module, the driving control module is used for driving and controlling the crane to work, the data acquisition module is used for acquiring the working state information and the working environment information related to the operation safety of the crane, and the safety guarantee module is used for performing operation safety assessment according to the working state information and the working environment information and transmitting an operation safety assessment result to the monitoring module as a basis for correcting the operation execution instruction.
The invention also provides an intelligent crane control method, which comprises the following steps:
providing an intelligent control system, and carrying out data connection on the intelligent control system and a general control system of the crane;
receiving a job task by using the intelligent control system, and acquiring the working state information and the working environment information of the crane related to the job task and storing the working state information and the working environment information into the knowledge database when the job task is received;
analyzing the data information of the knowledge database to obtain a job scheme for realizing the job task and a corresponding job execution instruction;
and transmitting the operation execution instruction to the general control system so as to control the crane to act according to the requirement of the operation execution instruction.
The intelligent crane control method is further improved in that the step of analyzing the data information of the knowledge database by using the intelligent control system to obtain the operation scheme for realizing the operation task and the corresponding operation execution instruction comprises the following steps:
analyzing and processing the data information, and accurately transmitting the analyzed and processed data information according to a specified format;
extracting the three-dimensional dynamic environment state of the crane according to the analyzed and processed data information;
performing a search from within the knowledge database: when the adaptive experience data are searched, calling the operation scheme corresponding to the experience data and a corresponding operation execution instruction; and when the adaptive empirical data is not searched, acquiring the analyzed and processed data information and the three-dimensional dynamic environment state, and calculating, analyzing and planning to obtain an operation scheme adaptive to the operation task and a corresponding operation execution instruction.
The control method of the intelligent crane is further improved in that the control system of the intelligent crane is connected with a wide-area intelligent system, and the wide-area intelligent system comprises:
the human-computer interaction management layer is used for sending the operation task;
the sensing layer is used for sensing the working state information and the working environment information of the crane;
the wide area interconnection layer is used for acquiring working environment information related to crane operation from an external system;
and the data interaction layer is used for uploading and downloading the data of the wide area intelligent system and transmitting and sharing the data of each layer in the wide area intelligent system.
The intelligent crane control method of the invention is further improved in that, when the operation execution instruction is transmitted to the general control system:
the general control system collects the working state information and the working environment information of the crane through a data collection module, and simultaneously transmits the working state information and the working environment information to the monitoring module and the safety guarantee module;
the safety guarantee module carries out operation safety evaluation according to the working state information and the working environment information and transmits an operation safety evaluation result to the monitoring module;
the monitoring module corrects the job execution instruction by taking the safety evaluation result as a basis and combining the working state information and the working environment information, and transmits the corrected job execution instruction to a drive control module;
and the drive control module is used for driving and controlling the crane to work according to the corrected operation execution instruction.
Drawings
Fig. 1 is an overall framework diagram of an intelligent crane control system according to the present invention.
Fig. 2 is an overall framework diagram of the intelligent control system in the invention.
Fig. 3 is a general framework diagram of the general control system of the present invention.
FIG. 4 is a basic structure and sense and control data flow diagram of the sensing layer in the present invention.
Detailed Description
Along with the intelligentized pace of the manufacturing industry, the intelligent crane becomes one of key intelligent equipment which is urgently needed to be developed and needs key breakthrough after the manufacturing industry enters the large times of intelligent manufacturing. However, at present, the research in the field of intelligent cranes in China is in the starting stage, and no complete intelligent crane control system scheme exists.
The invention analyzes and compares the main performance characteristics and the relevance of the traditional crane, an automatic crane, an industrial robot and an intelligent crane according to the development process from the traditional crane to the intelligent crane, analyzes and summarizes the universality and the personalized key characteristics of the intelligent crane, provides the overall architecture of the intelligent crane control system, constructs a strong internal and external information interconnection and smooth data exchange and sharing mechanism according to the relevance between each key function module and each subsystem in the system architecture, the main data flow direction and the crane intelligent realization method, ensures that the intelligent crane control system can really realize the autonomous operation of the crane, and has high operation efficiency, high operation agility and good comprehensive performance.
The following describes the control system and control method of the intelligent crane with reference to the accompanying drawings and the detailed description.
Referring to fig. 1, fig. 1 is a general frame diagram illustrating an intelligent crane control system according to the present invention. The intelligent control system is connected with the general control system through a bus, so that a real-time data interconnection and intercommunication and information sharing mechanism is established between the intelligent control system and the general control system, and a central control center of the intelligent crane control system is formed.
The intelligent control system comprises a knowledge database for storing data information and an intelligent analysis decision unit for analyzing according to the data information and obtaining an operation scheme for realizing the operation task and a corresponding operation execution instruction, wherein the data information comprises pre-stored empirical data, real-time acquired working state information and working environment information of the crane and new data generated by the intelligent crane control system in the execution process.
Specifically, the general control system reserves the functions of the control system of the traditional crane, can realize the universality characteristic of the crane, can meet the basic operation requirement of the traditional crane, but can not be realized only by the general control system if the individual operation requirement is realized, so the invention adds an intelligent control system on the basis of the general control system, and the intelligent control system receives the operation instruction and analyzes the data information related to the crane by utilizing a knowledge database and an intelligent analysis decision unit to obtain an optimized operation scheme and a corresponding operation execution instruction which can realize the operation instruction. The general control system receives the operation execution instruction sent by the intelligent control system and is responsible for executing the operation instruction of the intelligent crane and monitoring the operation process. Specifically, the intelligent analysis decision unit has self-learning, self-decision and self-adaptive capabilities. The knowledge database comprises a knowledge base and a database, wherein the knowledge base stores data such as pre-implanted experience data and new knowledge generated by an intelligent analysis decision unit, and the database stores data of system built-in data (mainly data stored in the system during development and manufacturing of intelligent crane products and data implanted in the system during product delivery), and data generated by the processes of sensing, analysis, planning, decision and execution of a control system and system self-evaluation, self-learning, self-adaptation and the like and required to be stored in the database.
Further, this intelligent crane control system is connected with wide-area intelligent system, and this wide-area intelligent system includes:
and the man-machine interaction management layer is used for carrying out real-time communication, work task release and information interaction between a person and the intelligent crane and also used for monitoring and remotely managing work states of the intelligent crane, such as work safety, work quality, maintenance condition, work efficiency, work energy consumption, work cost and the like.
And a sensing layer for sensing the working state information and the working environment information of the crane, specifically, referring to fig. 4, fig. 4 shows a basic composition and sensing and control data flow diagram of the sensing layer in the present invention. The sensing layer is composed of an inner sensing part and an outer sensing part. The external perception perceives and acquires data from a wide-area intelligent system and the part outside the intelligent crane, and the internal perception acquires related data from the inside of the intelligent crane. The sensing layer realizes the state sensing and data acquisition of the crane through various sensors and a special sensing system.
The wide area interconnection layer is used for acquiring working environment information related to crane operation from an external system; particularly, since information interconnection and intercommunication are the most basic requirements of intelligence, the intelligent crane is one of the key intelligent devices constituting the wide-area intelligent system, and therefore, the intelligent crane cannot be separated from the wide-area intelligent system and independently exist. Besides establishing an internal information sharing and data interconnection mechanism, the intelligent crane needs to establish information real-time sharing and data interconnection with a wide-area intelligent system and a moving object with digital characteristics. The purpose of setting up the interconnected layer of wide area is that the perception ability of the self-connection between the intelligent hoist and the interior association equipment of wide area intelligent system, self-operation action and self-operation state is reinforceed to realize inside and the intelligent hoist of intelligent hoist and the intelligent hoist and wide area intelligent system between keep effectual data connection.
And the data interaction layer is used for uploading and downloading the data of the wide area intelligent system and transmitting and sharing the data of each layer in the wide area intelligent system. Specifically, this data interaction layer provides the interface of the various data of intelligent crane control system, with the human-computer interaction management layer, perception layer and the interconnection of wide area layer form this wide area intelligent system, be responsible for uploading the data in the wide area intelligent system to the total accuse center of wide area intelligent system, this total accuse center of wide area intelligent system is the control and the management center of wide area intelligent system including intelligent hoist, be the last level management and control system of intelligent hoist and intelligent crane control system, be responsible for sending the operation task to intelligent hoist, and manage the operation of intelligent hoist through the human-computer interaction management layer. Meanwhile, the system is also responsible for downloading data in the wide-area intelligent system to the central control center. The data in the wide-area intelligent system mainly comprises internal and external data acquired by a sensing layer, an operation task sent by a man-machine interaction management layer and data of a central control center. Preferably, the sensing layer collects a large amount of data, part of the collected data is invalid data, in order to reduce the data processing pressure of the intelligent crane control system and improve the operation efficiency, the data interaction layer is provided with a sub-controller, the data collected by the sensing layer is preprocessed through the sub-controller, invalid data and non-critical information and data are filtered out, the format of the data is adjusted according to the requirements of the intelligent control system, and finally the processed and adjusted data are downloaded to the intelligent crane control system through the data interaction layer through technologies such as a bus.
Further, in conjunction with fig. 2, fig. 2 shows an overall framework diagram of the intelligent control system of the present invention. The intelligent analysis decision unit is an artificial intelligence system with self-learning, self-decision and self-adaptive capabilities, and comprises:
and the data processing subsystem is responsible for analyzing and processing all data uploaded to the system, accurately transmitting the analyzed and processed data and information according to a specified format according to the requirements of large data transmission and data flow direction of the central control center, and directly transmitting the data and image information to be displayed and managed to the interpersonal interaction management layer. The data analyzed and processed by the data processing subsystem can meet the requirements of various intelligent planning and analysis platforms embedded in the system on data quality and data structures.
The environment recognition subsystem has intelligent judgment and analysis strategy capability on the trend of the dynamic environment change, and is used for accurately extracting the information such as the shape, size, position, distance, the interrelation between objects, the motion state and the like of static and dynamic moving objects in the operation environment of the intelligent crane according to the analyzed and processed data information, further obtaining the three-dimensional dynamic environment state of the intelligent crane, and further forming a three-dimensional dynamic environment map.
And the operation planning subsystem is used for searching the adaptive experience data from the knowledge database when the operation task is received, calling the operation scheme corresponding to the experience data and outputting a corresponding operation execution instruction. And the number of the first and second groups,
and the task planning subsystem is used for acquiring the analyzed and processed data information and the three-dimensional dynamic environment state when the operation planning subsystem does not search the adaptive empirical data, and calculating, analyzing and planning to obtain an operation scheme and an operation execution instruction which are adaptive to the operation task. Specifically, the task planning subsystem is the core of the intelligent analysis decision unit, and multiple special intelligent planning software and analysis decision platforms such as cargo carrying sequence optimization, carrying operation path planning and the like are embedded in the task planning subsystem, and the special planning software and platforms acquire a large amount of data and information from the data analysis processing subsystem, the environment recognition subsystem and the like, and calculate, analyze and plan the data and information by adopting artificial intelligence technologies such as big data analysis, intelligent algorithm and the like, and complete an operation scheme completely matched with an operation task. The task planning subsystem can predict various problems of safety, efficiency and the like which may be met by the crane when the operation scheme is executed, and simultaneously, the operation scheme and the decision are continuously perfected, self-adapted and updated in real time according to the change of environmental conditions. The task planning subsystem enables the intelligent crane to really have the intelligent capabilities of self-prediction, self-learning, self-evaluation, self-simulation, self-decision, self-adaptation, self-compensation and the like which are possessed by human beings.
Further, referring to fig. 3, fig. 3 shows a general block diagram of the general control system of the present invention.
The general control system is upgraded and improved by matching with the addition of the intelligent control system, specifically, the general control system comprises an original motion control module in control connection with the crane and a newly-added monitoring module which is used for receiving the operation execution instruction, correcting the operation execution instruction and outputting the corrected operation execution instruction to the motion control module, and the monitoring module is connected between the motion control module and the intelligent control system.
The motion control module comprises a communication management module which is responsible for data connection and communication management between the monitoring module and the motion control module and inside the motion control module, and a drive control module which drives and controls the crane to work, the system comprises a data acquisition module for acquiring the working state information of the crane and working environment information related to the working safety (mainly comprising the moving state of a conveyed object, the position and the shape of an obstacle in a working site and the like), and a safety guarantee module for performing working safety assessment (mainly solving the problems of interference collision and the like between the crane and adjacent working equipment, between the crane conveyed object and other equipment or obstacles in a wide-area intelligent system) according to the working state information and the working environment information and transmitting a working safety assessment result to the monitoring module as a basis for correcting a working execution instruction.
The invention also provides an intelligent crane control method, which comprises the following steps:
step 1, providing the intelligent control system, and performing data connection on the intelligent control system and a general control system of the crane.
And 2, receiving the operation tasks by using the intelligent control system, acquiring the working state information of the crane and the working environment information related to the corresponding operation tasks when receiving the operation tasks, and storing the working state information and the working environment information into the knowledge database.
Step 3, analyzing the data information of the knowledge database to obtain a job scheme for realizing the job task and a corresponding job execution instruction;
and 4, transmitting the operation execution command to the general control system so as to control the crane to act according to the requirement of the operation execution command.
Further, this intelligent crane control system is connected with wide-area intelligent system, and this wide-area intelligent system includes:
and the man-machine interaction management layer is used for carrying out real-time communication, work instruction issuing and information interaction between a person and the intelligent crane and also used for monitoring and remotely managing work states of the intelligent crane, such as work safety, work quality, maintenance condition, work efficiency, work energy consumption, work cost and the like.
The sensing layer is used for sensing the working state information and the working environment information of the crane, and particularly consists of an inner sensing part and an outer sensing part. The external perception perceives and acquires data from a wide-area intelligent system and the part outside the intelligent crane, and the internal perception acquires related data from the inside of the intelligent crane. The sensing layer realizes the state sensing and data acquisition of the crane through various sensors and a special sensing system.
The wide area interconnection layer is used for acquiring working environment information related to crane operation from an external system; particularly, since information interconnection and intercommunication are the most basic requirements of intelligence, the intelligent crane is one of the key intelligent devices constituting the wide-area intelligent system, and therefore, the intelligent crane cannot be separated from the wide-area intelligent system and independently exist. Besides establishing an internal information sharing and data interconnection mechanism, the intelligent crane needs to establish information real-time sharing and data interconnection with a wide-area intelligent system and a moving object with digital characteristics. The purpose of setting up the interconnected layer of wide area is that the perception ability of the self-connection between the intelligent hoist and the interior association equipment of wide area intelligent system, self-operation action and self-operation state is reinforceed to realize inside and the intelligent hoist of intelligent hoist and the intelligent hoist and wide area intelligent system between keep effectual data connection.
And the data interaction layer is used for uploading and downloading the data of the wide area intelligent system and transmitting and sharing the data of each layer in the wide area intelligent system. Specifically, this data interaction layer provides the interface of the various data of intelligent crane control system, with the human-computer interaction management layer, perception layer and the interconnection of wide area layer form this wide area intelligent system, be responsible for uploading the data in the wide area intelligent system to the total accuse center of wide area intelligent system, this total accuse center of wide area intelligent system is the control and the management center of wide area intelligent system including intelligent hoist, be the last level management and control system of intelligent hoist and intelligent crane control system, be responsible for sending the operation instruction to intelligent hoist, and manage the operation of intelligent hoist through the human-computer interaction management layer. Meanwhile, the system is also responsible for downloading data in the wide-area intelligent system to the central control center. The data in the wide-area intelligent system mainly comprises internal and external data acquired by a sensing layer, an operation instruction sent by a man-machine interaction management layer and data of a central control center. Preferably, the sensing layer collects a large amount of data, part of the collected data is invalid data, in order to reduce the data processing pressure of the intelligent crane control system and improve the operation efficiency, the data interaction layer is provided with a sub-controller, the data collected by the sensing layer is preprocessed through the sub-controller, invalid data and non-critical information and data are filtered out, the format of the data is adjusted according to the requirements of the intelligent control system, and finally the processed and adjusted data are downloaded to the intelligent crane control system through the data interaction layer through technologies such as a bus.
Further, the step of analyzing the data information of the knowledge database by using the intelligent control system to obtain a job scheme for realizing the job task and a corresponding job execution instruction comprises:
the data information is analyzed and processed, the analyzed and processed data and information are accurately transmitted according to the requirements of the central control center on big data transmission and data flow direction according to the specified format, and the data and image information required to be displayed and managed are directly transmitted to the interpersonal interaction management layer. The data analyzed and processed by the data processing subsystem can meet the requirements of various intelligent planning and analysis platforms embedded in the system on data quality and data structures.
And accurately extracting the shape, size, position, distance, the mutual relation between the objects, the motion state and other information of the static and dynamic moving objects in the intelligent crane operation environment according to the analyzed and processed data information, further obtaining the three-dimensional dynamic environment state of the intelligent crane, and forming a three-dimensional dynamic environment map.
Firstly, searching whether an operation scheme for completing a corresponding operation task exists in a knowledge base, if the knowledge base has a mature scheme meeting the operation task, directly calling the scheme, and automatically generating an executable operation execution instruction by combining an operation planning model embedded in a system; if the knowledge base has no or no mature operation scheme, a complete scheme aiming at the corresponding operation task is formed by using a large amount of effective data and information acquired by the system and adopting technologies such as artificial intelligence and the like and an executable operation execution instruction is generated by means of special planning software and an analysis platform.
Further, when transmitting the job execution instruction to the general control system:
the general control system collects the working state information, the moving state of a conveyed object, the position and the shape of an obstacle in a working site and other working environment information of the crane through a data collection module, and simultaneously transmits the working state information and the working environment information to the monitoring module and the safety guarantee module;
the safety guarantee module carries out operation safety assessment on the problems of interference and collision between the crane and adjacent operation equipment, between a crane moving object and other equipment or obstacles in the wide-area intelligent system or the like according to the working state information and the working environment information, and transmits an operation safety assessment result to the monitoring module;
the monitoring module corrects the job execution instruction by taking the safety evaluation result as a basis and combining the working state information and the working environment information, and transmits the corrected job execution instruction to the driving control module;
and the drive control module is used for driving and controlling the crane to work according to the corrected operation execution instruction.
While the present invention has been described in detail and with reference to the embodiments thereof as illustrated in the accompanying drawings, it will be apparent to one skilled in the art that various changes and modifications can be made therein. Therefore, certain details of the embodiments are not to be interpreted as limiting, and the scope of the invention is to be determined by the appended claims.
Claims (8)
1. The utility model provides an intelligence hoist control system, includes the general control system of control connection hoist which characterized in that:
the intelligent control system is used for receiving the job tasks and sending job execution instructions to the general control system, and the intelligent control system is in data connection with the general control system;
the intelligent control system comprises a knowledge database for storing data information and an intelligent analysis decision unit for analyzing according to the data information and obtaining an operation scheme for realizing the operation task and a corresponding operation execution instruction, wherein the data information comprises prestored empirical data, real-time acquired working state information and working environment information of the crane and new data generated by the intelligent crane control system in the execution process.
2. The intelligent crane control system of claim 1, wherein the intelligent analysis decision unit comprises:
the data processing subsystem is used for analyzing and processing the data information and accurately transmitting the analyzed and processed data information according to a specified format;
the environment recognition subsystem has intelligent judgment and analysis strategy capability on the trend of the dynamic change of the environment and is used for extracting the three-dimensional dynamic environment state of the crane according to the analyzed and processed data information;
the operation planning subsystem is used for searching adaptive experience data from the knowledge database when the operation task is received, calling an operation scheme corresponding to the experience data and outputting a corresponding operation execution instruction; and the number of the first and second groups,
and the task planning subsystem is used for acquiring the analyzed and processed data information and the three-dimensional dynamic environment state when the adaptive empirical data is not searched by the operation planning subsystem, and calculating, analyzing and planning to obtain an operation scheme and an operation execution instruction adaptive to the operation task.
3. The intelligent crane control system as recited in claim 1, wherein the intelligent crane control system is connected to a wide-area intelligent system, the wide-area intelligent system comprising:
the human-computer interaction management layer is used for sending the operation task;
the sensing layer is used for sensing the working state information and the working environment information of the crane;
the wide area interconnection layer is used for acquiring working environment information related to crane operation from an external system;
and the data interaction layer is used for uploading and downloading the data of the wide area intelligent system and transmitting and sharing the data of each layer in the wide area intelligent system.
4. The intelligent crane control system of claim 1, wherein:
the general control system comprises a motion control module in control connection with the crane and a monitoring module which is used for receiving the operation execution instruction, correcting the operation execution instruction and outputting the corrected operation execution instruction to the motion control module, wherein the monitoring module is connected between the motion control module and the intelligent control system;
the motion control module comprises a communication management module, a driving control module, a data acquisition module and a safety guarantee module, wherein the communication management module is used for data connection and communication management between the monitoring module and the motion control module and inside the motion control module, the driving control module is used for driving and controlling the crane to work, the data acquisition module is used for acquiring the working state information and the working environment information related to the operation safety of the crane, and the safety guarantee module is used for performing operation safety assessment according to the working state information and the working environment information and transmitting an operation safety assessment result to the monitoring module as a basis for correcting the operation execution instruction.
5. An intelligent crane control method is characterized by comprising the following steps:
providing an intelligent control system, and carrying out data connection on the intelligent control system and a general control system of the crane;
receiving a job task by using the intelligent control system, and acquiring the working state information and the working environment information of the crane related to the job task and storing the working state information and the working environment information into the knowledge database when the job task is received;
analyzing the data information of the knowledge database to obtain a job scheme for realizing the job task and a corresponding job execution instruction;
and transmitting the operation execution instruction to the general control system so as to control the crane to act according to the requirement of the operation execution instruction.
6. The intelligent crane control method as claimed in claim 5, wherein the step of analyzing the data information of the knowledge database by the intelligent control system to obtain a work plan and corresponding work execution instructions for implementing the work task comprises:
analyzing and processing the data information, and accurately transmitting the analyzed and processed data information according to a specified format;
extracting the three-dimensional dynamic environment state of the crane according to the analyzed and processed data information;
performing a search from within the knowledge database: when the adaptive experience data are searched, calling the operation scheme corresponding to the experience data and a corresponding operation execution instruction; and when the adaptive empirical data is not searched, acquiring the analyzed and processed data information and the three-dimensional dynamic environment state, and calculating, analyzing and planning to obtain an operation scheme adaptive to the operation task and a corresponding operation execution instruction.
7. The intelligent crane control method as claimed in claim 5, wherein the intelligent crane control system is connected to a wide-area intelligent system, the wide-area intelligent system comprising:
the human-computer interaction management layer is used for sending the operation task;
the sensing layer is used for sensing the working state information and the working environment information of the crane;
the wide area interconnection layer is used for acquiring working environment information related to crane operation from an external system;
and the data interaction layer is used for uploading and downloading the data of the wide area intelligent system and transmitting and sharing the data of each layer in the wide area intelligent system.
8. The intelligent crane control method of claim 5, wherein in transmitting the job execution instruction to the general control system:
the general control system collects the working state information and the working environment information of the crane through a data collection module, and simultaneously transmits the working state information and the working environment information to the monitoring module and the safety guarantee module;
the safety guarantee module carries out operation safety evaluation according to the working state information and the working environment information and transmits an operation safety evaluation result to the monitoring module;
the monitoring module corrects the job execution instruction by taking the safety evaluation result as a basis and combining the working state information and the working environment information, and transmits the corrected job execution instruction to a drive control module;
and the drive control module is used for driving and controlling the crane to work according to the corrected operation execution instruction.
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