Control execution system of marine crane and control method of control execution system

Abstract

The invention discloses a marine crane technology, and aims to provide a control execution system of a marine crane, which is characterized by comprising a visual identification subsystem, a control execution subsystem, a control execution subsystem, a control execution subsystem and a control execution subsystem, and the visual identification subsystem is provided with a CCD (Charge Coupled Device) camera and is used for collecting visual image information of an operation area of the marine crane; precise positioning, cargo identification and operation path planning of the marine crane are output; the sensor subsystem integrates a position sensor and a limiting sensor, wherein the sensor subsystem comprises but is not limited to the position sensor; the motion control subsystem comprises a motion control module, a servo driving module and a variable frequency motor; the code detection subsystem comprises an encoder, an electronic bar code and a rotary encoder; the operation safety is integrally guaranteed, the positioning and control precision is greatly improved, accidents are reduced, the operation efficiency is improved, fault diagnosis is assisted, and stable and efficient operation of the crane is ensured; the invention is suitable for the technical field of ship cranes.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of marine cranes, and more particularly to a control execution system of a marine crane and a control method thereof. BACKGROUND

[0002] In the fields of ocean transportation, port loading and unloading, and ocean engineering, as the core loading and unloading equipment, marine cranes bear the key tasks of cargo transfer and equipment hoisting, and the running stability, control accuracy and operation safety of the marine cranes directly determine the efficiency of offshore operations and the safety of personnel and property. With the development of global shipping industry towards large-scale and intelligentization, the tonnage of ships is continuously increasing, and the weight and size of cargo to be loaded and unloaded are also increasing. Meanwhile, the operation environment is subject to complex dynamic disturbances such as wind and wave, surge, and ship sway. The traditional control execution system of marine cranes has gradually exposed technical bottlenecks and is difficult to meet the stringent requirements of modern offshore operations.

[0003] The current operation environment of marine cranes is complex, and the existing control execution system has obvious deficiencies due to the influence of ship body sway and multiple obstacles at sea. In terms of positioning, it is difficult to accurately obtain the positions of the equipment and cargo, and the operation path planning is prone to deviation. In terms of protection, the collision detection reliability is low, and the over-travel protection response is slow. Moreover, the coordination between subsystems is poor, and the fault diagnosis is lagging, which can easily cause safety accidents and reduce operation efficiency. At the same time, frequent manual intervention makes it difficult to adapt to the demand for efficient and automated operation, and therefore, it is urgent to develop a control execution system integrated with high-precision identification, reliable protection and rapid response to improve the operation safety and efficiency of marine cranes. SUMMARY

[0004] In view of the deficiencies of the prior art, the purpose of the present application is to provide a control execution system of a marine crane and a control method thereof.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical solution: a control execution system of a marine crane, comprising:

[0006] A visual identification subsystem is configured with a CCD camera for collecting visual image information of the operation area of the marine crane to output accurate positioning, cargo identification and operation path planning of the marine crane.

[0007] A sensor subsystem is integrated with position sensors, limit sensors and laser scanning anti-collision sensors. The position sensors are used to detect the spatial position information of each moving part of the marine crane in real time. The limit sensors are used to limit the limit position of the moving parts of the marine crane to prevent over-travel. The laser scanning anti-collision sensors are used to scan the surrounding environment of the marine crane to detect whether there are obstacles and avoid collision accidents.

[0008] The motion control subsystem comprises a motion control module, a servo drive module and a variable frequency motor, the motion control module is used for generating a motion control signal according to the output instruction of the visual identification subsystem and the feedback information of each sensor; the servo drive module is used for receiving the motion control signal of the motion control module, driving the variable frequency motor to operate and executing the motion control instruction;

[0009] The encoder detection subsystem comprises an encoder, an electronic barcode and a rotary encoder, the encoder is used for detecting the information of the variable frequency motor, including but not limited to the rotating speed and the rotating angle information, so as to accurately feed back the motion speed and position of the marine crane to the servo drive module; the electronic barcode and the rotary encoder are used for identifying and detecting the information of the marine crane, including but not limited to the equipment identity and the operating parameter, so as to feed back to the motion control subsystem to assist the motion control and fault diagnosis.

[0010] The application further provides that, in the visual identification subsystem, the CCD cameras are arranged at specified positions of the hoisting arm of the marine crane and are arranged in a circumferential direction, the proportion of the visual overlap area of adjacent CCD cameras in the visual coverage area of a single CCD camera is 15% to 30%, so as to ensure the integrity and continuity of the visual image acquisition.

[0011] The application further provides that, in the sensor subsystem, the laser scanning anti-collision sensor generates three-dimensional point cloud data through laser scanning, the proportion of the effective point cloud quantity in the total point cloud quantity is 70% to 90%, and the obstacle model is constructed based on the point cloud data.

[0012] The application further provides that, in the motion control subsystem, the matching relationship between the servo drive module and the variable frequency motor satisfies that the proportion of the power capacity of the servo drive module in the surplus amount of the rated power of the variable frequency motor is 20% to 40%.

[0013] The application further provides that, the redundancy proportion of the encoder detection accuracy in the crane motion control accuracy is 30% to 50%, and the resolution of the electronic barcode and the rotary encoder is greater than or equal to 1000 lines per revolution.

[0014] The application further provides that, the control execution system further comprises a safety protection unit used for triggering an emergency brake instruction when each subsystem detects an abnormal state and a man-machine interaction unit used for displaying the operating state of each subsystem and receiving the control instruction of an operator, and the response time of the emergency brake instruction is less than or equal to 0.1s.

[0015] A control method of a control execution system of a marine crane, characterized in that the control method comprises the following steps:

[0016] S1, control the power-on start of the system, initialize the visual recognition subsystem, sensor subsystem, motion control subsystem, code detection subsystem, safety protection unit and human-computer interaction unit; and establish communication connection between each part; judge the initialization state of each subsystem through self-checking program, if there is an initialization failure module, then through the human-computer interaction unit, the fault type is prompted in stages;

[0017] S2, the CCD camera in the visual recognition subsystem collects image information of the marine crane operation area according to the set collection frequency; the visual recognition system extracts features and identifies targets from the image information, and outputs the accurate positioning of the marine crane, cargo identification and operation path planning; the operation path planning includes lifting point, moving track and placing point; the cargo identification confidence is judged synchronously, when the confidence is < 85%, then re-identify; if the confidence does not meet the standard for 3 times in a row, then trigger the manual confirmation process;

[0018] S3, the current spatial position information of each moving part of the marine crane is obtained in real time through the position sensor in the sensor subsystem, including but not limited to the angle of the boom, the height of the hook; in addition, by combining the roll / yaw angle collected by the ship attitude sensor on the ship body, the interference amount of the position information caused by the ship body sway is judged, when the interference amount > 5%, then the dynamic compensation algorithm is started to correct the position detection value;

[0019] S4, the position of each moving part of the marine crane is monitored by the limit sensor, whether it is close to or reaches the preset mechanical limit position Lmax is judged, a three-level threshold judgment mechanism is set: when the position < 0.8Lmax, then normally run; when 0.8Lmax≤position < 0.95Lmax, then trigger the deceleration warning signal, control the moving speed to reduce to 50% of the rated speed; when position≥0.95Lmax, then trigger the limit protection, pause the current action and send alarm information to the human-computer interaction unit;

[0020] S5, the surrounding environment of the marine crane is scanned in real time by the laser scanning anti-collision sensor, three-dimensional point cloud data is generated, and the proportion P1 of the number of effective point clouds to the total number of point clouds is calculated, when P1 < the preset proportion threshold 70%-90%, it is determined that the current environment scanning quality is insufficient, and the scanning is re-performed, which is convenient for constructing the surrounding obstacle model based on the point cloud data;

[0021] S6, the obstacle model and the current motion path of the marine crane are analyzed:

[0022] S61, static judgment: calculate the minimum safety distance D of the path and the obstacle, judge the collision risk level, when D>2m, it is determined that there is no risk, normal operation, when 0.5m≤D≤2m, it is determined that there is low risk, control the movement speed to reduce to 30% of the rated speed, when D<0.5m, it is determined that there is high risk, immediately suspend the action and adjust the operation path, and prompt the operator to confirm through the man-machine interaction unit;

[0023] S62, dynamic judgment: dynamically update the obstacle model, compare the obstacle position change rate V of the current scanning period and the last period, if the change rate V>0.5m / s, mark the obstacle as "dynamic obstacle", and expand the avoidance distance to 1.5 times of the static obstacle;

[0024] S7, the motion control module in the motion control subsystem synthesizes the output signal of the visual recognition subsystem and the feedback information of the sensor subsystem, and generates a multi-axis coordinated motion control signal, including lifting, rotating, amplitude changing and walking control signals;

[0025] S8, the servo drive module receives the motion control signal of the motion control subsystem, drives the variable frequency motor to perform corresponding actions according to the control signal, and the encoder in the encoding detection subsystem detects the variable frequency motor information in real time, including but not limited to speed and angle information, and feeds back the detection value to the servo drive module to form a position and speed closed loop control;

[0026] S9, the electronic bar code and the rotary encoder identify the equipment of the marine crane and detect the running parameters, feed back the collected equipment identity information and running parameters to the motion control subsystem, for auxiliary control decision and fault diagnosis;

[0027] S10, the safety protection unit monitors the running state of each subsystem in real time, when any subsystem detects an abnormal state, including but not limited to sensor failure, motor overload, path deviation or collision risk exceeding the safety threshold, an emergency brake instruction is triggered immediately to ensure that the marine crane stops moving within 0.1s;

[0028] S11, the man-machine interaction unit displays the running state of the visual recognition subsystem, the sensor subsystem, the motion control subsystem and the encoding detection subsystem in real time, and receives the control instruction of the operator; judge the consistency of the operator's instruction and the automatic control instruction, when the control instructions conflict, preferentially execute the instruction with higher safety level, and prompt the instruction conflict reason.

[0029] The beneficial effects of the application are:

[0030] 1. Compared with the prior art, the control execution system of the ship crane in the application brings many significant beneficial effects through the cooperation of four subsystems; the visual recognition subsystem collects images with the help of CCD cameras, realizes accurate positioning, cargo identification and operation path planning, provides accurate guidance for crane operation, reduces manual positioning errors and improves operation accuracy; the sensor subsystem integrates multiple sensors, the position sensor can master the spatial position of the moving part in real time, so that the operator can clearly understand the equipment running state; the limit sensor prevents overtravel operation and avoids damage to the mechanical structure due to excessive movement; the laser scanning anti-collision sensor scans the surrounding environment, effectively avoids collision accidents, and ensures the safety of equipment and personnel; the motion control subsystem generates control signals according to instructions and feedback to drive the motor to accurately execute actions, ensuring smooth operation process; the code detection subsystem accurately detects motor information and equipment parameters, assists motion control and fault diagnosis, facilitates timely discovery and processing of problems, improves overall system operation stability and reliability, and greatly improves crane operation efficiency and safety.

[0031] 2. In the control execution system of the ship crane, the CCD camera is arranged at a specified position of the hoist arm and arranged circumferentially, while ensuring that the adjacent CCD cameras have a 15%-30% visual overlap area, which can effectively avoid visual acquisition blind area. In the ship crane operation scene, the operation area environment is complex, and if there is a visual blind area, it may lead to missed identification of goods or misjudgment of position, causing operation failure; the arrangement ensures the integrity of visual image acquisition, so that the system can fully obtain the information of the operation area, and no matter where the goods are located, they can be accurately captured; at the same time, the overlapping area ensures the continuity of image information, avoids the interruption of positioning or identification due to image rupture, and enables the visual recognition subsystem to continuously and stably output accurate positioning, identification and path planning results, providing strong support for continuous and efficient operation of the ship crane and reducing operation delays or errors caused by visual information problems.

[0032] 3. In the application, three-dimensional point cloud data is generated by laser scanning, and the proportion of effective point cloud data is 70%-90%, which can ensure that the obstacle model constructed has high accuracy and reliability; in the ship environment, there may be ships, equipment, buildings and other obstacles around the ship crane, if the point cloud data is not effective, the model constructed will be distorted and cannot accurately reflect the actual situation of the obstacle, which is easy to cause misjudgment of collision risk; high effective point cloud data enables the system to accurately capture key information such as the shape and position of the obstacle, and the obstacle model constructed based on this can truly restore the surrounding environment, making the anti-collision judgment more accurate; when the ship crane is operating, the system can discover potential collision hazards in time according to the accurate model and take evasive measures in advance to avoid collision accidents, ensuring the safety of equipment and personnel during the operation of the ship crane, while reducing the downtime loss and maintenance cost caused by collision accidents.

[0033] 4. In the present application, by setting the power capacity of the servo drive module to be 20%-40% higher than the rated power of the variable frequency motor, sufficient power reserve is provided for system operation; during the operation of the marine crane, sudden load changes often occur, such as instantaneous fluctuations in the weight of the lifted cargo, sudden increases in operating resistance, etc. If the servo drive module has no excess power, the motor may not be able to operate normally due to insufficient power, affecting the operation process, and even causing the motor to be damaged by overload; the 20%-40% excess power can easily cope with these unexpected situations, ensuring that the motor can still operate stably when the load changes, and output enough power to complete the operation action; at the same time, sufficient power reserve also prolongs the service life of the servo drive module and the variable frequency motor, reduces failures caused by insufficient power or overload, ensures the continuous and stable operation of the motion control subsystem, and thus improves the operation reliability and efficiency of the entire marine crane control and execution system. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 A flowchart of the control method of the control and execution system of the marine crane of the present application. DETAILED DESCRIPTION

[0035] REFERENCE Figure 1 The control and execution system of the marine crane of the present application and the control method thereof are further described.

[0036] For ease of description, spatial relative terms such as "upper", "lower", "left", "right" and the like are used in the embodiments to describe the relationship of one element or feature to another element or feature as shown in the drawings. It should be understood that, in addition to the orientation shown in the drawings, the spatial terms are intended to include different orientations of the device in use or operation. For example, if the device in the drawing is inverted, the element described as being "below" other elements or features will be positioned "above" the other elements or features. Therefore, the exemplary term "below" can include both upward and downward orientations. The device can be positioned in other ways (rotated 90 degrees or positioned in other orientations), and the spatial relative description used herein can be interpreted accordingly.

[0037] Moreover, relational terms such as "first" and "second" and the like are used only to distinguish one from another of a same name, and do not necessarily require or imply any such actual relationship or order between the parts.

[0038] Figure 1 The control and execution system of a marine crane shown includes:

[0039] Visual recognition subsystem: configured with a CCD camera, used to collect visual image information of the working area of the marine crane, to output the precise positioning, cargo identification and operation path planning of the marine crane;

[0040] Sensor subsystem: integrated with sensors including but not limited to position sensors, limit sensors, and laser scanning anti-collision sensors, the position sensors are used to detect the spatial position information of each moving part of the marine crane in real time; the limit sensors are used to limit the limit position of the moving parts of the marine crane to prevent overtravel; the laser scanning anti-collision sensors are used to scan the surrounding environment of the marine crane to detect whether there are obstacles to avoid collision accidents;

[0041] Motion control subsystem: including motion control module, servo drive module and variable frequency motor, the motion control module is used to generate motion control signals according to the output instructions of the visual recognition subsystem and the feedback information of each sensor; the servo drive module is used to receive the motion control signals of the motion control module to drive the variable frequency motor to operate and execute the motion control instructions;

[0042] Encoding detection subsystem: composed of encoders, electronic barcodes and rotary encoders, the encoders are used to detect the information of the variable frequency motor, including but not limited to speed and angle information, to accurately feedback the motion speed and position of the marine crane to the servo drive module; the electronic barcodes and rotary encoders are used to identify and detect the information of the marine crane, including but not limited to equipment identity and operating parameters, to feedback to the motion control subsystem to assist motion control and fault diagnosis;

[0043] Through the cooperation of the four subsystems, many significant benefits are brought; the visual recognition subsystem uses CCD camera to collect images, realizes precise positioning, cargo identification and operation path planning, provides precise guidance for crane operation, reduces manual positioning error and improves operation accuracy; the sensor subsystem integrates multiple sensors, the position sensor can master the spatial position of the moving parts in real time, so that the operator can clearly understand the equipment operating state; the limit sensor prevents overtravel to avoid damage to the mechanical structure due to excessive movement; the laser scanning anti-collision sensor scans the surrounding environment to effectively avoid collision accidents and ensure the safety of equipment and personnel; the motion control subsystem generates control signals according to instructions and feedback to drive the motor to accurately execute actions and ensure smooth operation process; the encoding detection subsystem accurately detects motor information and equipment parameters to assist motion control and fault diagnosis, which is convenient for timely discovery and processing of problems, improves the overall operation stability and reliability of the system, and greatly improves the efficiency and safety of crane operation.

[0044] The CCD camera is arranged at a specified position of the hoist arm of the marine crane and circumferentially, and the proportion of the visual coverage overlap area of adjacent CCD cameras to the visual coverage area of a single CCD camera is 15%-30%, so as to ensure the integrity and continuity of the visual image acquisition.

[0045] The arrangement of the CCD camera at the specified position of the hoist arm and circumferentially while ensuring that the visual coverage overlap area of adjacent CCD cameras is 15%-30% can effectively avoid the visual acquisition blind area. In the working scene of the marine crane, the working area environment is complex, and if there is a visual blind area, it may lead to missed identification of goods or misjudgment of the position, causing operation failure. The arrangement ensures the integrity of the visual image acquisition, so that the system can fully obtain the information of the working area, and no matter where the goods are located in the periphery of the hoist arm, they can be accurately captured. At the same time, the overlap area ensures the continuity of the image information, avoids the interruption of positioning or identification due to image rupture, and enables the visual recognition subsystem to continuously and stably output accurate positioning, identification and path planning results, thereby providing strong support for continuous and efficient operation of the marine crane and reducing the operation delay or error caused by visual information problems.

[0046] In the sensor subsystem, the laser scanning anti-collision sensor generates three-dimensional point cloud data through laser scanning, the proportion of the number of effective point clouds in the total point cloud data is 70%-90%, and an obstacle model is constructed based on the point cloud data.

[0047] The three-dimensional point cloud data is generated through laser scanning, and the proportion of the number of effective point clouds is 70%-90%. This high proportion of effective point clouds can ensure that the constructed obstacle model has high accuracy and reliability. In the marine environment, there may be various obstacles such as ships, equipment and buildings around the marine crane. If the effectiveness of the point cloud data is low, the constructed model will be distorted and cannot accurately reflect the actual situation of the obstacles, which may easily lead to misjudgment of the collision risk. High effective point cloud data enables the system to accurately capture key information such as the shape and position of the obstacles, and the obstacle model constructed based on this can truly restore the surrounding environment, making the anti-collision judgment more accurate. When the marine crane is operating, the system can discover potential collision hazards in time based on the accurate model and take evasive measures in advance to avoid collision accidents, thereby ensuring the safety of the equipment and personnel during the operation of the marine crane and reducing the downtime loss and maintenance cost caused by collision accidents.

[0048] In the motion control subsystem, the matching relationship between the servo drive module and the variable frequency motor satisfies that the proportion of the power capacity of the servo drive module to the surplus of the rated power of the variable frequency motor is 20%-40%.

[0049] By setting the servo drive module power capacity to have a 20%-40% surplus ratio compared to the rated power of the variable frequency motor, this design provides sufficient power reserve for system operation; During the operation of the marine crane, sudden load changes often occur, such as instantaneous fluctuations in the weight of the lifted cargo, sudden increases in operating resistance, etc. If the servo drive module power has no surplus, the motor may not run normally due to insufficient power, affecting the operation process, and even causing motor overload damage. A 20%-40% surplus can easily handle these unexpected situations, ensuring that the motor can still operate stably when the load changes, and output enough power to complete the operation action. At the same time, sufficient power reserve also prolongs the service life of the servo drive module and the variable frequency motor, reduces failures caused by insufficient or overload power, ensures the continuous and stable operation of the motion control subsystem, and thus improves the operation reliability and efficiency of the entire marine crane control execution system.

[0050] The encoder detection accuracy has a 30%-50% redundancy ratio compared to the crane motion control accuracy, and the resolution of the electronic barcode and rotary encoder is ≥1000 lines / revolution.

[0051] The encoder detection accuracy has a 30%-50% redundancy ratio compared to the crane motion control accuracy, and the resolution of the electronic barcode and rotary encoder is ≥1000 lines / revolution.

[0052] The control execution system also includes a safety protection unit for triggering an emergency brake instruction when each subsystem detects an abnormal state, and a human-machine interaction unit for displaying the running state of each subsystem and receiving operator control instructions, wherein the response time of the emergency brake instruction is ≤0.1s.

[0053] The safety protection unit can trigger an emergency braking instruction when each subsystem detects an abnormal state, and the response time is less than or equal to 0.1s. The fast response speed can stop dangerous actions at the moment when the equipment appears to be abnormal, such as sensor failure that may cause equipment out of control, motor overload that may cause motor damage or even fire, path deviation or collision risk exceeding the threshold that may cause collision accidents, etc. The 0.1s emergency braking can minimize the loss caused by abnormal state, protect the safety of equipment, goods and personnel, and reduce the degree of accident harm. The man-machine interaction unit can display the running state of each subsystem in real time, so that the operator can intuitively understand the system operation and find potential problems in time. At the same time, it can receive the control instruction of the operator to realize man-machine collaborative work. When the automatic control deviates or needs manual intervention, the operator can issue instructions through the unit. In addition, when the operator's instruction conflicts with the automatic control instruction, the instruction with higher safety level is executed preferentially, and the reason is prompted, which not only ensures the safety of operation, but also improves the flexibility and controllability of operation.

[0054] A control method of a control execution system of a marine crane, characterized in that it comprises the following steps:

[0055] S1, the control execution system is powered on and started, the vision recognition subsystem, the sensor subsystem, the motion control subsystem, the encoding detection subsystem, the safety protection unit and the man-machine interaction unit are initialized, and the communication connection between each part is established; the initialization state of each subsystem is judged through the self-checking program, if there is an initialization failure module, the fault type is prompted through the man-machine interaction unit;

[0056] S2, the CCD camera in the vision recognition subsystem collects image information of the working area of the marine crane according to the set collection frequency; the image information is subjected to feature extraction and target recognition by the vision recognition system, and the accurate positioning of the marine crane, cargo identification and operation path planning are output; the operation path planning includes lifting point, moving track and placing point; the cargo identification confidence is judged synchronously, when the confidence is less than 85%, the identification is re-identified; if the confidence does not meet the standard for three times in a row, the manual confirmation process is triggered;

[0057] S3, the current spatial position information of each moving part of the marine crane is obtained in real time through the position sensor in the sensor subsystem, including but not limited to the angle of the crane arm and the height of the hook; in addition, the interference amount of the position information caused by the ship body sway is judged by combining the roll / yaw angle collected by the ship body attitude sensor on the ship body, when the interference amount is greater than 5%, the dynamic compensation algorithm is started to correct the position detection value;

[0058] S4, monitor the position of each moving part of the marine crane through the limit sensor, judge whether it is close to or reaches the preset mechanical limit position Lmax, set a three-level threshold judgment mechanism: when the position <0.8Lmax, then normal operation; when 0.8Lmax≤position<0.95Lmax, then trigger a speed reduction warning signal, control the movement speed to reduce to 50% of the rated speed; when position≥0.95Lmax, then trigger the limit protection, pause the current action and send alarm information to the human-machine interaction unit;

[0059] S5, the laser scanning anti-collision sensor scans the surrounding environment of the marine crane in real time, generates three-dimensional point cloud data, and calculates the proportion P1 of the number of effective point clouds to the total number of point clouds, when P1<70%-90% of the preset proportion threshold, it is determined that the current environment scanning quality is insufficient, and the scanning is performed again, which is convenient for constructing the surrounding obstacle model based on the point cloud data;

[0060] S6, analyze the obstacle model and the current movement path of the marine crane:

[0061] S61, static judgment: calculate the minimum safety distance D of the path and the obstacle, judge the collision risk level, when D>2m, it is determined that there is no risk, normal operation; when 0.5m≤D≤2m, it is determined that there is low risk, control the movement speed to reduce to 30% of the rated speed; when D<0.5m, it is determined that there is high risk, immediately pause the action and adjust the operation path, and prompt the operator through the human-machine interaction unit;

[0062] S62, dynamic judgment: dynamically update the constructed obstacle model, compare the obstacle position change rate V of the current scanning period and the last period, if the change rate V>0.5m / s, then mark the obstacle as "dynamic obstacle", and expand the avoidance distance to 1.5 times of the static obstacle;

[0063] S7, the motion control module in the motion control subsystem synthesizes the output signals of the visual recognition subsystem and the feedback information of the sensor subsystem, generates multi-axis coordinated motion control signals, including lifting, slewing, amplitude changing and walking control signals;

[0064] S8, the servo drive module receives the motion control signals of the motion control subsystem, drives the variable frequency motor to perform corresponding actions according to the control signals, and the encoder in the encoding detection subsystem detects the variable frequency motor information in real time, including but not limited to speed and angle information, and feeds back the detection value to the servo drive module to form a position and speed closed-loop control;

[0065] S9, the electronic bar code and the rotary encoder identify the equipment of the marine crane and detect the running parameters, and feed the collected equipment identity information and running parameters to the motion control subsystem, for assisting control decision and fault diagnosis;

[0066] S10, the safety protection unit monitors the running state of each subsystem in real time, and when any subsystem detects an abnormal state, including but not limited to sensor failure, motor overload, path deviation or collision risk exceeding a safety threshold, an emergency braking instruction is triggered immediately to ensure that the marine crane stops within 0.1s;

[0067] S11, the man-machine interaction unit displays the running state of the visual recognition subsystem, the sensor subsystem, the motion control subsystem and the code detection subsystem in real time, and receives the control instruction of the operator; the consistency of the operator's instruction and the automatic control instruction is judged, and when the control instructions conflict, the instruction with higher safety level is executed preferentially, and the reason for the instruction conflict is prompted;

[0068] The system startup initialization and self-checking process of step S1 can timely find the initialization failure module before operation and grade the fault type, avoid running with faults to cause accidents, save subsequent fault troubleshooting time, and ensure that the system starts operation in good condition; the image acquisition and confidence judgment of the visual recognition subsystem in step S2 ensure accurate cargo recognition, and trigger the manual confirmation process for 3 consecutive times, reducing operation errors caused by misidentification; step S3 combines the ship body attitude sensor data to correct the position detection value, solves the interference of ship body sway on position information, and improves the position detection accuracy; the three-level threshold judgment mechanism of step S4 flexibly adjusts the running state according to the position of the moving part, effectively prevents overtravel, and protects the equipment; steps S5 and S6 judge the quality of laser scanning data and analyze the obstacle model, accurately identify static and dynamic obstacles, and avoid collision risks in advance; the motion control, motor drive and code detection of steps S7-S9 cooperate to ensure accurate execution of actions and equipment state monitoring; the safety protection of step S10 and the man-machine interaction of step S11 further improve the safety and controllability of the system, and greatly improve the efficiency, safety and reliability of the crane operation.

[0069] The above only describes the preferred embodiments of the present application, and does not limit the present application, and those skilled in the art can make usual changes and replacements within the technical solution range of the present application, which should be included in the protection scope of the present application.

Claims

1. A control execution system for a marine crane, characterized by: include: Visual recognition subsystem: Equipped with a CCD camera, it is used to collect visual image information of the marine crane's operating area to output accurate positioning of the marine crane, cargo identification, and operation path planning; Sensor subsystem: It integrates but is not limited to position sensors, limit sensors, and laser scanning anti-collision sensors. The position sensors are used to detect the spatial position information of the moving parts of the marine crane in real time; the limit sensors are used to define the extreme positions of the moving parts of the marine crane to prevent overtravel; the laser scanning anti-collision sensors are used to scan the surrounding environment of the marine crane to detect whether there are obstacles and avoid collision accidents; Motion control subsystem: includes a motion control module, a servo drive module, and a variable frequency motor. The motion control module is used to generate motion control signals based on the output instructions of the visual recognition subsystem and the feedback information of each sensor; the servo drive module is used to receive the motion control signals from the motion control module, drive the variable frequency motor to operate, and execute the motion control instructions; Encoding detection subsystem: It consists of an encoder, an electronic barcode, and a rotary encoder. The encoder is used to detect variable frequency motor information, including but not limited to speed and angle information, to accurately feedback the speed and position of the marine crane to the servo drive module. Electronic barcodes and rotary encoders are used to identify and detect information on marine cranes, including but not limited to equipment identity and operating parameters, so as to provide feedback to the motion control subsystem to assist in motion control and fault diagnosis.

2. A control execution system for a ship crane according to claim 1, characterized in that: In the visual recognition subsystem, the CCD cameras are set at designated positions of the marine crane boom and arranged circumferentially. The overlapping visual coverage areas of adjacent CCD cameras account for 15%-30% of the visual coverage area of ​​a single CCD camera to ensure the integrity and continuity of visual image acquisition.

3. The control execution system for a ship crane according to claim 1, characterized in that: In the sensor subsystem, the laser scanning anti-collision sensor generates three-dimensional point cloud data through laser scanning, wherein the number of valid point clouds in the point cloud data accounts for 70%-90% of the total number of point clouds, and an obstacle model is constructed based on the point cloud data.

4. The control execution system for a ship crane according to claim 1, characterized in that: In the motion control subsystem, the matching relationship between the servo drive module and the variable frequency motor satisfies that: the power capacity of the servo drive module has a surplus ratio of 20%-40% compared to the rated power of the variable frequency motor.

5. The control execution system for a ship crane according to claim 1, characterized in that: The redundancy ratio of the encoder detection accuracy compared to the crane motion control accuracy is 30%-50%, and the resolution of the electronic barcode and rotary encoder is ≥1000 lines / revolution.

6. The control execution system for a ship crane according to claim 1, characterized in that: The control execution system also includes a safety protection unit for triggering an emergency braking command when an abnormal state is detected in each subsystem, and a human-computer interaction unit for displaying the operating status of each subsystem and receiving operator control commands, wherein the response time of the emergency braking command is ≤0.1s.

7. A control method for a control execution system of a ship crane according to any one of claims 1 to 6, characterized in that: The following steps are involved: S1. The control execution system is powered on and started, initializing the visual recognition subsystem, sensor subsystem, motion control subsystem, encoding detection subsystem, safety protection unit, and human-computer interaction unit; and establishing communication connections between these parts. The self-test program determines the initialization status of each subsystem. If any module fails to initialize, the human-computer interaction unit will indicate the fault type in a graded manner. S2. The CCD camera in the visual recognition subsystem collects image information of the marine crane operation area according to the set collection frequency; The visual recognition system extracts features and identifies targets from the image information, outputting precise positioning of the ship crane, cargo identification, and operation path planning. This operation path planning includes the lifting point, movement trajectory, and placement point. The confidence level of cargo identification is also determined simultaneously. If the confidence level is less than 85%, the cargo is re-identified. If the confidence level fails to meet the standard for three consecutive times, the manual confirmation process will be triggered; S3. Using the position sensors in the sensor subsystem, the current spatial position information of each moving component of the marine crane is acquired in real time, including but not limited to the boom angle and hook height. Furthermore, the roll / pitch angles acquired by the hull attitude sensor on the hull are combined to determine the amount of interference with the position information due to hull motion. When the interference is greater than 5%, a dynamic compensation algorithm is activated to correct the position detection value. S4. Monitor the position of each moving part of the marine crane through limit sensors to determine whether it is approaching or reaching the preset mechanical limit position Lmax. Set a three-level threshold judgment mechanism: when the position is less than 0.8Lmax, normal operation is performed; when 0.8Lmax ≤ position < 0.95Lmax, a deceleration warning signal is triggered, and the movement speed is controlled to 50% of the rated speed; when the position is ≥ 0.95Lmax, the limit protection is triggered, the current action is suspended, and an alarm message is sent to the human-machine interface unit; S5. Use a laser scanning anti-collision sensor to scan the surrounding environment of the marine crane in real time, generate three-dimensional point cloud data, and calculate the ratio P1 of the number of valid point clouds to the total number of point clouds. When P1 is less than a preset ratio threshold of 70%-90%, it is determined that the quality of the current environment scan is insufficient and a new scan is performed to facilitate the construction of a surrounding obstacle model based on the point cloud data; S6. Analyze the obstacle model and the current motion path of the marine crane: S61, static judgment: Calculate the minimum safe distance D between the path and the obstacle and determine the collision risk level. When D>2m, it is determined to be no risk and normal operation is carried out. When 0.5m≤D≤2m, it is determined to be low risk and the movement speed is controlled to be reduced to 30% of the rated speed. When D < 0.5m, it is judged as high risk, the action is immediately suspended and the operation path is adjusted, and the operator is prompted to confirm through the human-computer interaction unit; S62, Dynamic Judgment: Dynamically update the constructed obstacle model and compare the obstacle position change rate V between the current scanning cycle and the previous cycle. If the change rate V is greater than 0.5m / s, the obstacle is marked as a "dynamic obstacle" and the avoidance distance is increased to 1.5 times that of a static obstacle. S7, the motion control module in the motion control subsystem integrates the output signal of the visual recognition subsystem and the information fed back by the sensor subsystem to generate multi-axis coordinated motion control signals, including lifting, rotation, luffing and walking control signals; S8. The servo drive module receives the motion control signal from the motion control subsystem and drives the variable frequency motor to perform corresponding actions according to the control signal. At the same time, the encoder in the encoding detection subsystem detects the variable frequency motor information in real time, including but not limited to the speed and angle information, and feeds the detection value back to the servo drive module to form a position and speed closed-loop control; S9, electronic barcodes and rotary encoders identify the equipment and detect operating parameters of the marine crane, and feed the collected equipment identity information and operating parameters back to the motion control subsystem to assist in control decision-making and fault diagnosis; S10. The safety protection unit monitors the operating status of each subsystem in real time. When any subsystem detects an abnormal state, including but not limited to sensor failure, motor overload, path deviation, or collision risk exceeding the safety threshold, it immediately triggers an emergency braking command to ensure that the marine crane stops within 0.1s. S11. The human-computer interaction unit displays the operating status of the visual recognition subsystem, sensor subsystem, motion control subsystem, and encoding detection subsystem in real time, and receives control instructions from the operator at the same time; determines the consistency between the operator's instructions and the automatic control instructions, and when the control instructions conflict, gives priority to executing the instructions with a higher safety level, and prompts the reason for the instruction conflict.

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