Unmanned control method and system for crane

Abstract

The invention relates to the technical field of crane control, in particular to an unmanned crane control method and system, which comprises the following steps: acquiring a running space, establishing a basic simulation space through simulation, acquiring a real-time space image, establishing an execution state space, and marking a starting point and an ending point to determine a track space; a dangerous object is identified, a safety space signal is determined, and after the safety space signal is detected, the gravity center of a transported object is obtained, a grabbing point is set, the transported object is hoisted, stress analysis is conducted, longitudinal inertia force is set, tipping and anti-tipping moments are calculated, and a deviation angle is adjusted to obtain a normal operation signal; and finally, carrying out stress analysis again according to the deviation angle, setting a transverse inertia force to calculate a horizontal direction moment, determining an acceleration critical value and setting a real-time operation acceleration. According to the method, shutdown is reduced through unmanned control, parameters are optimized, efficiency is improved, the method is adaptive to multiple scenes and multiple models, and technology upgrading is promoted.

Description

Technical Field

[0001] This invention relates to the field of crane control technology, and in particular to a method and system for unmanned crane control. Background Technology

[0002] In industrial production, logistics warehousing, construction and other fields, cranes are core material handling equipment, and their operating efficiency and operational safety directly affect the overall production progress and the safety of personnel and property.

[0003] The prior art CN119612361A discloses an intelligent unmanned crane control system, including a data acquisition module, a data processing module, a delay analysis module, a predictive analysis module, a load analysis module, and a distributed control module. This system addresses information transmission delays, enhances data link bandwidth, notifies relevant personnel to eliminate interference factors, extracts swaying information FD1 and tilting information FD2 from dynamic change information FD, calculates the load risk value Q, and determines abnormal load states based on Q. The predictive analysis module uses position information A and position information WA to determine the overlap of three-dimensional dynamic trajectories M and N, identifies obstacles in the surrounding environment, and the distributed control module improves risk warnings for load analysis and predictive analysis when information transmission delays occur.

[0004] However, some automated cranes can only operate based on preset fixed trajectories and cannot integrate the dynamic changes of the operating space in real time, resulting in poor trajectory adaptability and difficulty in meeting the needs of complex operation scenarios. At the same time, the existing technology for preventing and controlling the risk of crane tipping is mostly limited to a single dimension. If manual operation is required, the equipment position and gripping points need to be adjusted multiple times, making the operation process cumbersome and time-consuming. Furthermore, due to the poor trajectory adaptability and incomplete risk control of existing automation technology, frequent manual intervention is required to adjust parameters or handle abnormal situations, which increases equipment downtime and makes it difficult to improve overall operation efficiency. Summary of the Invention

[0005] The purpose of this invention is to solve the problems in the background art by proposing an unmanned crane control method and system.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A method for unmanned control of a crane, the method specifically includes the following steps: Step 1: Collect the crane's operating space and build it using the simulation building module to obtain the basic simulation space; Step 2: Receive the current crane's execution task and simultaneously acquire real-time spatial images of the operating space. Fuse the real-time spatial images with the basic simulation space to obtain the execution state space. Then, identify the start and end positions of the execution task and mark them in real time in the execution state space to obtain the start and end positions. Based on the start and end positions, determine the trajectory space and identify hazardous objects in the trajectory space to determine the safety space signal. Step 3: When a safe space signal is detected, obtain the center of gravity of the transported object and set the grab point based on the center of gravity; Step 4: The crane lifts the transported object according to the grab point, performs force analysis on the transported object during lifting, sets longitudinal inertial force, determines the overturning moment and anti-overturning moment under different conditions, sets critical state, adjusts the offset angle based on the equation relationship between the overturning moment and anti-overturning moment under the critical state, and determines the normal operation signal; Step 5: Obtain the offset angle corresponding to the normal operation signal, and perform force analysis on the transported object again based on the offset angle. At the same time, set the inertial force at this time as the lateral inertial force, and calculate the overturning moment and anti-overturning moment in the horizontal direction respectively. Then set the critical state, and determine the acceleration critical value based on the equation relationship between the overturning moment and the anti-overturning moment in the critical state. Set the real-time running acceleration of the transported object in the horizontal direction based on the acceleration critical value.

[0007] As a further aspect of the present invention, the method for constructing the basic simulation space includes: Based on the crane's operating space, visual acquisition equipment is used to collect the spatial structure of the operating space in an empty state. The operating space refers to all physical areas that all moving parts of the crane can reach during full-condition operation. Based on the spatial structure in the blank state, a basic simulation space is built in the simulation building module. After the basic simulation space is built, an arbitrary point is selected and set as the origin coordinate. Based on the origin coordinate, a spatial coordinate system is set in the basic simulation space.

[0008] As a further aspect of the present invention, the method for determining the trajectory space includes: When the crane receives the task, it uses the vision acquisition device to collect the real-time status of the operating space again to obtain the real-time spatial image. Then, the real-time spatial image is fused with the basic simulation space to obtain the execution state space. Obtain the start and end positions of the task and mark them in real time in the execution state space to obtain the start coordinates and end coordinates. The start position refers to the current position of the real-time load, and the end position refers to the final position of the real-time load. Connect the starting point coordinates and the ending point coordinates, and mark the resulting straight line as a diagonal. Decompose the diagonal perpendicularly at the starting point coordinates and the ending point coordinates to obtain decomposed branches. Obtain the closed region enclosed between the decomposed branches of the starting point coordinates and the decomposed branches of the ending point coordinates, and mark this closed region as a two-dimensional trajectory plane. Then, map the two-dimensional trajectory plane to the X and Y axes of the spatial coordinate system. Based on the height of the execution state space, expand the corresponding height value in the Z-axis direction, and mark the expanded space as the trajectory space.

[0009] As a further embodiment of the present invention, the closed region is a rectangle, and the line connecting the starting point coordinates and the ending point coordinates is the diagonal of the rectangle.

[0010] As a further aspect of the present invention, the method for determining the safe space signal includes: The system identifies whether there are hazardous objects in the current trajectory space. If there are hazardous objects, a spatial hazard signal is generated and transmitted to the terminal equipment for further confirmation by relevant personnel. Conversely, if there are no hazardous objects, a safe space signal is generated. Hazardous objects refer to objects, environmental conditions, and spatial obstacles that collide with or interfere with the moving parts of the crane, or cause abnormal operation of the crane, or lead to safety accidents.

[0011] As a further aspect of the present invention, the method for setting the gripping points includes: When a safe space signal is detected, the transport object to be transferred is identified at the starting point. At the same time, the shape of the transport object is scanned and virtually constructed on the simulation software to obtain a three-dimensional simulation model of the transport object. The outline of the 3D simulation model is identified. If the outline of the 3D simulation model is a regular shape, the position of the center of gravity of the 3D simulation model is directly determined. If the outline of the 3D simulation model is an irregular shape, the position of the center of gravity of the 3D simulation model is identified by the center of gravity recognition technology. Based on the center of gravity of the transported object, gripping points are set in the same force plane as the center of gravity, so that the force center of the gripping point and the center of gravity of the transported object form a stable force relationship.

[0012] As a further aspect of the present invention, the method for determining the normal operation signal includes: Identify the minimum placement height at the endpoint position. The minimum placement height refers to the value of the bottom of the transported item on the Z-axis when it is placed, which is the vertical distance between the bottom surface of the transported item and the reference plane, which is the plane with Z=0. The lifting height is obtained by adding the minimum placement height to the height threshold X1. The position of the gripping point on the transport object is obtained, and the coordinate position of the gripping point is determined in the trajectory space. Based on the coordinate position of the gripping point, the crane lifts the transport object. When the transported object begins to be lifted, the offset angle is collected by the sensor. The offset angle refers to the tilt angle of the lifting device, that is, the angle between the lifting device and the vertical direction. Identify the initial height of the transported object at the starting point, and subtract the initial height from the minimum placement height to obtain the vertical transport distance. The initial height refers to the vertical distance between the bottom surface of the transported object and the reference plane when the transported object is placed at the starting point. Based on the offset angle, identify the fulcrum with potential overturning risk on the transported goods and mark this fulcrum as the risk fulcrum. Identify the coordinate position P (Xp, Yp, Zp) of the risk fulcrum, and at the same time obtain the coordinate position C (Xc, Yc, Zc) of the center of gravity and the coordinate position B (Xb, Yb, Zb) of the grab point. Using formula Obtain the horizontal lever arm ds, and then use the formula Obtain the anti-tipping lever arm hs; When the transported object is lifted, a force analysis is performed on the object, and the overturning moment M1 and the anti-overturning moment M2 are calculated. The object currently experiences n core forces, including gravity G, lifting gear tension Ft, lateral constraint force Fn, and a longitudinal inertial force. m is the mass of the transported goods. The acceleration of the transported object during the lifting process is given by the spreader tension along the direction of the spreader's inclination, and the lateral constraint force is the resultant force at the contact point between the spreader and the object. Set the critical state M1=M2. When M1=M2, substitute the values ​​into the formula and process the result. ; when When ds > 0, there is no risk of tipping over in the vertical direction, and a normal operation signal is generated. If this occurs, there is a risk of tipping over in the vertical direction, at which point an adjustment signal is generated; When an adjustment signal is detected, the gripping point of the transported goods is readjusted until... And generate normal operation signals; When a normal operation signal is generated, the vertical transport distance is obtained, and the transported goods are raised vertically according to the vertical transport distance.

[0013] As a further aspect of the present invention, the calculation method for the overturning moment M1 and the anti-overturning moment M2 includes: When the transported object is in a state of vertical acceleration and ascent, the longitudinal inertial force Fs is in the same direction as the gravity G. The overturning moment M1 can be obtained using the formula M1 = (G + Fs) × ds. Simultaneously, the calculation formula... Anti-tipping moment M2; When the transported goods are in a decelerating upward state, the longitudinal inertial force Fs is opposite in direction to the gravity G. The overturning moment M1 can be obtained using the formula M1 = (G - Fs) × ds. Simultaneously, the calculation formula... Anti-tipping moment M2, This is the offset angle.

[0014] As a further aspect of the present invention, the method for determining the critical value of acceleration includes: Obtain the offset angle under normal operating signal The horizontal lever arm ds and the anti-overturning lever arm hs are set with lateral inertial force. , The acceleration during horizontal movement is used as the basis for force analysis of the transported object, which is then performed using the method described above, while also considering the offset angle based on the normal operating signal. Calculate the overturning moment M1 and the anti-overturning moment M2 in the horizontal direction, respectively, using the horizontal lever arm ds and the anti-overturning lever arm hs. In the process of force analysis, the motion scenario needs to be divided into acceleration motion scenario and deceleration motion scenario; Set the critical state M1=M2, and substitute M1 and M2 into the equilibrium equations respectively to calculate the acceleration. At this point, the obtained acceleration a2 is set as the critical acceleration value. ; Based on the critical value of acceleration The real-time acceleration of the transported object in the horizontal direction is set so that the real-time acceleration is less than or equal to a critical acceleration value. ; Finally, the transported goods are transferred according to the real-time running acceleration, and then transferred to the destination.

[0015] An unmanned control system for cranes includes: The simulation building module is used to collect the crane's operating space and build it to obtain the basic simulation space; The task receiving module is used to receive the current crane's execution tasks; The spatial setting module is used to acquire real-time spatial images of the real-time acquisition running space, fuse the real-time spatial images with the basic simulation space to obtain the execution state space, then identify the start and end positions of the task to be executed, and mark them in real time in the execution state space to obtain the start and end positions, and determine the trajectory space based on the start and end positions; The spatial recognition module is used to identify hazardous objects in the trajectory space and determine safe space signals; The longitudinal analysis module is used to obtain the center of gravity of the transported object and set the gripping point based on the center of gravity. Then, the crane lifts the transported object according to the gripping point and performs force analysis on the transported object during lifting. At the same time, the longitudinal inertial force is set to determine the overturning moment and anti-overturning moment under different states. The critical state is set, and the offset angle corresponding to the normal operation signal is adjusted based on the equation relationship between the overturning moment and anti-overturning moment under the critical state. The lateral analysis module is used to obtain the offset angle corresponding to the normal operation signal, and to perform force analysis on the transported object again based on the offset angle. At the same time, the inertial force at this time is set as the lateral inertial force, and the overturning moment and anti-overturning moment in the horizontal direction are calculated separately. Then, the critical state is set, and the critical acceleration value is determined based on the equation relationship between the overturning moment and the anti-overturning moment in the critical state. The transport execution module is used to receive the acceleration threshold value and set the real-time running acceleration of the transported object in the horizontal direction according to the acceleration threshold value, so that the real-time running acceleration is less than or equal to the acceleration threshold value. The transport execution module then transfers the transported goods according to the real-time running acceleration.

[0016] Compared with existing technologies, the advantages of this invention are: This invention uses a method to collect real-time images of the operating space and integrate them with a basic simulation space to construct a dynamically updated execution state space. This method can identify hazardous objects in the operating space in real time and determine a safe trajectory space based on the start and end positions. This avoids collision accidents caused by human misjudgment or fixed trajectories that cannot adapt to the dynamic environment, thus ensuring the spatial safety of the crane during operation. This invention also reduces the risk of tilting by accurately judging the center of gravity and setting the gripping point: After detecting the safe space signal, the center of gravity of the transported object is first obtained and a matching gripping point is set, which effectively solves the problem of large errors in manually judging the center of gravity and avoids tilting and shaking of the transported object due to unreasonable gripping points; at the same time, by analyzing the force on the transported object in real time during hoisting, a balance mechanism of tilting moment and anti-tilting moment in both longitudinal and lateral dimensions is established, and the offset angle and running acceleration are dynamically adjusted to ensure that the tilting moment is always within the safe range of the anti-tilting moment during the entire process of equipment operation (hoisting, transfer, start-up, shutdown, and turning), further preventing the risk of tilting. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the method flow of the present invention; Figure 2 This is a schematic diagram of the system structure of the present invention. Detailed Implementation

[0018] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0019] Reference Figure 1 and Figure 2 A method for unmanned control of a crane, the method specifically includes the following steps: Step 1: Based on the crane's operating space, use a visual acquisition device to collect the spatial structure of the operating space in a blank state. Then, based on the spatial structure in the blank state, build a basic simulation space in the simulation building module. At the same time, after the basic simulation space is built, arbitrarily select a point and set it as the origin coordinate. Based on the origin coordinate, set a spatial coordinate system in the basic simulation space. The crane's operating space refers to the entire physical area that all its moving parts can reach during full-condition operation. The moving parts include the trolley, crane arm, lifting device, and load. In this embodiment, the visual acquisition device adopts a multi-device fusion scheme. Furthermore, the multi-device fusion scheme refers to 3D LiDAR and industrial cameras. Step 2: When the crane receives the task, it uses the vision acquisition device to collect the real-time status of the operating space again to obtain a real-time spatial image. Then, the real-time spatial image is fused with the basic simulation space to obtain the execution state space. Obtain the start and end positions of the task and mark them in real time in the execution state space to obtain the start coordinates and end coordinates. The start position refers to the current position of the real-time load, and the end position refers to the final position of the real-time load. In the execution state space, a trajectory space is set based on the start-point and end-point coordinates. Further methods for setting the trajectory space include: Connect the starting point coordinates and the ending point coordinates, and mark the resulting straight line as a diagonal. Decompose the diagonal vertically at the starting point coordinates and the ending point coordinates to obtain the decomposed branches. Obtain the closed region enclosed between the decomposed branches of the starting point coordinates and the decomposed branches of the ending point coordinates, and mark this closed region as a two-dimensional trajectory plane. Then, map the two-dimensional trajectory plane to the X-axis and Y-axis of the spatial coordinate system. Based on the height of the execution state space, expand the corresponding height value in the Z-axis direction, and mark the expanded space as the trajectory space. Furthermore, there are two decomposition branches on the same coordinate system, and the two decomposition branches are perpendicular to each other, that is, the resulting closed region is a rectangle, and the line connecting the starting point coordinates and the ending point coordinates is the diagonal of the rectangle. The system identifies whether there are hazardous objects in the current trajectory space. If hazardous objects are found, a spatial hazard signal is generated and transmitted to the terminal device for further confirmation by relevant personnel. Conversely, if no hazardous objects are found, a safe space signal is generated. Hazardous objects refer to objects, environmental conditions, and spatial obstacles that collide with or interfere with the moving parts of the crane, or cause abnormal crane operation or safety accidents. Image recognition technology is used to identify hazardous objects in the trajectory space, and the specific identification technology is existing technology, so it will not be described in detail here. Step 3: When a safe space signal is detected, the transport object to be transferred is identified at the starting point. At the same time, the shape of the transport object is scanned and virtually constructed on the simulation software to obtain a three-dimensional simulation model of the transport object. The outline of the 3D simulation model is identified. If the outline of the 3D simulation model is a regular shape, the position of the center of gravity of the 3D simulation model is directly determined. If the outline of the 3D simulation model is an irregular shape, the position of the center of gravity of the 3D simulation model is identified by the center of gravity recognition technology. In this embodiment, the simulation software is set to MATLAB, and the Simulink tool in MATLAB is used to identify the center of gravity. The specific operation process of the Simulink tool is existing technology and will not be described in detail here. Then, based on the center of gravity of the transported object, gripping points are set in the same force plane as the center of gravity, so that the force center of the gripping point and the center of gravity of the transported object form a stable force relationship. Step 4: Identify the minimum placement height at the endpoint. The minimum placement height refers to the value of the bottom of the transported item on the Z-axis when it is placed, that is, the vertical distance between the bottom surface of the transported item and the reference plane, which is the plane with Z=0. The minimum placement height is added to the height threshold X1 to obtain the lifting height. The specific value of the height threshold X1 is set by those skilled in the art based on big data experience. At the same time, the purpose of adding the height threshold X1 to the lifting height is to reserve a safety redundancy space for the entire hoisting process, thereby reducing the risk of collision and ensuring the safety of the transported goods from hoisting to placement. The position of the gripping point on the transport object is obtained, and the coordinate position of the gripping point is determined in the trajectory space. Based on the coordinate position of the gripping point, the crane lifts the transport object. When the transported object begins to be lifted, the offset angle is collected by the sensor. The offset angle refers to the tilt angle of the lifting device, that is, the angle between the lifting device and the vertical direction. Furthermore, in this embodiment, the sensor for collecting the offset angle is set as a tilt sensor. Based on the offset angle and minimum placement height, the vertical motion trajectory is set. Specific methods for setting the motion trajectory include: S1: Identify the initial height of the transported object at the starting position, and subtract the initial height from the minimum placement height to obtain the vertical transport distance. The initial height refers to the vertical distance between the bottom surface of the transported object and the reference plane when the transported object is placed at the starting position. Based on the offset angle, identify the fulcrum with potential overturning risk on the transported goods and mark this fulcrum as the risk fulcrum. Identify the coordinate position P (Xp, Yp, Zp) of the risk fulcrum, and at the same time obtain the coordinate position C (Xc, Yc, Zc) of the center of gravity and the coordinate position B (Xb, Yb, Zb) of the grab point. Using formula Obtain the horizontal lever arm ds, and then use the formula Obtain the anti-tipping lever arm hs; It should be further explained that when calculating the anti-overturning lever arm, the risk fulcrum and the anti-overturning lever arm on the same side are processed. The method for setting the risk fulcrum includes: arbitrarily selecting a point at the edge contour of the transported object, and marking this point as the risk fulcrum, where the horizontal distance from the center of gravity to this point is the largest and the anti-overturning moment is the smallest. The coordinate positions of the risk fulcrum and the center of gravity are collected at the same time. When collecting the coordinate positions, the transported object is in a stationary state, that is, when the transported object is not lifted. S2: When the transported object is lifted, a force analysis is performed on the transported object. The current transported object experiences n core forces, including gravity G, lifting gear tension Ft, lateral constraint force Fn, and a longitudinal inertial force. m is the mass of the transported goods. The acceleration of the transported object during the lifting process; furthermore, the tension of the spreader is along the inclination direction of the spreader, and the lateral constraint force is the resultant force at the contact point between the spreader and the object; S3: Calculate the overturning moment M1 and the anti-overturning moment M2: When the transported object is in a state of vertical acceleration and ascent, the longitudinal inertial force Fs is in the same direction as the gravity G. The overturning moment M1 can be obtained using the formula M1 = (G + Fs) × ds. Simultaneously, the calculation formula... Anti-tipping moment M2; When the transported goods are in a decelerating upward state, the longitudinal inertial force Fs is opposite in direction to the gravity G. The overturning moment M1 can be obtained using the formula M1 = (G - Fs) × ds. Simultaneously, the calculation formula... Anti-tipping moment M2, This is the offset angle; S4: Set the critical state M1=M2. When M1=M2, substitute the formula and process it to obtain... ; when When ds > 0, there is no risk of tipping over in the vertical direction, and a normal operation signal is generated. If this occurs, there is a risk of tipping over in the vertical direction, at which point an adjustment signal is generated; When an adjustment signal is detected, the gripping point of the transported goods is readjusted until... And generate normal operation signals; When a normal operation signal is generated, the vertical transport distance is obtained, and the transported goods are raised vertically according to the vertical transport distance; Step 5: Obtain the offset angle under normal operating signal conditions The horizontal lever arm ds and the anti-overturning lever arm hs are set with lateral inertial force. , The acceleration during horizontal movement is used as the basis for force analysis of the transported object, which is then performed using the method described above, while also considering the offset angle based on the normal operating signal. Calculate the overturning moment M1 and the anti-overturning moment M2 in the horizontal direction, respectively, using the horizontal lever arm ds and the anti-overturning lever arm hs. It should be further explained that, during the force analysis, the motion scenario needs to be divided into acceleration motion scenario and deceleration motion scenario; Set the critical state M1=M2, and substitute M1 and M2 into the equilibrium equations respectively to calculate the acceleration. At this point, the obtained acceleration a2 is set as the critical acceleration value. ; Based on the critical value of acceleration The real-time acceleration of the transported object in the horizontal direction is set so that the real-time acceleration is less than or equal to a critical acceleration value. ; Finally, the transported goods are transferred according to the real-time running acceleration, and then transferred to the destination.

[0020] An unmanned control system for cranes includes: The simulation building module is used to collect the crane's operating space, build the basic simulation space, and transmit it to the task space setting module. The task receiving module is used to receive the current crane's execution task and transmit it to the space setting module; The spatial setting module is used to acquire real-time spatial images of the real-time acquisition running space, fuse the real-time spatial images with the basic simulation space to obtain the execution state space, then identify the start and end positions of the task to be executed, and mark them in real time in the execution state space to obtain the start and end positions. Based on the start and end positions, the trajectory space is determined and transmitted to the spatial recognition module. The spatial identification module is used to identify hazardous objects in the trajectory space and determine the safe space signal. Then, the spatial identification module transmits the safe space signal to the longitudinal analysis module. The longitudinal analysis module is used to obtain the center of gravity of the transported object and set the gripping point based on the center of gravity. Then, the crane lifts the transported object according to the gripping point and performs force analysis on the transported object during lifting. At the same time, the longitudinal inertial force is set to determine the overturning moment and anti-overturning moment under different states. The critical state is set, and the offset angle corresponding to the normal operation signal is adjusted based on the equation relationship between the overturning moment and anti-overturning moment under the critical state. Then, a one-way communication connection is established between the longitudinal analysis module and the lateral analysis module. The lateral analysis module is used to acquire the offset angle corresponding to the normal operation signal, and to perform force analysis on the transported object again based on the offset angle. At the same time, the inertial force at this time is set as the lateral inertial force, and the overturning moment and anti-overturning moment in the horizontal direction are calculated separately. Then, a critical state is set, and the critical acceleration value is determined based on the equation relationship between the overturning moment and the anti-overturning moment in the critical state. After that, a one-way communication connection is established between the lateral analysis module and the transport execution module. The transport execution module is used to receive the acceleration threshold value and set the real-time running acceleration of the transported object in the horizontal direction according to the acceleration threshold value, so that the real-time running acceleration is less than or equal to the acceleration threshold value. The transport execution module then transfers the transported goods according to the real-time running acceleration, thereby transferring the transported goods to the destination location.

[0021] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A method for unmanned control of a crane, characterized in that, The method specifically includes the following steps: Step 1: Collect the crane's operating space and build it using the simulation building module to obtain the basic simulation space; Step 2: Receive the current crane's execution task and simultaneously acquire real-time spatial images of the operating space. Fuse the real-time spatial images with the basic simulation space to obtain the execution state space. Then, identify the start and end positions of the execution task and mark them in real time in the execution state space to obtain the start and end positions. Based on the start and end positions, determine the trajectory space and identify hazardous objects in the trajectory space to determine the safety space signal. Step 3: When a safe space signal is detected, obtain the center of gravity of the transported object and set the grab point based on the center of gravity; Step 4: The crane lifts the transported object according to the grab point, performs force analysis on the transported object during lifting, sets longitudinal inertial force, determines the overturning moment and anti-overturning moment under different conditions, sets critical state, adjusts the offset angle based on the equation relationship between the overturning moment and anti-overturning moment under the critical state, and determines the normal operation signal; Step 5: Obtain the offset angle corresponding to the normal operation signal, and perform force analysis on the transported object again based on the offset angle. At the same time, set the inertial force at this time as the lateral inertial force, and calculate the overturning moment and anti-overturning moment in the horizontal direction respectively. Then set the critical state, and determine the acceleration critical value based on the equation relationship between the overturning moment and the anti-overturning moment in the critical state. Set the real-time running acceleration of the transported object in the horizontal direction based on the acceleration critical value.

2. The unmanned crane control method according to claim 1, characterized in that, The methods for constructing a basic simulation space include: Based on the crane's operating space, visual acquisition equipment is used to collect the spatial structure of the operating space in an empty state. The operating space refers to all physical areas that all moving parts of the crane can reach during full-condition operation. Based on the spatial structure in the blank state, a basic simulation space is built in the simulation building module. After the basic simulation space is built, an arbitrary point is selected and set as the origin coordinate. Based on the origin coordinate, a spatial coordinate system is set in the basic simulation space.

3. The unmanned crane control method according to claim 1, characterized in that, Methods for determining the trajectory space include: When the crane receives the task, it uses the vision acquisition device to collect the real-time status of the operating space again to obtain the real-time spatial image. Then, the real-time spatial image is fused with the basic simulation space to obtain the execution state space. Obtain the start and end positions of the task and mark them in real time in the execution state space to obtain the start coordinates and end coordinates. The start position refers to the current position of the real-time load, and the end position refers to the final position of the real-time load. Connect the starting point coordinates and the ending point coordinates, and mark the resulting straight line as a diagonal. Decompose the diagonal perpendicularly at the starting point coordinates and the ending point coordinates to obtain decomposed branches. Obtain the closed region enclosed between the decomposed branches of the starting point coordinates and the decomposed branches of the ending point coordinates, and mark this closed region as a two-dimensional trajectory plane. Then, map the two-dimensional trajectory plane to the X and Y axes of the spatial coordinate system. Based on the height of the execution state space, expand the corresponding height value in the Z-axis direction, and mark the expanded space as the trajectory space.

4. The unmanned crane control method according to claim 3, characterized in that, The enclosed region is a rectangle, and the line connecting the starting and ending coordinates is the diagonal of the rectangle.

5. The unmanned crane control method according to claim 1, characterized in that, Methods for determining safe space signals include: The system identifies whether there are hazardous objects in the current trajectory space. If there are hazardous objects, a spatial hazard signal is generated and transmitted to the terminal equipment for further confirmation by relevant personnel. Conversely, if there are no hazardous objects, a safe space signal is generated. Hazardous objects refer to objects, environmental conditions, and spatial obstacles that collide with or interfere with the moving parts of the crane, or cause abnormal operation of the crane, or lead to safety accidents.

6. The unmanned crane control method according to claim 1, characterized in that, The methods for setting up capture points include: When a safe space signal is detected, the transport object to be transferred is identified at the starting point. At the same time, the shape of the transport object is scanned and virtually constructed on the simulation software to obtain a three-dimensional simulation model of the transport object. The outline of the 3D simulation model is identified. If the outline of the 3D simulation model is a regular shape, the position of the center of gravity of the 3D simulation model is directly determined. If the outline of the 3D simulation model is an irregular shape, the position of the center of gravity of the 3D simulation model is identified by the center of gravity recognition technology. Based on the center of gravity of the transported object, gripping points are set in the same force plane as the center of gravity, so that the force center of the gripping point and the center of gravity of the transported object form a stable force relationship.

7. The unmanned crane control method according to claim 1, characterized in that, Methods for determining normal operation signals include: Identify the minimum placement height at the endpoint position. The minimum placement height refers to the value of the bottom of the transported item on the Z-axis when it is placed, which is the vertical distance between the bottom surface of the transported item and the reference plane, which is the plane with Z=0. The lifting height is obtained by adding the minimum placement height to the height threshold X1. The position of the gripping point on the transport object is obtained, and the coordinate position of the gripping point is determined in the trajectory space. Based on the coordinate position of the gripping point, the crane lifts the transport object. When the transported object begins to be lifted, the offset angle is collected by the sensor. The offset angle refers to the tilt angle of the lifting device, that is, the angle between the lifting device and the vertical direction. Identify the initial height of the transported object at the starting point, and subtract the initial height from the minimum placement height to obtain the vertical transport distance. The initial height refers to the vertical distance between the bottom surface of the transported object and the reference plane when the transported object is placed at the starting point. Based on the offset angle, identify the fulcrum with potential overturning risk on the transported goods and mark this fulcrum as the risk fulcrum. Identify the coordinate position P (Xp, Yp, Zp) of the risk fulcrum, and at the same time obtain the coordinate position C (Xc, Yc, Zc) of the center of gravity and the coordinate position B (Xb, Yb, Zb) of the grab point. Using formula Obtain the horizontal lever arm ds, and then use the formula Obtain the anti-tipping lever arm hs; When the transported object is lifted, a force analysis is performed on the object, and the overturning moment M1 and the anti-overturning moment M2 are calculated. The object currently experiences n core forces, including gravity G, lifting gear tension Ft, lateral constraint force Fn, and a longitudinal inertial force. m is the mass of the transported goods. The acceleration of the transported object during the lifting process is given by the spreader tension along the direction of the spreader's inclination, and the lateral constraint force is the resultant force at the contact point between the spreader and the object. Set the critical state M1=M2. When M1=M2, substitute the values ​​into the formula and process the result. ; when When ds > 0, there is no risk of tipping over in the vertical direction, and a normal operation signal is generated. If this occurs, there is a risk of tipping over in the vertical direction, at which point an adjustment signal is generated; When an adjustment signal is detected, the gripping point of the transported goods is readjusted until... And generate normal operation signals; When a normal operation signal is generated, the vertical transport distance is obtained, and the transported goods are raised vertically according to the vertical transport distance.

8. The unmanned crane control method according to claim 7, characterized in that, The calculation methods for overturning moment M1 and anti-overturning moment M2 include: When the transported object is in a state of vertical acceleration and ascent, the longitudinal inertial force Fs is in the same direction as the gravity G. The overturning moment M1 can be obtained using the formula M1 = (G + Fs) × ds. Simultaneously, the calculation formula... Anti-tipping moment M2; When the transported goods are in a decelerating upward state, the longitudinal inertial force Fs is opposite in direction to the gravity G. The overturning moment M1 can be obtained using the formula M1 = (G - Fs) × ds. Simultaneously, the calculation formula... Anti-tipping moment M2, This is the offset angle.

9. A method for unmanned control of a crane according to claim 8, characterized in that, Methods for determining the critical value of acceleration include: Obtain the offset angle under normal operating signal The horizontal lever arm ds and the anti-overturning lever arm hs are set with lateral inertial force. , The acceleration during horizontal movement is used as the basis for force analysis of the transported object, which is then performed using the method described above, while also considering the offset angle based on the normal operating signal. Calculate the overturning moment M1 and the anti-overturning moment M2 in the horizontal direction, respectively, using the horizontal lever arm ds and the anti-overturning lever arm hs. In the process of force analysis, the motion scenario needs to be divided into acceleration motion scenario and deceleration motion scenario; Set the critical state M1=M2, and substitute M1 and M2 into the equilibrium equations respectively to calculate the acceleration. At this point, the obtained acceleration a2 is set as the critical acceleration value. ; Based on the critical value of acceleration The real-time acceleration of the transported object in the horizontal direction is set so that the real-time acceleration is less than or equal to a critical acceleration value. ; Finally, the transported goods are transferred according to the real-time running acceleration, and then transferred to the destination.

10. A crane unmanned control system, comprising a crane unmanned control method according to any one of claims 1-9, characterized in that, include: The simulation building module is used to collect the crane's operating space and build it to obtain the basic simulation space; The task receiving module is used to receive the current crane's execution tasks; The spatial setting module is used to acquire real-time spatial images of the real-time acquisition running space, fuse the real-time spatial images with the basic simulation space to obtain the execution state space, then identify the start and end positions of the task to be executed, and mark them in real time in the execution state space to obtain the start and end positions, and determine the trajectory space based on the start and end positions; The spatial recognition module is used to identify hazardous objects in the trajectory space and determine safe space signals; The longitudinal analysis module is used to obtain the center of gravity of the transported object and set the gripping point based on the center of gravity. Then, the crane lifts the transported object according to the gripping point and performs force analysis on the transported object during lifting. At the same time, the longitudinal inertial force is set to determine the overturning moment and anti-overturning moment under different states. The critical state is set, and the offset angle corresponding to the normal operation signal is adjusted based on the equation relationship between the overturning moment and anti-overturning moment under the critical state. The lateral analysis module is used to obtain the offset angle corresponding to the normal operation signal, and to perform force analysis on the transported object again based on the offset angle. At the same time, the inertial force at this time is set as the lateral inertial force, and the overturning moment and anti-overturning moment in the horizontal direction are calculated separately. Then, the critical state is set, and the critical acceleration value is determined based on the equation relationship between the overturning moment and the anti-overturning moment in the critical state. The transport execution module is used to receive the acceleration threshold value and set the real-time running acceleration of the transported object in the horizontal direction according to the acceleration threshold value, so that the real-time running acceleration is less than or equal to the acceleration threshold value. The transport execution module then transfers the transported goods according to the real-time running acceleration.

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