Overhead crane control method, device and electronic equipment

Abstract

The present invention is applicable to the field of overhead crane technology and provides an overhead crane control method, device, and electronic equipment. The method comprises: obtaining operational information of any two adjacent overhead cranes on an overhead crane track; determining whether the two cranes meet preset conditions based on the operational information; if so, calculating the optimal collision avoidance distance between the two cranes based on the operational information; and controlling the two cranes based on the optimal collision avoidance distance. While ensuring the safety of the cranes, the present invention shortens the collision avoidance distance of the cranes and improves their operating efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of overhead cranes, and in particular relates to an overhead crane control method, device and electronic equipment. Background Art

[0002] With the development of smart factories in the metallurgical industry, unmanned systems in storage areas have received widespread attention.

[0003] In the unmanned system of the storage area, it is necessary to improve the operating efficiency of the overhead crane and ensure its safety. Therefore, the optimal anti-collision distance between overhead cranes is an important research direction of the unmanned storage area.

[0004] In existing technologies, the collision avoidance distance of overhead cranes is fixed. To ensure safe operation under various operating conditions, this distance is typically set relatively large. Excessively large collision avoidance distances severely restrict warehouse logistics efficiency. While ensuring overhead crane safety, reducing the collision avoidance distance significantly improves warehouse efficiency. Irrational collision avoidance strategies lead to low operational efficiency and a poor user experience. Summary of the Invention

[0005] In view of this, embodiments of the present invention provide an overhead crane control method, device, and electronic device to solve the problems of large anti-collision distance and low operating efficiency of overhead cranes in the prior art.

[0006] A first aspect of an embodiment of the present invention provides an overhead crane control method, comprising:

[0007] Get the operation information of any two adjacent overhead cranes on the overhead crane track;

[0008] Determine whether the two overhead cranes meet the preset conditions based on the operation information. If the two overhead cranes meet the preset conditions, calculate the optimal collision avoidance distance between the two overhead cranes based on the operation information.

[0009] The two overhead cranes are controlled based on the optimal collision avoidance distance.

[0010] Optionally, the operation information includes the current speed of the overhead crane; and determining whether the two overhead cranes meet preset conditions based on the operation information includes:

[0011] According to the current speeds of the two overhead cranes, determine whether the two overhead cranes are approaching each other;

[0012] If the judgment result shows that the two overhead cranes are approaching each other, it is determined that the two overhead cranes meet the preset conditions.

[0013] Optionally, the operation information includes the maximum speed, maximum braking distance and width of the overhead crane;

[0014] The formula for calculating the optimal collision avoidance distance between two overhead cranes based on operating information is:

[0015]

[0016] Where, v 1. v 2 are the current speeds of the two overhead cranes, v max is the maximum speed of the two overhead cranes, a is the maximum braking distance of the two overhead cranes, b is the preset deviation coefficient, H is the width of the two overhead cranes, D is the preset ranging deviation value.

[0017] Optionally, the overhead crane control method further includes:

[0018] If the judgment result shows that the two overhead cranes do not meet the preset conditions, the optimal anti-collision distance between the two overhead cranes is set to ;

[0019] in, H is the width of the two overhead cranes, D is the preset ranging deviation value.

[0020] Optionally, control the two overhead cranes based on the optimal collision avoidance distance, including:

[0021] Control the distance between the two overhead cranes to be no less than the optimal anti-collision distance.

[0022] Optionally, controlling the distance between the two overhead cranes to be no less than the optimal collision avoidance distance includes:

[0023] Get the time when the two overhead cranes' operation instructions were generated;

[0024] Keep the operating status of the first overhead crane unchanged, and adjust the operating status of the second overhead crane so that the distance between the two overhead cranes is not less than the optimal collision avoidance distance;

[0025] The first overhead crane is the one whose operation instruction is generated earlier among the two overhead cranes, and the second overhead crane is the one whose operation instruction is generated later among the two overhead cranes.

[0026] Optionally, the two overhead cranes are controlled based on the optimal collision avoidance distance, and further include:

[0027] If the distance between the two overhead cranes is less than the optimal collision avoidance distance at any time, the two overhead cranes will be emergency stopped.

[0028] A second aspect of an embodiment of the present invention provides an overhead crane control device, comprising:

[0029] An acquisition module is used to obtain the operation information of any two adjacent overhead cranes on the overhead crane track;

[0030] a calculation module, configured to determine whether the two overhead cranes meet preset conditions based on the operation information, and if the two overhead cranes meet the preset conditions, calculate the optimal collision avoidance distance between the two overhead cranes based on the operation information;

[0031] The control module is used to control the two overhead cranes based on the optimal collision avoidance distance.

[0032] A third aspect of an embodiment of the present invention provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the overhead crane control method of the first aspect are implemented.

[0033] A fourth aspect of an embodiment of the present invention provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the steps of the overhead crane control method according to the first aspect are implemented.

[0034] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0035] This embodiment of the present invention uses the operating information of two adjacent overhead cranes on the overhead crane track to determine whether the two cranes meet preset conditions. If so, it calculates the optimal collision avoidance distance between the two cranes based on the operating information and controls the two cranes based on the optimal collision avoidance distance, thereby automatically adjusting the collision avoidance distance of the cranes. Compared with existing technologies, this embodiment of the present invention shortens the collision avoidance distance of the cranes and expands the operating range of the cranes, while ensuring the safety of the cranes, thereby significantly improving the operating efficiency of the cranes. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0037] Figure 1 1 is a flow chart of a method for controlling an overhead crane according to an embodiment of the present invention;

[0038] Figure 2 Detailed flowchart of the overhead crane control method provided by an embodiment of the present invention;

[0039] Figure 3 is a schematic diagram of an overhead crane control device provided by an embodiment of the present invention;

[0040] Figure 4 is a schematic diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0041] In the following description, specific details such as particular system structures and techniques are provided for purposes of illustration, not limitation, to facilitate a thorough understanding of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

[0042] In order to illustrate the technical solution of the present invention, specific embodiments are provided below.

[0043] An embodiment of the present invention provides a method for automatically adjusting the optimal collision avoidance distance of overhead cranes. The method is used to ensure collision avoidance safety between unmanned overhead cranes after unmanned technology is implemented in metallurgical warehouses. By calculating parameters such as the speed and running direction of adjacent overhead cranes, the optimal collision avoidance distance between the overhead cranes is obtained, and this data is applied to the overhead crane control to ensure the safe operation of the overhead cranes.

[0044] See also Figure 1 As shown, the method includes the following steps:

[0045] Step S101: obtaining the operation information of any two adjacent overhead cranes on the overhead crane track.

[0046] In the embodiment of the present invention, the operating information of the overhead crane consists of two parts. One part is basic information, including the maximum speed of the overhead crane, the maximum braking distance of the overhead crane, the width of the overhead crane, and the distance measurement deviation value. In the same overhead crane system, the basic information is the same for each overhead crane. The other part is real-time information, including the current position of the overhead crane, the current speed of the overhead crane (the operating direction is indicated by positive and negative), etc.

[0047] Step S102: determining whether the two overhead cranes meet preset conditions based on the operation information; if the two overhead cranes meet the preset conditions, calculating the optimal collision avoidance distance between the two overhead cranes based on the operation information.

[0048] As a possible implementation, in step S102, whether the two overhead cranes meet the preset conditions is determined based on the operation information, which can be described in detail as follows:

[0049] According to the current speeds of the two overhead cranes, determine whether the two overhead cranes are approaching each other;

[0050] If the judgment result shows that the two overhead cranes are approaching each other, it is determined that the two overhead cranes meet the preset conditions.

[0051] In this embodiment, two overhead cranes are approaching each other, which may include the following working conditions:

[0052] (1) The two overhead cranes move in opposite directions.

[0053] (2) The two overhead cranes move in the same direction, and the speed of the latter crane is greater than that of the former crane.

[0054] (3) One overhead crane is stationary and the other overhead crane is moving towards the stationary overhead crane.

[0055] It is understandable that the minimum anti-collision distance varies under different operating conditions when two overhead cranes are approaching each other. Existing technologies generally set the anti-collision distance relatively large to ensure the safe operation of the overhead cranes under different operating conditions. However, this embodiment dynamically calculates the optimal anti-collision distance between the two overhead cranes, ensuring the safety of the overhead cranes and minimizing the anti-collision distance under different operating conditions. The calculation formula is as follows:

[0056]

[0057] Where, v 1. v 2 are the current speeds of the two overhead cranes, v max is the maximum speed of the two overhead cranes, a is the maximum braking distance of the two overhead cranes, b is the preset deviation coefficient, H is the width of the two overhead cranes, D It is a preset distance measurement deviation value, which can be obtained in advance from actual measurement.

[0058] Step S103: Control the two overhead cranes based on the optimal collision avoidance distance.

[0059] As one possible implementation, in step S103, controlling the two overhead cranes based on the optimal collision avoidance distance includes adjusting the operating states of the two overhead cranes as they approach each other so that the distance between them does not fall below the optimal collision avoidance distance. Preferably, the distance between the two overhead cranes is equal to the optimal collision avoidance distance, thereby ensuring both overhead crane safety and improving operational efficiency.

[0060] As can be seen, the embodiment of the present invention determines whether the two adjacent overhead cranes on the overhead crane track meet preset conditions based on the operating information of the two overhead cranes. If so, the optimal collision avoidance distance between the two overhead cranes is calculated based on the operating information. The two overhead cranes are controlled based on the optimal collision avoidance distance, thereby automatically adjusting the collision avoidance distance of the overhead cranes. Compared with the existing technology, the embodiment of the present invention shortens the collision avoidance distance of the overhead cranes and expands the operating range of the overhead cranes while ensuring the safety of the overhead cranes, thereby greatly improving the operating efficiency of the overhead cranes.

[0061] In one embodiment, the overhead crane control method may further include:

[0062] If the judgment result shows that the two overhead cranes do not meet the preset conditions, the optimal anti-collision distance between the two overhead cranes is set to ;

[0063] in, H is the width of the two overhead cranes, D is the preset ranging deviation value.

[0064] In this embodiment, the two overhead cranes do not meet the preset conditions, mainly in the following working conditions:

[0065] (1) The two overhead cranes move in opposite directions.

[0066] (2) Both overhead cranes are stationary.

[0067] (3) The two overhead cranes move in the same direction, and the speed of the latter crane is less than that of the former crane.

[0068] (4) One overhead crane is stationary, and the other overhead crane moves in the opposite direction of the stationary overhead crane.

[0069] Under the above working conditions, since the two overhead cranes will not get close to each other, there will be no collision. Therefore, the optimal anti-collision distance can be set as the sum of the width of the overhead crane and the distance measurement deviation value, and the operating status of the two overhead cranes can be left unchanged.

[0070] As a possible implementation method, controlling the distance between the two overhead cranes to be no less than the optimal collision avoidance distance may include:

[0071] Get the time when the two overhead cranes' operation instructions were generated;

[0072] Keep the operating status of the first overhead crane unchanged, and adjust the operating status of the second overhead crane so that the distance between the two overhead cranes is not less than the optimal collision avoidance distance;

[0073] The first overhead crane is the one whose operation instruction is generated earlier among the two overhead cranes, and the second overhead crane is the one whose operation instruction is generated later among the two overhead cranes.

[0074] In the embodiment of the present invention, the overhead crane performs operations sequentially according to the sequence of operation instructions.

[0075] In one embodiment, two overhead cranes move in the same direction, and the speed of the rear overhead crane B is greater than the speed of the front overhead crane A. Assuming that overhead crane A receives the operation instruction first, overhead crane A maintains its original motion state and overhead crane B slows down, ensuring that the minimum distance between the two overhead cranes is at least the optimal collision avoidance distance.

[0076] In one embodiment, overhead crane A is stationary while overhead crane B moves toward overhead crane A. Assuming overhead crane A receives the work instruction first and is currently stationary, overhead crane B will wait at a distance at least the optimal collision avoidance distance from overhead crane A. Assuming overhead crane B receives the work instruction first and overhead crane A has not, overhead crane A will be controlled to move forward, making way for overhead crane B, ensuring that overhead crane B can operate first.

[0077] In one embodiment, two overhead cranes move in opposite directions. If overhead crane A receives the work instruction first, the operating state of overhead crane A remains unchanged, and overhead crane B is controlled to slow down or reverse to make way for overhead crane A, ensuring that overhead crane A can operate first. After overhead crane A completes its work, overhead crane B is controlled to reach the work location.

[0078] It is understandable that, under the working condition that the two overhead cranes are not close to each other, the results obtained by the calculation in the above steps will not change the operating states of the two overhead cranes, that is, there is no need to adjust the operating states of the two overhead cranes.

[0079] In addition, no matter how they move, the distance between two adjacent overhead cranes is not less than the optimal anti-collision distance, and the optimal anti-collision distance is dynamically determined according to the operating status of the two overhead cranes.

[0080] In this way, the overhead crane's collision avoidance distance is optimized, shortened, and its operating range is increased, thereby greatly improving its operating efficiency. At the same time, the safety of the overhead crane is ensured, meeting the future needs of the development of unmanned overhead crane systems.

[0081] In one embodiment, controlling two overhead cranes based on the optimal collision avoidance distance further includes:

[0082] If the distance between the two overhead cranes is less than the optimal collision avoidance distance at any time, the two overhead cranes will be emergency stopped.

[0083] In an embodiment of the present invention, when the distance between the two overhead cranes is less than the optimal anti-collision distance, it indicates that a control failure of the overhead crane occurs. In this case, an emergency stop button can be used to perform a physical emergency stop to avoid danger.

[0084] In one embodiment, see Figure 2 As shown, the overall process of the overhead crane control method can be:

[0085] Get the operation information of any two adjacent overhead cranes on the overhead crane track;

[0086] The anti-collision strategy is determined based on the operation information. Anti-collision strategy 0 is that overhead crane A and overhead crane B move in opposite directions; anti-collision strategy 1 is that overhead crane A is stationary and overhead crane B moves in opposite directions, or overhead crane B is stationary and overhead crane A moves in opposite directions; anti-collision strategy 2 is that overhead crane A is stationary and overhead crane B is stationary; anti-collision strategy 3 is that overhead crane A and overhead crane B move in the same direction, and the speed of the latter overhead crane is less than that of the former overhead crane; anti-collision strategy 4 is that overhead crane A and overhead crane B move in the same direction, and the speed of the latter overhead crane is greater than that of the former overhead crane; anti-collision strategy 5 is that overhead crane A moves toward overhead crane B and overhead crane B is stationary, or overhead crane B moves toward overhead crane A and overhead crane A is stationary; anti-collision strategy 6 is that overhead crane A and overhead crane B move in opposite directions.

[0087] Among them, in the anti-collision strategies 0, 1, 2, and 3, the two overhead cranes do not approach each other and will not collide. The optimal anti-collision distance between the two overhead cranes is set to In anti-collision strategies 4, 5, and 6, the two overhead cranes are close to each other, and the optimal anti-collision distance between the two overhead cranes is set to .

[0088] According to the optimal anti-collision distance, the optimal control of each overhead crane can be achieved.

[0089] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0090] The embodiment of the present invention provides a crane control device, see Figure 3 As shown, the device 30 includes:

[0091] The acquisition module 31 is used to acquire the operation information of any two adjacent overhead cranes on the overhead crane track.

[0092] The calculation module 32 is used to determine whether the two overhead cranes meet the preset conditions according to the operation information, and if the two overhead cranes meet the preset conditions, calculate the optimal collision avoidance distance of the two overhead cranes according to the operation information.

[0093] The control module 33 is used to control the two overhead cranes based on the optimal collision avoidance distance.

[0094] As a possible implementation, the operation information includes the current speed of the overhead crane. The calculation module 32 is specifically used to:

[0095] According to the current speeds of the two overhead cranes, determine whether the two overhead cranes are approaching each other;

[0096] If the judgment result shows that the two overhead cranes are approaching each other, it is determined that the two overhead cranes meet the preset conditions.

[0097] As a possible implementation, the operation information includes the maximum speed, maximum braking distance and width of the overhead crane. The calculation module 32 is specifically used to:

[0098] The optimal collision avoidance distance between two overhead cranes is calculated according to the following formula:

[0099]

[0100] Where, v 1. v 2 are the current speeds of the two overhead cranes, v max is the maximum speed of the two overhead cranes, a is the maximum braking distance of the two overhead cranes, b is the preset deviation coefficient, H is the width of the two overhead cranes, D is the preset ranging deviation value.

[0101] As a possible implementation manner, the calculation module 32 is further configured to:

[0102] If the judgment result shows that the two overhead cranes do not meet the preset conditions, the optimal anti-collision distance between the two overhead cranes is set to ;

[0103] in, H is the width of the two overhead cranes, D is the preset ranging deviation value.

[0104] As a possible implementation, the control module 33 is specifically configured to:

[0105] Control the distance between the two overhead cranes to be no less than the optimal anti-collision distance.

[0106] As a possible implementation, the control module 33 is specifically configured to:

[0107] Get the time when the two overhead cranes' operation instructions were generated;

[0108] Keep the operating status of the first overhead crane unchanged, and adjust the operating status of the second overhead crane so that the distance between the two overhead cranes is not less than the optimal collision avoidance distance;

[0109] The first overhead crane is the one whose operation instruction is generated earlier among the two overhead cranes, and the second overhead crane is the one whose operation instruction is generated later among the two overhead cranes.

[0110] As a possible implementation, the control module 33 is further configured to:

[0111] If the distance between the two overhead cranes is less than the optimal collision avoidance distance at any time, the two overhead cranes will be emergency stopped.

[0112] Figure 4 FIG is a schematic diagram of an electronic device 40 provided by an embodiment of the present invention. Figure 4 As shown, the electronic device 40 of this embodiment includes: a processor 41, a memory 42, and a computer program 43 stored in the memory 42 and executable on the processor 41, such as an overhead crane control program. When the processor 41 executes the computer program 43, the steps in the above-mentioned embodiments of the overhead crane control method are implemented, such as Figure 1 Alternatively, when the processor 41 executes the computer program 43, the functions of the modules in the above-mentioned device embodiments are realized, for example Figure 3 The functions of modules 31 to 33 are shown.

[0113] Exemplarily, computer program 43 may be divided into one or more modules / units, one or more of which are stored in memory 42 and executed by processor 41 to implement the present invention. One or more modules / units may be a series of computer program instruction segments capable of performing specific functions, and these instruction segments are used to describe the execution process of computer program 43 in electronic device 40. For example, computer program 43 may be divided into acquisition module 31, calculation module 32, and control module 33 (modules in the virtual device). The specific functions of each module are as follows:

[0114] The acquisition module 31 is used to acquire the operation information of any two adjacent overhead cranes on the overhead crane track.

[0115] The calculation module 32 is used to determine whether the two overhead cranes meet the preset conditions according to the operation information, and if the two overhead cranes meet the preset conditions, calculate the optimal collision avoidance distance of the two overhead cranes according to the operation information.

[0116] The control module 33 is used to control the two overhead cranes based on the optimal collision avoidance distance.

[0117] The electronic device 40 may be a computing device such as a desktop computer, a notebook computer, a PDA, or a cloud server. The electronic device 40 may include, but is not limited to, a processor 41 and a memory 42. Those skilled in the art will understand that Figure 4 It is only an example of the electronic device 40 and does not constitute a limitation of the electronic device 40. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the electronic device 40 may also include input and output devices, network access devices, buses, etc.

[0118] The processor 41 may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0119] The memory 42 can be an internal storage unit of the electronic device 40, such as a hard drive or memory of the electronic device 40. The memory 42 can also be an external storage device of the electronic device 40, such as a plug-in hard drive, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. equipped on the electronic device 40. Furthermore, the memory 42 can include both an internal storage unit of the electronic device 40 and an external storage device. The memory 42 is used to store computer programs and other programs and data required by the electronic device 40. The memory 42 can also be used to temporarily store data that has been output or is about to be output.

[0120] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0121] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0122] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0123] In the embodiments provided by the present invention, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are merely schematic. For example, the division of modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0124] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0125] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0126] If the integrated module / unit is implemented as a software functional unit and sold or used as a standalone product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention can implement all or part of the process steps in the above-mentioned method embodiments by using a computer program to instruct the relevant hardware. The computer program can be stored in a computer-readable storage medium. When executed by a processor, the computer program can implement the steps of each of the above-mentioned method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file, or some intermediate form. Computer-readable media can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, mobile hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunications signals, and software distribution media.

[0127] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the scope of protection of the present invention.

Claims

1. A method for controlling an overhead crane, characterized in that: include: Get the operation information of any two adjacent overhead cranes on the overhead crane track; determining whether the two overhead cranes meet preset conditions based on the operation information, and if the two overhead cranes meet the preset conditions, calculating the optimal collision avoidance distance between the two overhead cranes based on the operation information; Controlling the two overhead cranes based on the optimal collision avoidance distance; The operation information includes the current speed of the overhead crane; Determining whether the two overhead cranes meet preset conditions according to the operation information includes: According to the current speeds of the two overhead cranes, determine whether the two overhead cranes are approaching each other; If the judgment result shows that the two overhead cranes are approaching each other, it is determined that the two overhead cranes meet the preset conditions; The operation information includes the maximum speed, maximum braking distance and width of the overhead crane; The formula for calculating the optimal collision avoidance distance between two overhead cranes based on the operating information is: Where v1 and v2 are the current speeds of the two overhead cranes, v max is the maximum speed of the two overhead cranes, a is the maximum braking distance of the two overhead cranes, b is the preset deviation coefficient, H is the width of the two overhead cranes, and D is the preset distance measurement deviation value; Controlling the two overhead cranes based on the optimal collision avoidance distance includes: Controlling the distance between the two overhead cranes to be no less than the optimal collision avoidance distance; Controlling the distance between the two overhead cranes to be no less than the optimal collision avoidance distance includes: Get the time when the two overhead cranes' operation instructions were generated; Keeping the operating state of the first overhead crane unchanged, adjusting the operating state of the second overhead crane so that the distance between the two overhead cranes is not less than the optimal collision avoidance distance; The first overhead crane is the one whose operation instruction is generated earlier among the two overhead cranes, and the second overhead crane is the one whose operation instruction is generated later among the two overhead cranes.

2. The overhead crane control method according to claim 1, wherein: Also includes: If the judgment result shows that the two overhead cranes do not meet the preset conditions, the optimal collision avoidance distance between the two overhead cranes is set to y = (H + D); Wherein, H is the width of the two overhead cranes, and D is the preset distance measurement deviation value.

3. The overhead crane control method according to claim 1, wherein: Controlling the two overhead cranes based on the optimal collision avoidance distance also includes: If the distance between the two overhead cranes is less than the optimal anti-collision distance at any time, the two overhead cranes are subjected to emergency stop control.

4. A crane control device, characterized in that: The device is used to implement the overhead crane control method according to any one of claims 1 to 3; The device comprises: An acquisition module is used to obtain the operation information of any two adjacent overhead cranes on the overhead crane track; a calculation module, configured to determine whether the two overhead cranes meet preset conditions based on the operation information, and if the two overhead cranes meet the preset conditions, calculate the optimal collision avoidance distance between the two overhead cranes based on the operation information; A control module is used to control the two overhead cranes based on the optimal anti-collision distance.

5. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 3 are implemented.

6. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 3 are implemented.

Images