CN116161545A

CN116161545A - Case loading control method, device and system, crane control system and crane

Info

Publication number: CN116161545A
Application number: CN202211667479.5A
Authority: CN
Inventors: 段小明; 刘艳涛; 陈喜迎
Original assignee: Sany Marine Heavy Industry Co Ltd
Current assignee: Sany Marine Heavy Industry Co Ltd
Priority date: 2022-12-23
Filing date: 2022-12-23
Publication date: 2023-05-26

Abstract

The application relates to a box-loading control method, a device, a system, a crane control system and a crane, and relates to the technical field of engineering machinery; acquiring planning working time required by a lifting appliance to lift a preset object from a current position to a target position; according to the real-time deviation displacement, the real-time rotation angle and the planning working time length, obtaining a predicted deviation displacement and a predicted rotation angle in a future target time period; and controlling the lifting appliance to act according to the predicted deviation displacement and the predicted rotation angle so as to lift the preset object. The boxing control method, device and system, the crane control system and the crane can improve boxing success rate.

Description

Case loading control method, device and system, crane control system and crane

Technical Field

The application relates to the technical field of engineering machinery, in particular to a boxing control method, a boxing control device, a boxing control system and a boxing control system.

Background

At present, the container loading operation can be understood as the process of lifting the container on the truck by using the shore bridge, the container loading operation is finished usually by manually controlling the action of the lifting appliance by a driver through the shore bridge in the container loading process, and the problem of larger error can exist by manually determining the position of the lifting appliance by the driver in the container loading process through manual operation. Therefore, in the prior art, a scheme of controlling the lifting appliance to automatically lift and unload the container by using an automatic lifting program exists, and the prior art controls the lifting appliance to carry out container loading by predicting the position information of the lifting appliance, but the lifting appliance can rotate except displacement in the lifting process, so that only the position information is considered to control the lifting appliance to carry out container loading, and the container loading success rate is still lower.

Disclosure of Invention

In order to solve the technical problems, the box loading control method, device and system, the crane control system and the crane are provided, and the box loading success rate can be effectively improved.

In a first aspect, a method for controlling landing in a box is provided, including:

acquiring real-time deviation displacement and real-time rotation angle of the lifting appliance; the real-time deviation displacement represents the deviation displacement of the current position of the lifting appliance relative to the position in a static state; the real-time rotation angle represents the rotation angle of the current position of the lifting appliance relative to the position in a static state;

acquiring planning working time required by the lifting appliance to lift a preset object from the current position to a target position;

according to the real-time deviation displacement, the real-time rotation angle and the planning working time length, obtaining a predicted deviation displacement and a predicted rotation angle in a future target time period; wherein the predicted offset displacement characterizes an offset displacement of a position of the spreader in the future target time period relative to a position at rest; the predicted rotation angle characterizes the rotation angle of the position of the lifting appliance in the future target time period relative to the position in a static state; and

And controlling the lifting appliance to act according to the predicted deviation displacement and the predicted rotation angle so as to lift the preset object.

According to a first aspect of the present application, the obtaining a planning working time period required by the hanger to hoist the preset object from the current position to the target position includes:

acquiring a real-time distance value between the lifting appliance and a truck when the lifting appliance is at the current position and a planning speed of the lifting appliance; and

and acquiring the planning working time according to the real-time distance value and the planning speed.

According to a first aspect of the present application, the obtaining the predicted offset displacement and the predicted rotation angle in the future target time period according to the real-time offset displacement, the real-time rotation angle, and the planning working time period includes:

acquiring the future target time period according to the planning working time length; the minimum critical value of the future target time period is smaller than the planning working time period, and the maximum critical value of the future target time period is larger than the planning working time period;

and obtaining the predicted deviation displacement and the predicted rotation angle in the future target time period according to the real-time deviation displacement, the real-time rotation angle and the future target time period.

According to a first aspect of the present application, the controlling the lifting tool to lift the preset object according to the predicted offset displacement and the predicted rotation angle includes:

and if the predicted deviation displacement is smaller than or equal to a first deviation displacement threshold value and the predicted rotation angle is smaller than or equal to a first rotation angle threshold value, controlling the lifting appliance to lift the preset object to descend at a planning speed.

if the predicted deviation displacement is greater than a first deviation displacement threshold value and/or the predicted rotation angle is greater than a first rotation angle threshold value, acquiring a real-time distance value between the lifting appliance and the collection truck at the current position;

if the real-time distance value is smaller than or equal to the height threshold value, controlling the lifting appliance to stop acting; or alternatively

And if the real-time distance value is larger than the height threshold value, reducing the current speed of the lifting appliance, and controlling the lifting appliance to descend.

According to a first aspect of the present application, after the acquiring the real-time offset displacement amount and the real-time rotation angle of the spreader, the landing control method further includes:

If the real-time deviation displacement is smaller than or equal to a second deviation displacement threshold value and the real-time rotation angle is smaller than or equal to a second rotation angle threshold value, controlling the hoisting trolley to stop anti-shake operation; the lifting trolley is connected with the lifting appliance, and the anti-shaking operation of the lifting trolley is used for reducing the real-time deviation displacement of the lifting appliance and the real-time rotation angle of the lifting appliance.

In a second aspect, there is also provided a landing control device, including:

the first acquisition module is configured to acquire real-time deviation displacement and real-time rotation angle of the lifting appliance; the real-time deviation displacement represents the deviation displacement of the current position of the lifting appliance relative to the position in a static state; the real-time rotation angle represents the rotation angle of the current position of the lifting appliance relative to the position in a static state;

the second acquisition module is configured to acquire planning working time required by the lifting appliance to lift the preset object from the current position to the target position;

the first calculation module is configured to obtain a predicted deviation displacement and a predicted rotation angle in a future target time period according to the real-time deviation displacement, the real-time rotation angle and the planning working time length; wherein the predicted offset displacement characterizes an offset displacement of a position of the spreader in the future target time period relative to a position at rest; the predicted rotation angle characterizes the rotation angle of the position of the lifting appliance in the future target time period relative to the position in a static state; and

And the first control module is configured to control the lifting appliance to act according to the predicted deviation displacement and the predicted rotation angle so as to lift the preset object.

In a third aspect, there is also provided a landing control system comprising:

a body;

the lifting appliance is movably arranged on the machine body;

the box landing control device is arranged on the machine body and is in communication connection with the lifting appliance.

In a fourth aspect, there is also provided a crane control system, comprising:

a container positioning system; and

the landing control system as described above is communicatively coupled to the container positioning system.

In a fifth aspect, there is also provided a crane, comprising:

a body; and

and the electronic equipment is arranged on the machine body and is configured to execute the boxing control method.

According to the method, the device, the system, the crane control system and the crane for controlling the box, the real-time deviation displacement and the real-time rotation angle of the lifting appliance are obtained, then the planning working time required by the lifting appliance to lift the preset object from the current position to the target position is obtained, then the predicted deviation displacement and the predicted rotation angle in the future target time period are obtained according to the real-time deviation displacement, the real-time rotation angle and the planning working time, then the lifting appliance action is controlled according to the predicted deviation displacement and the predicted rotation angle, and it is understood that the information of the predicted deviation displacement and the predicted rotation angle is considered when the lifting appliance action is controlled, the attitude information of the lifting appliance in the future target time period can be predicted more accurately according to the predicted deviation displacement and the predicted rotation angle, and then the lifting appliance is controlled correspondingly, so that the preset object can be lifted onto the set of the lifting appliance, and the success rate of the truck lifting appliance is effectively improved.

Drawings

The foregoing and other objects, features and advantages of the present application will become more apparent from the following more particular description of embodiments of the present application, as illustrated in the accompanying drawings. The accompanying drawings are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate the application and not constitute a limitation to the application. In the drawings, like reference numerals generally refer to like parts or steps.

Fig. 1 is a flowchart of a method for controlling landing in a box according to an exemplary embodiment of the present application.

Fig. 2 is a plan working time required for acquiring a preset object lifted from a current position to a target position by a lifting tool according to an exemplary embodiment of the present application.

Fig. 3 is a schematic flow chart of obtaining a predicted offset displacement and a predicted rotation angle in a future target time period according to a real-time offset displacement, a real-time rotation angle and a planned working time length according to an exemplary embodiment of the present application.

Fig. 4 is a flowchart of a method for controlling landing in a box according to another exemplary embodiment of the present application.

Fig. 5 is a flowchart of a method for controlling landing in a box according to another exemplary embodiment of the present application.

Fig. 6 is a flowchart of a method for controlling landing in a box according to another exemplary embodiment of the present application.

Fig. 7 is a block diagram of a box-loading control device according to an exemplary embodiment of the present application.

Fig. 8 is a block diagram of a box-loading control device according to another exemplary embodiment of the present application.

Fig. 9 is a block diagram of an in-box control system according to an exemplary embodiment of the present application.

Fig. 10 is a block diagram of a crane control system according to an exemplary embodiment of the present application.

Fig. 11 is a block diagram of a crane according to an exemplary embodiment of the present application.

Fig. 12 is a block diagram of an electronic device according to an exemplary embodiment of the present application.

Detailed Description

Hereinafter, example embodiments according to the present application will be described in detail with reference to the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application and not all of the embodiments of the present application, and it should be understood that the present application is not limited by the example embodiments described herein.

Fig. 1 is a flowchart of a method for controlling landing in a box according to an exemplary embodiment of the present application. As shown in fig. 1, the method for controlling the landing box provided in the embodiment of the present application may include:

s210: and acquiring the real-time deviation displacement and the real-time rotation angle of the lifting appliance.

Specifically, in practical application, the lifting appliance can be used for lifting a preset object, the preset object lifted by the lifting appliance can be lowered by adjusting the lifting appliance, and the preset object is unloaded on a truck, namely the box loading operation of the preset object is realized. It should be understood that the posture of the lifting appliance is changed continuously in the process of lifting the preset object, and the position of the lifting appliance in lifting and the position of the lifting appliance in a static state deviate.

In one embodiment, the predetermined object may comprise a container, or the like.

It should be noted that the stationary state of the spreader is understood to be the state of the spreader after the free swing is completed without intervention of external power. The lifting appliance is arranged downwards along the vertical direction in a static state. The real-time deviation displacement amount of the lifting appliance can be understood as the deviation displacement amount of the current position of the lifting appliance relative to the position in the static state, and the real-time rotation angle of the lifting appliance can be understood as the rotation angle of the current position of the lifting appliance relative to the position in the static state.

In an embodiment, an attitude sensor may be provided on the spreader, through which the real-time offset displacement and the real-time rotation angle of the spreader may be detected.

S220: and acquiring the planning working time required by the lifting appliance to lift the preset object from the current position to the target position.

Specifically, under the condition that the box loading requirement is met, the lifting appliance directly lifts the preset object from the current position to the target position according to the planning speed, and the required time is the planning working time.

In one embodiment, the target location may be understood as the location where the collection truck is located.

S230: and obtaining the predicted deviation displacement and the predicted rotation angle in the future target time period according to the real-time deviation displacement, the real-time rotation angle and the planning working time.

Specifically, the future target time period uses the planned working time period as a reference standard, and the future target time period is determined according to the planned working time period, and the specific content is described in detail later. In general, data such as a future target period, a time offset displacement amount, and a real-time rotation angle may be input to the prediction model, and then the prediction model is operated, and the predicted offset displacement amount and the predicted rotation angle in the future target period may be calculated. Specific relationships of the prediction model are described in detail below.

The predicted deviation displacement amount indicates the deviation displacement amount of the position of the lifting appliance in the future target time period relative to the position in the stationary state. The predicted rotation angle characterizes the rotation angle of the position of the lifting appliance in the future target time period relative to the position in the stationary state.

S240: and controlling the lifting appliance to act according to the predicted deviation displacement and the predicted rotation angle so as to lift the preset object.

Specifically, the predicted deviation displacement and the predicted rotation angle are used as reference bases, the change condition of displacement deviation of the lifting appliance in a future target time period is considered, and the change condition of rotation angle of the lifting appliance in the future target time period is considered, so that the attitude information of the lifting appliance in the future target time period can be predicted more accurately according to the predicted deviation displacement and the predicted rotation angle, and then the lifting appliance is correspondingly controlled, so that a preset object can be lifted onto a truck more accurately, and the success rate of box loading is effectively improved.

According to the box loading control method, the real-time deviation displacement and the real-time rotation angle of the lifting appliance are obtained, then the planning working time required by the lifting appliance to lift the preset object from the current position to the target position is obtained, then the predicted deviation displacement and the predicted rotation angle in a future target time period are obtained according to the real-time deviation displacement, the real-time rotation angle and the planning working time, and then the lifting appliance action is controlled according to the predicted deviation displacement and the predicted rotation angle; it should be understood that when the lifting appliance is controlled to act, the information of the predicted deviation displacement and the predicted rotation angle of the lifting appliance is considered, the attitude information of the lifting appliance in a future target time period can be predicted more accurately according to the predicted deviation displacement and the predicted rotation angle, and then the lifting appliance is correspondingly controlled, so that the lifting appliance can lift a preset object onto a truck, and the success rate of box loading is improved effectively.

Fig. 2 is a flowchart of a process for obtaining a planned working time period required for a lifting tool to lift a preset object from a current position to a target position according to an exemplary embodiment of the present application. As shown in fig. 2, step S220 may include:

s221: and acquiring a real-time distance value between the lifting appliance and the truck and a planning speed of the lifting appliance when the lifting appliance is at the current position.

In an embodiment, a distance sensor may be disposed on the lifting appliance, and the distance between the lifting appliance and the truck-collecting truck may be detected by the distance sensor, so that a real-time distance value between the lifting appliance and the truck-collecting truck at the current position of the lifting appliance may be obtained.

Specifically, in the normal descending process of controlling the lifting appliance to lift the preset object, the planning speed is applied to the lifting appliance, and on the premise that the lifting appliance can normally realize the box loading of the preset object, the lifting appliance can rapidly and stably complete the box loading operation according to the planning speed. In an embodiment, the planned speed of the spreader may be obtained by an automatic control program of the spreader.

S222: and acquiring planning working time according to the real-time distance value and the planning speed.

In particular, the planning working time is understood as the time required for the spreader to move from the current position to the position of the collection truck. After step S221 is performed, the planned working time length can be calculated according to the real-time distance value and the planning speed of the lifting tool, that is, in an ideal state, the lifting tool meets the requirement of box loading in the lifting process, no middle stop occurs, and the working time length required for directly lifting the preset object from the current position to the truck is the planned working time length.

Fig. 3 is a schematic flow chart of obtaining a predicted offset displacement and a predicted rotation angle in a future target time period according to a real-time offset displacement, a real-time rotation angle and a planned working time length according to an exemplary embodiment of the present application. As shown in fig. 3, step S230 may include:

s231: and acquiring a future target time period according to the planning working time.

Specifically, the minimum critical value of the future target time period is smaller than the planning working time period, and the maximum critical value of the future target time period is larger than the planning working time period. For example, if the planning operation duration is t, the minimum threshold value of the future target time period may be selected to be 0.95t, and the maximum threshold value of the future target time period may be selected to be 1.05t.

S232: and obtaining the predicted deviation displacement and the predicted rotation angle in the future target time period according to the real-time deviation displacement, the real-time rotation angle and the future target time period.

Specifically, each time node in the future target time period can be input into a prediction model, then the real-time deviation displacement and the real-time rotation angle of the lifting appliance at the current position are input into the prediction model, and the prediction model is operated, so that the predicted deviation displacement and the predicted rotation angle of each time node in the future target time period can be obtained.

It should be appreciated that, because the spreader is in the process of dynamic movement, the predicted offset displacement amounts corresponding to different time nodes within the future target time period are different; the predicted rotation angles corresponding to different time nodes within the future target time period are different.

In one embodiment, the time interval between two adjacent time nodes in the future target period is related to the sampling period when the prediction model operates, for example, if the sampling period is 20ms, then the time interval between two adjacent time nodes in the future target period is also 20ms.

In one embodiment, the general expression of the predictive model is

Wherein x can be used to characterize the offset displacement or rotation angle of the spreader; a, a _i (i=1..4) is a time-varying parameter related to system state, control input. When the deviation displacement amount or the rotation angle is predicted, the actuator is assumed to be in a static state (a later hoisting trolley is in a state of stopping the anti-shake operation), and at the moment, a zero input response form of the system in any initial state can be obtained: />

Wherein A is the amplitude of the ringing,

c (constant) is a steady state target value of a rotation angle of the lifting appliance or a zero deviation value of the position of the lifting appliance, ω is a natural frequency of the system without damping, and ζ is a damping ratio of the system;

The model parameters can be obtained through system identification or nonlinear least square fitting, specifically, derivative deformation is carried out on the zero input response form, and the model parameters can be obtained:

the initial phase is:

after obtaining the model parameters, substituting the model parameters into the future target time period

(i represents different sampling periods), the predicted deviation displacement and the predicted rotation angle in the future target time period can be obtained.

Fig. 4 is a flowchart of a method for controlling landing in a box according to another exemplary embodiment of the present application. As shown in fig. 4, step S240 may include:

s241: and if the predicted deviation displacement is smaller than or equal to the first deviation displacement threshold value and the predicted rotation angle is smaller than or equal to the first rotation angle threshold value, controlling the lifting appliance to lift the preset object to descend at the planned speed.

Specifically, when the predicted deviation displacement is smaller than or equal to the first deviation displacement threshold value and the predicted rotation angle is smaller than or equal to the first rotation angle threshold value, the predicted deviation displacement and the predicted rotation angle of the lifting appliance can be considered to meet the requirement of successful box loading in the lifting process, and the lifting appliance continues to lift the preset object to descend at the original planning speed, so that successful box loading can be realized. Therefore, in this case, the control hanger normally lifts the preset object at the planned speed to descend, so that the preset object can be lifted onto the truck.

It should be appreciated that the first offset displacement threshold and the first rotation angle may be set according to practical situations (e.g., the width dimension of the collection truck), and the first offset displacement threshold and the first rotation angle are not specifically limited in this application.

Fig. 5 is a flowchart of a method for controlling landing in a box according to another exemplary embodiment of the present application. As shown in fig. 5, step S240 may further include:

s242: and if the predicted deviation displacement is larger than the first deviation displacement threshold value and/or the predicted rotation angle is larger than the first rotation angle threshold value, acquiring a real-time distance value between the lifting appliance and the truck when the lifting appliance is at the current position.

Specifically, if the predicted deviation displacement is greater than the first deviation displacement threshold and/or the predicted rotation angle is greater than the first rotation angle threshold, it may be considered that the predicted deviation displacement and/or the predicted rotation angle of the lifting appliance do not meet the requirement of successful box loading in the lifting process, and if the lifting appliance continues to lift the preset object at the original planning speed, the preset object fails to be placed in the box. Thus, real-time speed adjustments of the spreader are needed, and the spreader should not be controlled to continue to drop at the planned speed.

S243: and if the real-time distance value is smaller than or equal to the height threshold value, controlling the lifting appliance to stop acting.

In particular, the height threshold may be understood as a minimum height value that the lifting appliance can reach in the case that the lifting appliance does not meet the box loading requirement, and if the real-time distance value of the lifting appliance is smaller than or equal to the height threshold, if the lifting appliance continues to move downwards, the preset object is highly likely to be unable to be successfully loaded onto the collection truck. Therefore, when the real-time distance value is smaller than or equal to the height threshold value, the lifting appliance needs to be controlled to stop moving, so that the lifting appliance swings freely in a free state, and the real-time deviation displacement and the real-time rotation angle of the lifting appliance are gradually reduced under the action of resistance.

In an embodiment, after the lifting appliance is controlled to stop acting, under the effect of resistance, the real-time deviation displacement and the real-time rotation angle of the lifting appliance are gradually reduced, and when the predicted deviation displacement calculated according to the real-time deviation displacement and the planning working time is smaller than or equal to the first deviation displacement threshold value and the predicted rotation angle calculated according to the real-time rotation angle and the planning working time is smaller than or equal to the first rotation angle threshold value, step S241 can be executed to control the lifting appliance to lift the preset object to complete the boxing operation, so that the boxing success rate of the preset object is effectively improved.

S244: if the real-time distance value is larger than the height threshold value, the current speed of the lifting appliance is reduced, and the lifting appliance is controlled to descend.

Specifically, if the real-time distance value is larger than the height threshold value, the current speed of the lifting appliance is reduced, so that on one hand, the real-time deviation displacement and the real-time rotation angle of the lifting appliance can be gradually reduced, and on the other hand, the lifting appliance can be continuously lowered, and the working efficiency of the box is improved.

In an embodiment, in the process of reducing the current speed of the lifting appliance, the real-time deviation displacement and the real-time rotation angle of the lifting appliance are gradually reduced, when the predicted deviation displacement calculated according to the real-time deviation displacement and the planning working time is smaller than or equal to the first deviation displacement threshold value, and the predicted rotation angle calculated according to the real-time rotation angle and the planning working time is smaller than or equal to the first rotation angle threshold value, step S241 can be executed to control the lifting appliance to lift the preset object to complete the boxing operation, and the boxing success rate of the preset object is effectively improved.

In an embodiment, in the process of controlling the lifting appliance to descend, the real-time distance value of the lifting appliance gradually descends, and if the real-time distance value of the lifting appliance descends to be less than or equal to the height threshold value, S243 can be executed to control the lifting appliance to stop operation.

Fig. 6 is a flowchart of a method for controlling landing in a box according to another exemplary embodiment of the present application. As shown in fig. 6, after step S210, the case-attaching control method further includes:

s250: and if the real-time deviation displacement is smaller than or equal to the second deviation displacement threshold value and the real-time rotation angle is smaller than or equal to the second rotation angle threshold value, controlling the hoisting trolley to stop the anti-shake operation.

Specifically, the hoisting trolley is connected with a hoisting tool, and the process of hoisting a preset object by the hoisting tool generally comprises two stages. Specifically, in the first stage, under the action of the anti-shake operation of the lifting trolley, the lifting appliance descends according to the planning speed, and in the descending process of the lifting appliance, the anti-shake operation of the lifting trolley is used for reducing the real-time deviation displacement and the real-time rotation angle of the lifting appliance; the second stage, if the real-time deviation displacement is smaller than or equal to the second deviation displacement threshold value and the real-time rotation angle is smaller than or equal to the second rotation angle threshold value, the real-time deviation and the real-time rotation angle of the lifting appliance are in a smaller state, on one hand, the anti-shaking effect of the anti-shaking operation of the lifting appliance is not obvious, the anti-shaking operation of the lifting appliance is stopped, and the running cost can be saved; on the other hand, in order to be able to obtain the predicted deviation displacement and the predicted rotation angle more accurately in the future target time period by the real-time deviation displacement, the real-time rotation angle and the planning working time, the anti-shake operation of the hoisting trolley is stopped, the external input can be stopped, the data input is reduced, and the predicted deviation displacement and the predicted rotation angle of the lifting appliance in the free descending process are more conveniently and more accurately calculated.

In an embodiment, the second offset displacement threshold is greater than the first offset displacement threshold and the second rotation angle threshold is greater than the first rotation angle threshold.

It should be appreciated that the second offset displacement threshold and the second rotation angle may be set according to practical situations (e.g., the width dimension of the collection truck), and the second offset displacement threshold and the second rotation angle are not specifically limited in this application.

In an embodiment, in the first stage, the anti-rolling operation of the lifting trolley on the lifting appliance is realized by adopting state feedback control based on a state observer, so that the anti-rolling effect of the lifting trolley on the lifting appliance is improved. The system equation is:

the output equation is:

wherein, the liquid crystal display device comprises a liquid crystal display device,

for the load position value, +.>

For the load speed value, +.>

For disturbance value, l is rope length, g is gravitational acceleration constant, x ^T The position value of the hoisting trolley is obtained.

The disturbance value is

Can be understood as the lifting applianceThe real-time offset displacement and the real-time rotation angle; the rope length l can be measured by a distance sensor; position value x of hoisting trolley _T The displacement sensor arranged on the hoisting trolley can be used for measuring; the load is understood to be the spreader and the hoisted preset object.

Position value x of hoisting trolley _T As input data, applied to the system equation and the output equation, can be calculated

And->

And then the calculated

And->

Applied to the state feedback control equation:

wherein x is _Ld For the load target position value, V _fb For small vehicle speed feedback value, k ₁ ～k ₄ For controller gain, it can be obtained by pole configuration.

In combination with the state observer:

the accurate load target position can be calculated, the position of the lifting appliance is accurately controlled, the anti-shake operation with better effect is realized, and the real-time deviation displacement and the implementation rotation angle of the lifting appliance are effectively reduced.

Fig. 7 is a block diagram of a box-loading control device according to an exemplary embodiment of the present application. As shown in fig. 7, the box landing control device 400 provided in the embodiment of the present application may include a first obtaining module 410 configured to obtain a real-time offset displacement amount and a real-time rotation angle of the lifting appliance; the real-time deviation displacement represents the deviation displacement of the current position of the lifting appliance relative to the position in a static state; the real-time rotation angle represents the rotation angle of the current position of the lifting appliance relative to the position in a static state; a second obtaining module 420 configured to obtain a planned working time length required by the lifting appliance to lift the preset object from the current position to the target position; the first calculation module 430 is configured to obtain a predicted offset displacement and a predicted rotation angle in a future target time period according to the real-time offset displacement, the real-time rotation angle and the planned working time length; the predicted deviation displacement represents the deviation displacement of the position of the lifting appliance in a future target time period relative to the position of the lifting appliance in a static state; predicting the rotation angle to represent the rotation angle of the position of the lifting appliance in a future target time period relative to the position in a static state; and a first control module 440 configured to control the spreader motion according to the predicted offset displacement and the predicted rotation angle to hoist the preset object motion.

According to the box loading control device, the real-time deviation displacement and the real-time rotation angle of the lifting appliance are obtained, then the planning working time required by the lifting appliance to lift the preset object from the current position to the target position is obtained, then the predicted deviation displacement and the predicted rotation angle in the future target time period are obtained according to the real-time deviation displacement, the real-time rotation angle and the planning working time, then the lifting appliance action is controlled according to the predicted deviation displacement and the predicted rotation angle, it is understood that when the lifting appliance action is controlled, the information of the two aspects of the predicted deviation displacement and the predicted rotation angle of the lifting appliance is considered, the gesture information of the lifting appliance in the future target time period can be predicted more accurately according to the predicted deviation displacement and the predicted rotation angle, and then the lifting appliance is controlled correspondingly, so that the lifting appliance can lift the preset object onto a truck more accurately, and the box loading success rate is effectively improved.

Fig. 8 is a block diagram of a box-loading control device according to another exemplary embodiment of the present application. As shown in fig. 8, in an embodiment, the second obtaining module 420 may include a third obtaining module 421 configured to obtain a real-time distance value between the spreader and the collection truck at the current position and a planned speed of the spreader; and a second calculation module 422 configured to obtain a planning working time length according to the real-time distance value and the planning speed.

As shown in fig. 8, in an embodiment, the first computing module 430 may include a third computing module 431 configured to obtain the future target time period according to the planning work time period; the minimum critical value of the future target time period is smaller than the planning working time, and the maximum critical value of the future target time period is larger than the planning working time; and a fourth calculation module 432 configured to obtain a predicted offset displacement and a predicted rotation angle within a future target time period according to the real-time offset displacement, the real-time rotation angle, and the future target time period.

As shown in fig. 8, in an embodiment, the first control module 440 may include a second control module 441 configured to control the spreader to hoist the preset object at the planned speed if the predicted offset displacement is less than or equal to the first offset displacement threshold and the predicted rotation angle is less than or equal to the first rotation angle threshold.

As shown in fig. 8, in an embodiment, the first control module 440 may include a fourth obtaining module 442 configured to obtain a real-time distance value between the spreader and the collection truck at the current position if the predicted offset displacement is greater than the first offset displacement threshold and/or the predicted rotation angle is greater than the first rotation angle threshold; the third control module 443 is configured to control the lifting appliance to stop if the real-time distance value is less than or equal to the height threshold value; and a fourth control module 444 configured to reduce the current speed of the spreader and control the spreader to descend if the real-time distance value is greater than the height threshold.

As shown in fig. 8, in an embodiment, the box landing control device 400 may include a fifth control module 450 configured to control the lifting trolley to stop the anti-rolling operation if the real-time offset displacement is less than or equal to the second offset displacement threshold value and the real-time rotation angle is less than or equal to the second rotation angle threshold value; the lifting trolley is connected with the lifting appliance, and the anti-shaking operation of the lifting trolley is used for reducing the deviation displacement amount of the lifting appliance and the rotation angle of the lifting appliance.

Fig. 9 is a block diagram of an in-box control system according to an exemplary embodiment of the present application. As shown in fig. 9, the in-box control system 500 provided in the embodiment of the present application may include: a body 510; the lifting appliance 520 is movably arranged on the machine body 510; the aforesaid landing control device 400 is disposed on the machine body 510, and the landing control device 400 is communicatively connected to the hanger 520.

The embodiment of the application provides a box-loading control system, which has all functions of the box-loading control device, by acquiring the real-time deviation displacement and the real-time rotation angle of a lifting appliance, then acquiring the planning working time required by the lifting appliance to lift a preset object from a current position to a target position, then acquiring the predicted deviation displacement and the predicted rotation angle in a future target time period according to the real-time deviation displacement, the real-time rotation angle and the planning working time, and then controlling the lifting appliance according to the predicted deviation displacement and the predicted rotation angle.

Fig. 10 is a block diagram of a crane control system according to an exemplary embodiment of the present application. As shown in fig. 10, a crane control system 600 provided in an embodiment of the present application may include: the container positioning system 610 and the landing control system 500 as described above, the container positioning system 610 is in communication connection with the landing control system 500, the container positioning system 610 can determine specific position information of the container through a camera, an infrared scanner, etc., and the landing control system 500 can hoist and land the container according to the specific position information of the container.

According to the crane control system provided by the embodiment of the application, the real-time deviation displacement and the real-time rotation angle of the lifting appliance are obtained, then the planning working time required by the lifting appliance to lift the preset object from the current position to the target position is obtained, then the predicted deviation displacement and the predicted rotation angle in the future target time period are obtained according to the real-time deviation displacement, the real-time rotation angle and the planning working time, then the lifting appliance action is controlled according to the predicted deviation displacement and the predicted rotation angle, and it is understood that the information of the two aspects of the predicted deviation displacement and the predicted rotation angle of the lifting appliance is considered when the lifting appliance action is controlled, the gesture information of the lifting appliance in the future target time period can be predicted more accurately according to the predicted deviation displacement and the predicted rotation angle, and then the lifting appliance is controlled correspondingly, so that the lifting appliance can lift the preset object onto a truck more accurately, and the success rate of the box is effectively improved.

Fig. 11 is a block diagram of a crane according to an exemplary embodiment of the present application. As shown in fig. 11, a crane 800 provided in an embodiment of the present application may include a machine body 810; and an electronic device 820 provided on the body 810, the electronic device 820 configured to execute the boxing control method as described above.

According to the crane provided by the embodiment of the application, the real-time deviation displacement and the real-time rotation angle of the lifting appliance are obtained, then the planning working time required by the lifting appliance to hoist the preset object from the current position to the target position is obtained, then the predicted deviation displacement and the predicted rotation angle in the future target time period are obtained according to the real-time deviation displacement, the real-time rotation angle and the planning working time, and then the lifting appliance action is controlled according to the predicted deviation displacement and the predicted rotation angle.

Fig. 12 is a block diagram of an electronic device according to an exemplary embodiment of the present application. As shown in fig. 12, the electronic device 820 may be either or both of the first device and the second device, or a stand-alone device independent thereof, which may communicate with the first device and the second device to receive the acquired input signals therefrom.

As shown in fig. 12, the electronic device 820 includes one or more processors 821 and memory 822.

The processor 821 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities and may control other components in the electronic device 820 to perform desired functions.

Memory 822 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random Access Memory (RAM) and/or cache memory (cache), and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions may be stored on the computer readable storage medium that can be executed by the processor 821 to implement the control methods and/or other desired functions of the various embodiments of the present application described above. Various contents such as an input signal, a signal component, a noise component, and the like may also be stored in the computer-readable storage medium.

In one example, electronic device 820 may further include: an input device 823 and an output device 824, which are interconnected by a bus system and/or other forms of connection mechanisms (not shown).

Where the controller is a stand-alone device, the input means 823 may be a communication network connector for receiving the acquired input signals from the first device and the second device.

In addition, the input device 823 may include, for example, a keyboard, a mouse, and the like.

The output device 824 may output various information including the determined distance information, direction information, and the like to the outside. The output devices 824 may include, for example, a display, speakers, a printer, and a communication network and remote output devices connected thereto, etc.

Of course, only some of the components of the electronic device 820 that are relevant to the present application are shown in fig. 12 for simplicity, components such as buses, input/output interfaces, etc. are omitted. In addition, the electronic device 820 may include any other suitable components depending on the particular application.

The computer program product may write program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.

The computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The basic principles of the present application have been described above in connection with specific embodiments, however, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are merely examples and not limiting, and these advantages, benefits, effects, etc. are not to be considered as necessarily possessed by the various embodiments of the present application. Furthermore, the specific details disclosed herein are for purposes of illustration and understanding only, and are not intended to be limiting, as the application is not intended to be limited to the details disclosed herein as such.

The block diagrams of the devices, apparatuses, devices, systems referred to in this application are only illustrative examples and are not intended to require or imply that the connections, arrangements, configurations must be made in the manner shown in the block diagrams. As will be appreciated by one of skill in the art, the devices, apparatuses, devices, systems may be connected, arranged, configured in any manner. Words such as "including," "comprising," "having," and the like are words of openness and mean "including but not limited to," and are used interchangeably therewith. The terms "or" and "as used herein refer to and are used interchangeably with the term" and/or "unless the context clearly indicates otherwise. The term "such as" as used herein refers to, and is used interchangeably with, the phrase "such as, but not limited to.

It is also noted that in the apparatus, devices and methods of the present application, the components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered as equivalent to the present application.

The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the application to the form disclosed herein. Although a number of example aspects and embodiments have been discussed above, a person of ordinary skill in the art will recognize certain variations, modifications, alterations, additions, and subcombinations thereof.

Claims

1. A landing control method, characterized by comprising:

2. The method according to claim 1, wherein the obtaining a planned working time period required for the hanger to hoist the preset object from the current position to the target position includes:

and obtaining the planning working time length according to the real-time distance value and the planning speed.

3. The method according to claim 1, wherein the obtaining the predicted offset displacement and the predicted rotation angle in the future target time period according to the real-time offset displacement, the real-time rotation angle, and the planned working time period includes:

obtaining the future target time period according to the planning working time length; the minimum critical value of the future target time period is smaller than the planning working time period, and the maximum critical value of the future target time period is larger than the planning working time period;

4. The landing control method according to claim 1, wherein the controlling the spreader action to hoist the preset object motion according to the predicted offset displacement amount and the predicted rotation angle includes:

5. The landing control method according to claim 1, wherein the controlling the spreader action to hoist the preset object motion according to the predicted offset displacement amount and the predicted rotation angle includes:

6. The landing control method according to claim 1, characterized in that after the acquisition of the real-time offset displacement amount and the real-time rotation angle of the spreader, the landing control method further comprises:

7. A landing control device, characterized by comprising:

8. A landing control system, comprising:

a body;

the lifting appliance is movably arranged on the machine body;

the landing control device of claim 7, provided on said body, said landing control device being communicatively connected to said spreader.

9. A crane control system, comprising:

a container positioning system; and

the landing control system of claim 8, in communication with said container positioning system.

10. A crane, comprising:

a body; and

an electronic device provided on the body, the electronic device being configured to execute the boxing control method as claimed in any one of claims 1 to 6.