WO2023179583A1

WO2023179583A1 - Control method and apparatus for inhibiting swings of grab bucket, and device and storage medium

Info

Publication number: WO2023179583A1
Application number: PCT/CN2023/082673
Authority: WO
Inventors: 田昭; 李招云; 万锦旗; 王海雷; 潘磊; 佘中健
Original assignee: 江苏苏港智能装备产业创新中心有限公司
Priority date: 2022-03-24
Filing date: 2023-03-21
Publication date: 2023-09-28
Also published as: CN114572842A; CN114572842B

Abstract

A control method and apparatus for an automatic portal crane to inhibit swings of a grab bucket, and a device and a storage medium. The method comprises: acquiring equivalent swing length information according to the swing amplitude of a grab bucket, wherein the equivalent swing length information is a corresponding length value when the grab bucket swings at the highest position; generating an average swing period according to the equivalent swing length information; generating a theoretical speed curve according to the average swing period; acquiring first deceleration point information and second deceleration point information according to the theoretical speed curve; calculating the difference between the average swing period and the second deceleration point information, and setting the difference to be deceleration time information; and controlling a time value corresponding to the first deceleration time point information and to be the same as a time value corresponding to the deceleration time information. By using the control method for an automatic portal crane to inhibit swings of a grab bucket, the grab bucket can directly perform a grab operation after moving to a target position, thereby improving the grab efficiency of the grab bucket.

Description

A control method, device, equipment and storage medium for suppressing grab swing

Technical field

The present application relates to the technical field of portal cranes, and in particular to a control method, device, equipment and storage medium for suppressing grab swing.

Background technique

The working system of the portal crane is mainly composed of a slewing mechanism, a luffing mechanism, a hoisting mechanism and an electrical control system; the wire rope is led from the pulley at the end of the trunk beam and connected to the grab body. During the loading and unloading operation, when something During rotation or luffing motion, the grab bucket will swing. The distance from the end of the trunk bridge to the center of gravity of the grab bucket is the equivalent pendulum length information of the wire rope. An absolute value encoder is installed on the motor shaft of the traction wire rope, which can measure the wire rope. The telescopic distance, based on the length of the reference wire rope, plus the telescopic distance of the wire rope, can calculate the real-time distance between the end of the elephant trunk bridge and the grab bucket.

The existing gantry crane uses a frequency converter to adjust the swing of the grab through stepless speed regulation when the crane is accelerating, braking, starting and stopping, so that the swing of the gantry crane is limited to a preset value. within the angle range.

During the angle adjustment process of the gantry crane, the inventor found that there are at least the following problems: when the gantry crane adjusts the swing of the grab through stepless speed regulation, the adjustment process of the stepless speed adjustment is slow, resulting in the gantry crane's angle adjustment. The problem of reduced crane working efficiency.

Contents of the invention

In order to improve the problem of reduced work efficiency caused by the stepless speed regulation of gantry cranes, this application provides a control method, device, equipment and storage medium for suppressing grab swing.

In the first aspect, this application provides a control method for suppressing grab swing, adopting the following technical solution: the method includes:

The equivalent pendulum length information is obtained according to the swing amplitude of the grab bucket, and the equivalent pendulum length information is the length value corresponding to the swing motion of the grab bucket when it is at the highest position;

Generate the average swing period based on the equivalent pendulum length information;

Generate speed theory curve based on average swing period;

Obtain the first deceleration point information and the second deceleration point information according to the speed theoretical curve;

Calculate the difference between the average swing period and the second deceleration point information and set the difference as the deceleration time information;

The time values corresponding to the first deceleration time point information and the deceleration time information are controlled to be the same.

Through the above technical solution, when setting the anti-sway of the grab bucket, first obtain the equivalent swing according to the swing amplitude of the grab bucket. Long information, the equivalent pendulum length information is the corresponding length value when the grab swings at the highest position and the swing amplitude is maximum. The average swing period is calculated based on the equivalent pendulum length information, and the speed theory curve is generated based on the average swing period. According to the speed The theoretical curve obtains the first deceleration point information and the second deceleration point information, calculates the difference between the average swing period and the second deceleration point and sets the difference as deceleration time information, and performs the first deceleration point information and deceleration time information. Adjust until the first deceleration point information and deceleration time information are the same. The grab is divided into three forms of motion: acceleration, uniform speed and deceleration. When the acceleration and deceleration time are the same, the anti-sway effect of the grab is It is best to reduce the shaking amplitude of the grab during operation, resulting in the possibility that the grab is still shaking significantly after the grab is in place, so that the grab can directly carry out grabbing operations after moving to the target position. , thereby improving the grabbing efficiency of the grab.

In a specific implementation, obtaining the equivalent pendulum length information based on the swing amplitude of the grab bucket includes:

Control the grab bucket to perform a swing operation, which specifically includes:

Control the grab to perform the lifting operation until the grab cannot continue to perform the lifting operation;

Control the grab bucket to swing until the swing amplitude of the grab bucket reaches the maximum;

Count the swing period of the grab bucket, which is the time it takes for the grab bucket to reach the position with the largest swing amplitude in the same direction twice;

Control the grab to repeatedly perform swing operations until a preset number of grab swing cycles are obtained;

Calculate the average value of a preset number of grab swing cycles and set the average value as the average swing cycle;

Obtain the equivalent pendulum length information based on the calculation formulas of the average swing period and the simple pendulum period.

Through the above technical solution, the grab is controlled to rise to the highest position until the grab cannot be raised, the grab is controlled to move at full speed, and after the grab reaches the maximum operating speed, the force driving the grab to move is canceled so that the grab moves in the inertial position. The swinging motion with the largest swing amplitude is carried out under the action, and the swing period of the grab bucket is counted. The swing period of the grab bucket is the time elapsed when the grab reaches the position with the largest swing amplitude in the same direction twice. Repeat the counting of the swing swing period of the grab bucket until the preset number is obtained. Calculate the average value of the preset number of grab swing periods and set the average value as the average swing period. Obtain the equivalent pendulum length information according to the simple pendulum period calculation formula. Repeat the calculation of the grab swing period. This method improves the matching degree between the average swing period and the grab bucket, thereby improving the matching degree between the equivalent pendulum length information and the grab bucket.

In a specific implementation, generating a theoretical speed curve based on equivalent pendulum length information includes:

Obtain the current height position information of the grab bucket, which is the height of the current grab bucket from the highest position of the grab bucket;

Obtain the actual swing period according to the simple pendulum period calculation formula;

Obtain the starting position information and target position information of the grab;

Calculate the difference between the starting position information and the target position information and set the difference as the system theoretical distance information;

Get the preset buffer displacement information;

Calculate the difference between the system theoretical distance information and the buffer displacement information and set the difference as the system theoretical curve information; calculate the ratio between the system theoretical curve information and the actual swing period and set the ratio to the anti-sway maximum speed;

Generate a speed theoretical curve based on the anti-sway maximum speed and the actual sway period.

Through the above technical solution, the current height position information of the grab is obtained according to the lifting system encoder. The height position information is the current distance between the grab and the highest position of the grab. The actual swing period is obtained according to the baffle period calculation formula, and the grab's height position information is obtained. Start position information, target position information and real-time position information, calculate the difference between the start position information and the target position information and set the difference as the system theoretical distance information, obtain the preset buffer displacement information, and calculate the system theoretical distance The difference between the information and the buffer displacement information and set the difference as the system theoretical curve information, calculate the ratio between the system theoretical curve information and the actual swing period and set the ratio as the anti-sway maximum speed, the system based on the anti-sway maximum speed and the actual swing period to generate a theoretical speed curve; the accuracy of the theoretical speed curve generation is improved, so that the system can calculate the theoretical speed curve that best meets the anti-sway effect through the maximum anti-sway speed and the actual swing period, thereby improving the anti-sway curve of the grab. Shake effect.

In a specific implementation, after generating the theoretical speed curve based on the anti-sway maximum speed and the actual sway period, it also includes:

Calculate the product value between the preset low-speed buffer adjustment coefficient and the anti-sway maximum speed and set the product value as position compensation information; calculate the product value between the anti-sway maximum speed and the preset minimum coefficient and set the product value The product value is set to the anti-sway minimum speed;

Calculate and obtain the first deceleration point position information and the second deceleration point position information based on the system theoretical curve information, anti-sway maximum speed, anti-sway minimum speed, position compensation information and actual swing period;

Calculate the product value between the preset low-speed buffer adjustment coefficient and the anti-sway minimum speed and set the product value as the low-speed buffer displacement information;

Calculate the sum between the second deceleration point position information and the low-speed buffer displacement information and set the sum as the lagging displacement information; if the height value corresponding to the grab's starting position information is greater than zero and not greater than the first deceleration point position information, then set the preset motor output value to the anti-sway maximum speed;

If the target position information of the grab bucket is greater than the second deceleration point position information and greater than the first deceleration point position information, the motor output value is set to the minimum anti-sway speed.

Through the above technical solution, the product value between the preset low-speed buffer adjustment coefficient and the anti-sway maximum speed is calculated and the product value is set as the position compensation information. The preset proportion coefficient is obtained according to the anti-sway maximum speed to calculate and generate the minimum anti-sway speed. , calculate and obtain the first deceleration point position information and the second deceleration point position information based on the system theoretical curve information, anti-sway maximum speed, minimum anti-sway speed, position compensation information and actual swing period, calculate the preset low-speed buffer adjustment coefficient and Calculate the product value between the anti-sway minimum speed and set the product value as the low-speed buffer displacement information. Calculate the sum value between the second deceleration point position information and the low-speed buffer displacement information and set the sum value as the lag displacement information. If the grab The initial position information is greater than 0 and less than or equal to At the position information of the first deceleration point, the motor output value is set to the anti-sway maximum speed. If the target position information of the grab bucket is greater than the position information of the second deceleration point and greater than the position information of the first deceleration point, the motor output value is set is the minimum anti-sway speed; by adding a correction value, the anti-sway setting of the grab is more consistent with the actual situation, further improving the anti-sway effect of the grab.

In a specific implementation, the preset theoretical operating trajectory range of the grab is obtained;

Obtain the actual running trajectory of the grab in real time;

Compare the actual operating trajectory with the theoretical operating trajectory range;

If the actual operating trajectory is outside the theoretical operating trajectory range, the door operator is controlled to move until the actual operating trajectory of the grab bucket is within the preset theoretical operating trajectory range.

Through the above technical solution, the preset theoretical operating trajectory range is obtained, the actual operating trajectory of the grab is obtained in real time, and the actual operating trajectory is compared with the preset theoretical operating trajectory range. If the actual operating trajectory is outside the theoretical operating trajectory range, Then the door operator is controlled to move until the actual operating trajectory of the grab bucket is within the preset theoretical operating trajectory range; this allows the door operator to adjust the position of the grab bucket in real time, reducing the deviation of the grab bucket relative to the theoretical operating trajectory range under the action of external forces. , resulting in the possibility that the grab bucket cannot move to the target position information, thus improving the accuracy of the grab bucket during movement.

In a specific implementation, the theoretical end point coordinate information corresponding to the grab is obtained;

Obtain the actual grab coordinate information corresponding to the grab in real time;

Calculate the actual grab distance in real time, which is the trajectory distance between the theoretical end point coordinate information and the actual grab coordinate information;

Calculate the actual grab time based on the speed theoretical curve;

Determine whether the actual grab time is within the preset standard grab time range;

If so, the door operator is controlled to drive the grab bucket to move until the grab bucket moves to the theoretical end point coordinates.

Through the above technical solution, the theoretical end point coordinate information corresponding to the grab is obtained, the actual grab coordinate information corresponding to the grab is obtained in real time, and the actual grab distance is calculated in real time. The actual grab distance is the combination of the theoretical end point coordinate information and the actual grab coordinate information. distance between each other, calculate the actual grab time based on the speed theoretical curve, and determine whether the actual grab time is within the preset standard grab time range; if so, control the door operator to drive the grab to move until the theoretical end coordinate of the movement; so that the door The machine only needs to consider the theoretical end point coordinates of the grab bucket without considering the grab running trajectory, so that the grab bucket can move to the theoretical end point coordinates quickly and conveniently, thereby improving the mobile efficiency of the grab bucket.

In a specific implementation, the control door machine to drive the grab bucket to move until the grab bucket moves to the theoretical end coordinate includes:

Obtain the obstacle coordinate information in the preset obstacle database;

Obtain the standard operating route of the grab;

Determine whether the obstacle coordinate information exists in the standard operating route of the grab;

If so, the standard operating route of the grab bucket is changed until the obstacle coordinate information does not exist on the standard operating route of the grab bucket.

Through the above technical solution, obtain the obstacle coordinate information in the preset obstacle database, obtain the standard operating route of the grab, and determine whether the obstacle coordinate information exists in the standard operating route of the grab; if so, change the standard of the grab The running route until the obstacle coordinate information does not exist on the grab's standard running route; this allows the grab to select the best running route based on the obstacle coordinate information during movement, reducing the grab's contact with obstacles during movement. It may affect the operation of the grab, thereby improving the safety during the movement of the grab.

In the second aspect, this application provides a control device for suppressing the swing of a grab bucket, adopting the following technical solution: the device includes:

The equivalent pendulum length acquisition module is used to obtain equivalent pendulum length information based on the swing amplitude of the grab bucket. The equivalent pendulum length information is the length value corresponding to the swing motion of the grab bucket when it is at the highest position;

The swing period acquisition module is used to generate the average swing period based on the equivalent pendulum length information;

The speed curve generation module is used to generate the speed theoretical curve based on the average swing period;

The deceleration information acquisition module is used to obtain the first deceleration point information and the second deceleration point information according to the speed theoretical curve;

Deceleration time calculation module; used to calculate the difference between the average swing period and the second deceleration point information and set the difference as deceleration time information;

The deceleration time control module is used to control the first deceleration time point to be the same as the deceleration time information.

Through the above technical solution, when setting the anti-sway of the grab bucket, first obtain the equivalent swing length information based on the swing amplitude of the grab bucket. The equivalent swing length information corresponds to the swing motion of the grab bucket at the highest position and the maximum swing amplitude. Length value, calculate the average swing period based on the equivalent pendulum length information, generate a speed theory curve based on the average swing period, obtain the first deceleration point information and the second deceleration point information based on the speed theory curve, and calculate the average swing period and the second deceleration point. and set the difference as deceleration time information. Adjust the first deceleration point information and deceleration time information until the first deceleration point information and deceleration time information are the same. The grab is divided into acceleration, uniform speed and There are three forms of deceleration movement. Among them, when the acceleration and deceleration time are the same, the anti-sway effect of the grab is the best, which reduces the shaking amplitude of the grab during operation, causing the grab to move after it is in place. The possibility that the grab bucket is still in a large shaking state allows the grab bucket to directly carry out grabbing operations after moving to the target position, thereby improving the grabbing efficiency of the grab bucket.

In a third aspect, the present application provides a computer device that adopts the following technical solution: including a memory and a processor. The memory stores a computer that can be loaded by the processor and execute any of the above control methods for suppressing grab swing. program.

In the fourth aspect, the present application provides a computer-readable storage medium that adopts the following technical solution: storing a computer program that can be loaded by a processor and execute any of the above control methods for suppressing grab swing.

To sum up, this application includes at least one of the following beneficial technical effects:

1. When setting the anti-sway of the grab bucket, first obtain the equivalent swing length information based on the swing amplitude of the grab bucket. The equivalent swing length information is the length value corresponding to the swing motion of the grab bucket at the highest position and the maximum swing amplitude. Calculate the average swing period based on the equivalent pendulum length information, generate a speed theory curve based on the average swing period, obtain the first deceleration point information and the second deceleration point information based on the speed theory curve, and calculate the difference between the average swing period and the second deceleration point value and set the difference as deceleration time information. Adjust the first deceleration point information and deceleration time information until the first deceleration point information and deceleration time information are the same. The grab is divided into three types: acceleration, uniform speed and deceleration during movement. In the form of motion, when the acceleration and deceleration time are the same, the anti-sway effect of the grab is the best, which reduces the shaking amplitude of the grab during operation, resulting in the grab still moving after the grab is in place. The possibility of being in a large shaking state allows the grab to directly carry out grabbing operations after moving to the target position, thus improving the grabbing efficiency of the grab;

2. Obtain the current height position information of the grab bucket according to the lifting system encoder. The height position information is the current distance between the grab bucket and the highest position of the grab bucket. Obtain the actual swing period according to the baffle period calculation formula and obtain the starting position of the grab bucket. information, target position information and real-time position information, calculate the difference between the starting position information and the target position information and set the difference as the system theoretical distance information, obtain the preset buffer displacement information, calculate the system theoretical distance information and buffer The difference between the displacement information and set the difference as the system theoretical curve information, calculate the ratio between the system theoretical curve information and the actual swing period and set the ratio as the anti-sway maximum speed, the system based on the anti-sway maximum speed and the actual swing The speed theory curve is generated periodically; the accuracy of the speed theory curve generation is improved, so that the system can calculate the speed theory curve that best meets the anti-sway effect through the anti-sway maximum speed and the actual swing period, thus improving the anti-sway effect of the grab.

Description of the drawings

Figure 1 is a flow chart of a control method for suppressing grab swing in an embodiment of the present application.

Figure 2 is a schematic diagram of the theoretical speed curve in the embodiment of the present application.

Figure 3 is a schematic diagram of the theoretical operating trajectory and the actual operating trajectory in the embodiment of the present application.

Figure 4 is a structural block diagram of a control device for suppressing grab swing in the embodiment of the present application.

Reference signs: 401. Equivalent pendulum length acquisition module; 402. Swing period acquisition module; 403. Speed curve generation module; 404. Deceleration information acquisition module; 405. Deceleration time calculation module; 406. Deceleration time control module; 407. Grab bucket curve correction device; 408. Grab bucket movement judgment device.

Detailed ways

The present application will be further described in detail below in conjunction with Figures 1-4.

The embodiment of the present application discloses a control method for suppressing the swing of a grab bucket. The method is based on a gantry crane control system. When the gantry crane controls the grab bucket to move, it is generally divided into three types: acceleration movement, uniform movement and deceleration movement. During the moving process, when the time of acceleration movement and deceleration movement are the same, the anti-sway effect of the grab will be better.

As shown in Figure 1, the method includes the following steps:

S10, obtain equivalent swing length information based on the swing amplitude of the grab bucket.

Among them, the equivalent swing length information is the length value corresponding to the swing movement of the grab when it is at the highest position. If the grab is at other positions, the distance between the current position of the grab and the highest position can be obtained through the system encoder, and the highest position can be calculated. The sum value between the length value of the position and the maximum distance from the current position of the grab is set as the equivalent pendulum length information. For example, when the grab is at its highest position, the corresponding equivalent pendulum length information is r, and the distance between the current position of the grab and the highest position is h, then the current equivalent pendulum length information is r+h.

S11, generate the average swing period based on the equivalent pendulum length information.

Among them, the swing period T is calculated according to the formula, where r is the equivalent pendulum length, g is the gravity acceleration, when the grab When it is at other positions, obtain the distance between the current position of the grab and the highest position. According to the variant, where h is the distance between the current position of the grab and the highest position, calculate and generate the swing period T of the current grab position.

S12, generate a speed theoretical curve based on the average swing period.

Among them, as shown in Figure 2, the calculated swing period is used as the total time for the grab to run to the theoretical end point coordinate information, the theoretical running speed generated by the system and the distance between the grab and the theoretical end point coordinate information are obtained, and the theoretical operation The speed is set to the speed when the grab moves at a constant speed, and the acceleration time and deceleration time are controlled to be the same, and a theoretical speed curve is generated. For example, if the swing period is 10s, the theoretical operating speed is 5m/s, and the distance between the grab bucket and the theoretical end point is 40m, then it is calculated that the anti-sway effect is best when the acceleration time and deceleration time are 2s.

S13: Obtain the first deceleration point information and the second deceleration point information.

Among them, the first deceleration point information is the time point corresponding to the transition of the grab bucket from accelerated motion to uniform motion, and the second deceleration point information is the time point corresponding to the transition of the grab bucket from uniform motion to deceleration motion.

S14, obtain deceleration time information.

Among them, the deceleration time information is the difference between the advance swing period and the second deceleration point information. The first deceleration point information corresponds to the acceleration time information of the grab. By obtaining the acceleration time information and the deceleration time information and controlling the two When the corresponding values are the same, the anti-sway effect of the grab is the best.

S15, control the first deceleration time point information to be the same as the deceleration time.

Among them, when the first deceleration time point information is different from the deceleration time, the control system regenerates the theoretical speed curve until the first deceleration time point information is the same as the deceleration time; when the theoretical operating speed received by the system is greater than the maximum speed that the door operator can achieve , control the door machine output maximum speed. For example, if the maximum speed output by the door operator is 5m/s and the theoretical operating speed received is 8m/s, then the final speed at which the door operator controls the grab bucket movement is 5m/s.

In one embodiment, considering that it is difficult to obtain an accurate swing period of the grab bucket in a single measurement, obtaining the swing amplitude of the grab bucket and obtaining the equivalent swing length information includes controlling the grab bucket to perform an ascending operation until the grab bucket cannot continue to perform the ascending operation. The bucket performs a swing operation, which specifically includes controlling the rocker to drive the grab to move until it reaches the maximum speed of the grab, and then releasing the rocker so that the grab is not stressed, causing the grab to swing at the maximum amplitude, and counting the grab swing. Period, the grab swing period is the time it takes for the grab to reach the position with the largest swing in the same direction twice. Repeat the above steps until the preset number of grab swing cycles is obtained, and average the preset number of grab swing cycles. Calculate and set the average value as the average swing period. According to the calculation formula of the simple pendulum period, T is the average swing period, r is the equivalent pendulum length, and g is the gravity acceleration. The equivalent pendulum length information is calculated and generated; by obtaining the grasp multiple times The method of bucket swing period improves the matching degree between the average swing period and the grab bucket, and improves the matching degree between the equivalent swing length and the grab bucket, thereby improving the accuracy of the anti-sway setting of the grab bucket. For example, the acquired swing periods of multiple grab buckets are 10s, 8s, and 9s, and the average swing period is calculated to be 9s. Calculate based on the period The formula yields that the equivalent pendulum length is 0.2m.

In one embodiment, considering that the actual moving distance of the grab is different from the theoretical moving distance during the movement of the grab, the current height position information of the grab is obtained. The height position information is the distance between the current grab and the highest position of the grab, according to The pendulum period calculation formula obtains the actual swing period, obtains the starting position information, target position information and real-time position information of the grab, calculates the difference between the starting position information and the target position information and sets the difference as the theoretical distance of the system information, obtain the preset buffer displacement information, calculate the difference between the system theoretical distance information and the buffer displacement information and set the difference as the system theoretical curve information, calculate the ratio between the system theoretical curve information and the actual swing period and set The ratio is set to the anti-sway maximum speed, and the system generates a speed theoretical curve based on the anti-sway maximum speed and the actual swing period; making the generated speed theoretical curve more closely match the actual motion trajectory of the grab, thus improving the anti-sway effect of the grab. For example, the actual swing period is 10s, the starting position information of the grab is 0m, the target position information is 40m, the preset buffer displacement information is 0.5m, the calculated system theoretical distance information is 40m, and the system theoretical curve information is 39.5 m, the final calculation shows that the maximum anti-sway speed is 3.95m/s.

In one embodiment, considering the influence of wind force and other factors during the movement of the grab bucket, the compensation value needs to be calculated for the grab bucket. After the system generates a speed theoretical curve based on the anti-sway maximum speed and the actual swing period, the predetermined value is calculated. Set the product value between the low-speed buffer adjustment coefficient and the anti-sway maximum speed and set the product value as the position compensation information. Calculate the minimum anti-sway speed based on the anti-sway maximum speed. According to the formula S=T ₀ -0.5*(V _t ² -V ₀ ² )*T ₁ /V _t -D*V _t , where S is the position information of the first deceleration point, T ₀ is the actual swing period, V _t is the maximum anti-sway speed, and V ₀ is the minimum anti-sway speed , T ₁ is the grab swing period, D is the low-speed buffer adjustment coefficient; calculate the end-point low-speed buffer area displacement = low-speed buffer adjustment coefficient * anti-sway minimum speed, S ₂ = 0.5*V _MIN ² *T ₁ /V _t , where, S ₂ is the position information of the second deceleration point, V _MIN is the minimum speed of anti-sway, T ₁ is the swing period of the grab, and V _t is the maximum speed of anti-sway; calculate the hysteresis displacement = the position information of the second deceleration point + the displacement of the end point low-speed buffer , making the grab more closely match the actual stress of the grab during movement, further improving the anti-sway effect of the grab.

In one embodiment, as shown in Figure 3, considering the impact of external factors such as wind on the operating trajectory of the grab, it is necessary to monitor the operating trajectory of the grab in real time to obtain the preset theoretical operating trajectory range of the grab , obtain the actual operating trajectory of the grab in real time, and compare the actual operating trajectory with the theoretical operating trajectory. If the actual operating trajectory is outside the range of the theoretical operating trajectory, control the door operator to move until the actual operating trajectory of the grab is within the preset Within the scope of the theoretical operating trajectory, the control system can automatically adjust the actual operating trajectory in time according to the preset theoretical operating trajectory, thereby improving the matching degree of the grab with the theoretical operating trajectory during operation.

In one embodiment, considering that the door operator control grab only needs to move to the theoretical end point coordinate information during operation, obtain the theoretical end point coordinate information corresponding to the grab, obtain the actual grab coordinate information corresponding to the grab in real time, and calculate in real time Actual grab distance. The actual grab distance is the distance between the theoretical end point coordinate information and the actual grab coordinate information. The actual grab time is calculated based on the speed theoretical curve to determine whether the actual grab time is within the preset standard grab time range. Within, if so, the door operator is controlled to drive the grab bucket to move until it moves to the theoretical end point coordinates, so that the grab bucket does not need to move according to the theoretical running trajectory during the movement, and only needs to control the grab bucket to finally move to the theoretical end point coordinate information, so that During the movement of the grab bucket, it can be adjusted in real time according to the actual situation, which improves the efficiency of moving the grab bucket to the theoretical end point coordinate information. For example, the theoretical end point coordinate is (0, 10), the actual grab coordinate information corresponding to the grab is (0, 0), and after a period of time, the real-time position information of the grab is (5, 5). Calculate the real-time grab The time it takes for the position information to move to the theoretical end coordinate is 5 seconds, and the preset standard grab time range is 5 seconds. Then the door operator is controlled to drive the grab until the actual grab coordinate information moves to the theoretical end coordinate within the preset standard grab time range. (0,10).

In one embodiment, considering that the grab bucket only needs to move to the theoretical end point coordinate information, it is necessary to monitor the obstacle coordinate information during the movement of the grab bucket. Controlling the door operator to drive the grab bucket to move until it moves to the theoretical end point coordinate includes obtaining Obstacle coordinate information in the preset obstacle database. The obstacle database stores obstacles within the moving range of the grab and obstacle coordinate information corresponding to the obstacles. Obtain the standard operating route currently selected by the grab and determine obstacles. Whether the object coordinate information exists on the standard operating route of the grab bucket. When the obstacle coordinate information coincides with the standard operating route of the grab bucket, it is judged that the obstacle coordinate information exists on the standard operating route of the grab bucket; if so, replace the grab bucket's standard operating route. The standard operating route until the obstacle coordinate information does not exist on the standard operating route of the grab; it reduces the possibility of damage to the grab due to collision with obstacles during operation, thus improving the safety performance of the grab during operation.

The implementation principle of the embodiment of this application is: when setting the anti-sway of the grab bucket, first obtain the equivalent swing length information based on the swing amplitude of the grab bucket. The equivalent swing length information is the swing motion and swing amplitude of the grab bucket when it is at the highest position. The length value corresponding to the maximum value, calculate the average swing period based on the equivalent pendulum length information, generate a speed theory curve based on the average swing period, obtain the first deceleration point information and the second deceleration point information based on the speed theory curve, calculate the average swing period and the second deceleration point information. The difference between the two deceleration points is set as deceleration time information, and the first deceleration point information and deceleration time information are adjusted until the first deceleration point information and deceleration time information are the same.

Based on the above method, an embodiment of the present application also discloses a control device for suppressing the swing of the grab bucket.

As shown in Figure 4, the device includes the following modules:

The equivalent pendulum length acquisition module 401 is used to obtain equivalent pendulum length information based on the swing amplitude of the grab bucket. The equivalent pendulum length information is the length value corresponding to the swing motion of the grab bucket when it is at the highest position;

The swing period acquisition module 402 is used to generate an average swing period based on the equivalent swing length information;

The speed curve generation module 403 is used to generate a speed theoretical curve based on the average swing period;

The deceleration information acquisition module 404 is used to obtain the first deceleration point information and the second deceleration point information according to the speed theoretical curve;

Deceleration time calculation module 405; used to calculate the difference between the average swing period and the second deceleration point information and set the difference as deceleration time information;

The deceleration time control module 406 is used to control the first deceleration time point to be the same as the deceleration time information.

In one embodiment, the equivalent pendulum length acquisition module 401 is also used to obtain the swing amplitude of the grab bucket. Obtaining the equivalent pendulum length information includes: controlling the grab bucket to rise to the highest position until the grab bucket cannot continue the lifting operation; controlling the grab bucket to move upward. Swing operation until the swing amplitude of the grab reaches the maximum; count the swing period of the grab, which is the time it takes for the grab to reach the position with the largest swing in the same direction twice; repeat the above steps until the preset number of grabs is obtained Swing period; calculate the average value of the preset number of grab bucket swing periods and set the average value as the average swing period; obtain the equivalent pendulum length information according to the simple pendulum period calculation formula.

In one embodiment, the speed curve generation module 403 is also used to generate a theoretical speed curve based on the equivalent pendulum length information, including: obtaining the current height position information of the grab, where the height position information is the distance between the current grab and the highest position of the grab. ; Obtain the actual swing period according to the pendulum period calculation formula; Obtain the starting position information, target position information and real-time position information of the grab; Calculate the difference between the starting position information and the target position information and set the difference to the system Theoretical distance information; obtain the preset buffer displacement information; calculate the difference between the system theoretical distance information and the buffer displacement information and set the difference as the system theoretical curve information; calculate the ratio between the system theoretical curve information and the actual swing period And set the ratio to the maximum anti-sway speed; the system generates a speed theoretical curve based on the maximum anti-sway speed and the actual sway period.

In one embodiment, the speed curve generation module 403 is also used to calculate the relationship between the preset low-speed buffer adjustment coefficient and the maximum anti-sway speed after the system generates a theoretical speed curve based on the maximum anti-sway speed and the actual sway cycle. product value and set the product value as position compensation information;

Calculate the anti-sway minimum speed based on the maximum anti-sway speed; calculate and obtain the first deceleration point position information and the second deceleration point position information based on the system theoretical curve information, maximum anti-sway speed, anti-sway minimum speed, position compensation information and actual swing period ; Calculate the product value between the preset low-speed buffer adjustment coefficient and the anti-sway minimum speed and set the product value as the low-speed buffer displacement information; Calculate the sum between the second deceleration point position information and the low-speed buffer displacement information and set the sum The value is set to the lagging displacement information; if the starting position information of the grab bucket is greater than 0 and less than or equal to the first deceleration point position information, the motor output value is set to the maximum anti-sway speed; if the target position information of the grab bucket is greater than the second deceleration point position information When the point position information is greater than the first deceleration point position information, the motor output value is set to the minimum anti-sway speed.

In one embodiment, the grab curve correction device 407 is also used to obtain the theoretical end point coordinate information corresponding to the grab; obtain the actual grab coordinate information corresponding to the grab in real time; and calculate the actual grab distance in real time, and the actual grab distance is The distance between the theoretical end point coordinate information and the actual grab coordinate information; calculate the actual grab time based on the speed theoretical curve; determine whether the actual grab time is within the preset standard grab time range; if so, control the door operator to drive the grab bucket moves until it moves Move to the theoretical end point coordinates.

In one embodiment, the grab movement judgment device 408 is also used to obtain the theoretical end point coordinate information corresponding to the grab; obtain the actual grab coordinate information corresponding to the grab in real time; and calculate the actual grab distance in real time, and the actual grab distance is The distance between the theoretical end point coordinate information and the actual grab coordinate information; calculate the actual grab time based on the speed theoretical curve; determine whether the actual grab time is within the preset standard grab time range; if so, control the door operator to drive the grab The bucket moves until it reaches the theoretical end point coordinates.

In one embodiment, the grab movement judgment device 408 is also used to control the door operator to drive the grab to move until it reaches the theoretical end coordinate, including: obtaining the obstacle coordinate information in the preset obstacle database; obtaining the standard of the grab Operation route; determine whether the obstacle coordinate information exists on the grab bucket's standard operation route; if so, change the grab bucket's standard operation route until the obstacle coordinate information does not exist on the grab bucket's standard operation route.

An embodiment of the present application also discloses a computer device.

Specifically, the computer device includes a memory and a processor, and the memory stores a computer program that can be loaded by the processor and execute the above control method for suppressing grab swing.

An embodiment of the present application also discloses a computer-readable storage medium.

Specifically, the computer-readable storage medium stores a computer program that can be loaded by the processor and execute the above-mentioned control method for suppressing grab swing. The computer-readable storage medium includes, for example: a U disk, a mobile hard disk, and a portable computer. Various media that can store program code include Read-Only Memory (ROM), Random Access Memory (Random Access Memory, RAM), magnetic disks or optical disks.

This specific embodiment is only an explanation of the present invention, and it is not a limitation of the present invention. Those skilled in the art can make modifications to this embodiment without creative contribution as needed after reading this specification. However, as long as the rights of the present invention are All requirements are protected by patent law.

Claims

A control method for an automated door machine to suppress grab swing, characterized in that the method includes:

The equivalent pendulum length information is obtained according to the swing amplitude of the grab bucket, and the equivalent pendulum length information is the length value corresponding to the swing motion of the grab bucket when it is at the highest position;

Generate the average swing period based on the equivalent pendulum length information;

Generate speed theory curve based on average swing period;

Obtain the first deceleration point information and the second deceleration point information according to the speed theoretical curve;

Calculate the difference between the average swing period and the second deceleration point information and set the difference as the deceleration time information;

The time values corresponding to the first deceleration time point information and the deceleration time information are controlled to be the same.
The method according to claim 1, wherein obtaining the equivalent pendulum length information according to the swing amplitude of the grab bucket includes:

Control the grab bucket to perform a swing operation, which specifically includes:

Control the grab to perform the lifting operation until the grab cannot continue to perform the lifting operation;

Control the grab bucket to swing until the swing amplitude of the grab bucket reaches the maximum;

Count the swing period of the grab bucket, which is the time it takes for the grab bucket to reach the position with the largest swing amplitude in the same direction twice;

Control the grab to repeatedly perform swing operations until a preset number of grab swing cycles are obtained;

Calculate the average value of a preset number of grab swing cycles and set the average value as the average swing cycle;

Obtain the equivalent pendulum length information based on the calculation formulas of the average swing period and the simple pendulum period.
The method according to claim 1, wherein generating a theoretical speed curve based on equivalent pendulum length information includes:

Obtain the current height position information of the grab bucket, which is the height of the current grab bucket from the highest position of the grab bucket;

Obtain the actual swing period according to the simple pendulum period calculation formula;

Obtain the starting position information and target position information of the grab;

Calculate the difference between the starting position information and the target position information and set the difference as the system theoretical distance information;

Get the preset buffer displacement information;

Calculate the difference between the system theoretical distance information and the buffer displacement information and set the difference as the system theoretical curve information;

Calculate the ratio between the theoretical curve information of the system and the actual swing period and set the ratio to the anti-sway maximum speed;

Generate a speed theoretical curve based on the anti-sway maximum speed and the actual sway period.
The method according to claim 3, characterized in that after generating the speed theoretical curve based on the anti-sway maximum speed and the actual sway period, it further includes:

Calculate the product value between the preset low-speed buffer adjustment coefficient and the anti-sway maximum speed and set the product value as position compensation information; calculate the product value between the anti-sway maximum speed and the preset minimum coefficient and set the product value The product value is set to the anti-sway minimum speed;

Calculate and obtain the first deceleration point position information and the second deceleration point position information based on the system theoretical curve information, anti-sway maximum speed, anti-sway minimum speed, position compensation information and actual swing period;

Calculate the product value between the preset low-speed buffer adjustment coefficient and the anti-sway minimum speed and set the product value as the low-speed buffer displacement information;

Calculate the sum between the second deceleration point position information and the low-speed buffer displacement information and set the sum as the lagging displacement information;

If the height value corresponding to the grab's starting position information is greater than zero and not greater than the first deceleration point position information, then the preset motor output value is set to the anti-sway maximum speed;

If the target position information of the grab bucket is greater than the second deceleration point position information and greater than the first deceleration point position information, the motor output value is set to the minimum anti-sway speed.
The method of claim 1, further comprising:

Obtain the preset theoretical operating trajectory range of the grab;

Obtain the actual running trajectory of the grab in real time;

Compare the actual operating trajectory with the theoretical operating trajectory range;

If the actual operating trajectory is outside the theoretical operating trajectory range, the door operator is controlled to move until the actual operating trajectory of the grab bucket is within the preset theoretical operating trajectory range.
The method of claim 1, further comprising:

Obtain the theoretical end point coordinate information corresponding to the grab;

Obtain the actual grab coordinate information corresponding to the grab in real time;

Calculate the actual grab distance in real time, which is the trajectory distance between the theoretical end point coordinate information and the actual grab coordinate information;

Calculate the actual grab time based on the speed theoretical curve;

Determine whether the actual grab time is within the preset standard grab time range;

If so, the door operator is controlled to drive the grab bucket to move until the grab bucket moves to the theoretical end point coordinates.
The method according to claim 6, characterized in that controlling the door operator to drive the grab bucket to move until the grab bucket moves to the theoretical end point coordinates includes:

Obtain the obstacle coordinate information in the preset obstacle database;

Obtain the standard operating route of the grab;

Determine whether the obstacle coordinate information exists on the standard operating route of the grab;

If so, the standard operating route of the grab bucket is changed until the obstacle coordinate information does not exist on the standard operating route of the grab bucket.
A control device for an automatic door machine to suppress the swing of a grab bucket, characterized in that the device includes:

The equivalent pendulum length acquisition module (401) is used to obtain equivalent pendulum length information according to the swing amplitude of the grab bucket. The equivalent pendulum length information is the length value corresponding to the swing motion of the grab bucket when it is at the highest position;

The swing period acquisition module (402) is used to generate the average swing period based on the equivalent swing length information;

A speed curve generation module (403), used to generate a speed theoretical curve based on the average swing period;

The deceleration information acquisition module (404) is used to obtain the first deceleration point information and the second deceleration point information according to the speed theoretical curve;

The deceleration time calculation module (405) is used to calculate the difference between the average swing period and the second deceleration point information and set the difference as the deceleration time information;

The deceleration time control module (406) is used to control the first deceleration time point to be the same as the deceleration time information.
A computer device, characterized in that it includes a memory and a processor, and a computer program that can be loaded by the processor and execute the method according to any one of claims 1 to 7 is stored on the memory.
A computer-readable storage medium, characterized in that it stores a computer program that can be loaded by a processor and execute the method according to any one of claims 1 to 7.