A traveling control method, system, storage medium and intelligent terminal for a rubber-tyred gantry crane

Abstract

The present application relates to a traveling control method, system, storage medium and intelligent terminal for a rubber-tyred gantry crane, and relates to the field of terminal operation equipment. It includes obtaining current position information and target position information; delimiting a moving range according to the current position information and the target position information, and obtaining the defect type information and defect position information of each defect; determining pre-deviation distance information corresponding to the defect type information according to a distance database; calculating according to the current position information and the defect position information of adjacent defects to determine interval distance information; determining upper limit distance information corresponding to the interval distance information according to an upper limit database; judging whether the upper limit distance information is greater than the pre-deviation distance information; if it is greater, determining operation path information according to the pre-deviation distance information and an upper limit angle value, determining operation position information according to the operation path information and the interval distance information, and controlling the rubber-tyred gantry crane to move with an offset at the operation position information. The present application has the effect of improving the operation efficiency of the rubber-tyred gantry crane.

Description

Technical Field

[0001] The present application relates to the field of dock operation equipment, and in particular to a method and system for controlling the travel of a rubber-tyred gantry crane, a storage medium and an intelligent terminal. Background Art

[0002] In order to facilitate the transportation of goods or containers on the dock, the use of rubber-tyred gantry cranes (hereinafter referred to as "RTGs") has been introduced. When using an RTG, the dock yard does not need to lay tracks for the gantry crane to move, and the gantry crane can move normally, which is convenient for the daily transportation operations of the dock.

[0003] In the related art, during the use of an RTG, due to factors such as bumps or depressions on the road, when the tyres of the RTG pass through such defects, the RTG may deviate from the original preset track. At this time, the driver of the RTG needs to observe whether the marker pole is deviated to determine whether the RTG is deviated, so as to manually correct the deviation after the RTG is deviated, so that the RTG can return to the preset track for movement after the deviation.

[0004] In view of the above related art, the inventor believes that when the tyres of the RTG pass through the defective area, correcting the deviation of the RTG requires the RTG to move a certain distance. During the process of correcting the deviation and moving, the RTG may have already passed the position where it needs to stop, so that the RTG needs to move in the opposite direction again, increasing the positioning time of the RTG and resulting in a relatively low overall operation efficiency of the RTG, and there is still room for improvement. Summary of the Invention

[0005] In order to improve the operation efficiency of the RTG, the present application provides a method and system for controlling the travel of an RTG, a storage medium and an intelligent terminal.

[0006] In a first aspect, the present application provides a method for controlling the travel of an RTG, adopting the following technical solution:

[0007] A method for controlling the travel of an RTG includes:

[0008] Obtaining the current position information of the RTG and the target position information of the destination where the RTG moves;

[0009] Defining a moving range according to the current position information and the target position information, and obtaining the defect type information and defect position information of each preset defect within the moving range, and defining the defect adjacent to the RTG within the moving range as an adjacent defect;

[0010] Matching and analyzing the defect type information stored in the preset distance database with the pre-deviation distance information to determine the pre-deviation distance information corresponding to the defect type information;

[0011] Calculate the interval distance information based on the current position information and the defect position information of adjacent defects;

[0012] Match and analyze the interval distance information stored in the preset upper limit database with the upper limit distance information to determine the upper limit distance information corresponding to the interval distance information;

[0013] Judge whether the distance value corresponding to the upper limit distance information is greater than the distance value corresponding to the pre-offset distance information;

[0014] If the distance value corresponding to the upper limit distance information is not greater than the distance value corresponding to the pre-offset distance information, output a distance insufficient signal;

[0015] If the distance value corresponding to the upper limit distance information is greater than the distance value corresponding to the pre-offset distance information, calculate according to the pre-offset distance information and the preset upper limit angle value to determine the operation distance information, and determine the operation position information according to the operation distance information and the interval distance information, and control the rubber tyred gantry crane to move in the direction of the adjacent defect at the position corresponding to the operation position information.

[0016] By adopting the above technical solution, first obtain the current position information of the rubber tyred gantry crane and the target position information of the destination to be moved, so as to determine the defect situation that will be encountered in the middle journey, and determine the distance information that needs to be pre-offset according to the corresponding defect situation, so that the rubber tyred gantry crane can perform pre-offset activities before moving to the defect. When the rubber tyred gantry crane passes through the defect, it is offset again under the action of the defect to return to the original moving track, so that the rubber tyred gantry crane does not need to be offset and adjusted after passing through the defect, so that the rubber tyred gantry crane can stop immediately if it needs to stop after passing through the defect, thus improving the subsequent operation efficiency of the rubber tyred gantry crane.

[0017] Optionally, after the pre-offset distance information is determined, the rubber tyred gantry crane travel control method further includes:

[0018] Obtain the coverage distance information of adjacent defects in the offset direction;

[0019] Judge whether the distance value corresponding to the pre-offset distance information is greater than the distance value corresponding to the coverage distance information;

[0020] If the distance value corresponding to the pre-offset distance information is not greater than the distance value corresponding to the coverage distance information, compare the upper limit distance information with the pre-offset distance information;

[0021] If the distance value corresponding to the pre-offset distance information is greater than the distance value corresponding to the coverage distance information, output an offset smaller signal, update the coverage distance information to the new pre-offset distance information to compare the upper limit distance information with the pre-offset distance information, and define the original pre-offset distance information as the initial distance information.

[0022] By adopting the above technical solution, the range of adjacent defects is determined to ensure that the RTG can still pass through the defect after the pre-offset operation, so that the defect can correct the pre-offset distance, enabling the RTG to return to the original moving track after passing the tire.

[0023] Optionally, after comparing the upper limit distance information with the pre-offset distance information, the RTG travel control method further includes:

[0024] Obtain the defect width information of the adjacent defect in the moving direction of the RTG and the defect angle information of the influence of the adjacent defect on the RTG offset;

[0025] Determine whether there is a distance shortage signal;

[0026] If there is a distance shortage signal, then determine whether there is a small offset signal;

[0027] If there is no small offset signal, output a first abnormal signal;

[0028] If there is a small offset signal, output a second abnormal signal;

[0029] If there is no distance shortage signal, then determine whether there is a small offset signal;

[0030] If there is no small offset signal, output a normal signal;

[0031] If there is a small offset signal, determine the minimum angle according to the angle value corresponding to the defect angle information and the upper limit angle value, and control the RTG to move to the edge in the length direction of the adjacent defect;

[0032] Calculate according to the defect width information and the minimum angle to determine the defect offset distance information, and calculate the difference between the initial distance information and the coverage distance information to determine the first offset difference information;

[0033] Determine whether the distance value corresponding to the defect offset distance information is less than the distance value corresponding to the first offset difference information;

[0034] If the distance value corresponding to the defect offset distance information is less than the distance value corresponding to the first offset difference information, then control the RTG to offset at the minimum angle to pass through the adjacent defect when the RTG moves to the adjacent defect;

[0035] If the distance value corresponding to the defect offset distance information is not less than the distance value corresponding to the first offset difference information, calculate according to the first offset difference information and the defect width information to determine the correction angle information, and control the RTG to offset at the angle corresponding to the correction angle information to pass through the adjacent defect when the RTG moves to the adjacent defect.

[0036] By adopting the above technical solution, the offset distance of the defective part on the tire crane can be determined according to the situation of the defect. Then, different moving situations can be distinguished based on the presence of the insufficient distance signal and the small offset signal. When there is a small offset signal but no insufficient distance signal, it indicates that the range of the defect in the offset direction is limited. At this time, the tire crane can only move to the edge of the adjacent defect, and then determine the minimum angle to prevent the tire crane from moving away from the defect, so that the tire crane can still correct the offset situation when moving through the defect, enabling the tire crane to approach the original moving track as much as possible when passing through the defect.

[0037] Optionally, after the first abnormal signal is output, the tire crane travel control method further includes:

[0038] Controlling the tire crane to move to the edge of the adjacent defect according to the upper limit distance information and calculating the difference between the upper limit distance information and the pre-offset distance information to determine the second offset difference information;

[0039] Calculating and determining the difference angle information based on the second offset difference information and the defect width information;

[0040] Judging whether the angle value corresponding to the difference angle information is greater than the upper limit angle value;

[0041] If the angle value corresponding to the difference angle information is greater than the upper limit angle value, then controlling the tire crane to offset at the upper limit angle value when the tire crane moves to the adjacent defect to pass through the adjacent defect;

[0042] If the angle value corresponding to the difference angle information is not greater than the upper limit angle value, then controlling the tire crane to offset at the angle value corresponding to the operation angle information when the tire crane moves to the adjacent defect to pass through the adjacent defect.

[0043] By adopting the above technical solution, when there is an insufficient distance signal but no small offset signal, it indicates that the distance for the tire crane to pre-offset in front of the adjacent defect cannot make the tire crane offset to a satisfactory position. At this time, calculate based on the actual position and the target position of the tire crane moving to the defect to determine the missing distance value, and then enable the tire crane to correct the offset according to the missing distance value, so that the tire crane can approach the original moving track as much as possible when passing through the defect.

[0044] Optionally, after the second abnormal signal is output, the tire crane travel control method further includes:

[0045] Controlling the tire crane to move to the edge of the adjacent defect according to the upper limit distance information and calculating the difference between the upper limit distance information and the initial distance information to determine the third offset difference information;

[0046] Calculating and determining the upper limit offset distance information based on the defect width information and the upper limit angle value;

[0047] Determine whether the distance value corresponding to the upper limit offset distance information is greater than the distance value corresponding to the third offset difference information;

[0048] If the distance value corresponding to the upper limit offset distance information is not greater than the distance value corresponding to the third offset difference information, then when the tire crane moves to the adjacent defect, control the tire crane to offset at the upper limit angle value to pass through the adjacent defect;

[0049] If the distance value corresponding to the upper limit offset distance information is greater than the distance value corresponding to the third offset difference information, then calculate according to the third offset difference information and the defect width information to determine the change angle information, and when the tire crane moves to the adjacent defect, control the tire crane to offset at the angle corresponding to the change angle information to pass through the adjacent defect.

[0050] By adopting the above technical solution, when there is both a distance shortage signal and a small offset signal, it indicates that the tire crane still cannot move to a position that meets the pre-offset. At this time, control the tire crane to offset as much as possible to move into the defect. When the tire crane enters the defect, the offset angle of the tire crane in the defect can be determined according to the difference in the offset situation, so that the tire crane can be as close as possible to the original moving track when passing through the defect.

[0051] Optionally, when the tire crane passes through the adjacent defect, the tire crane travel control method further includes:

[0052] Obtain the lateral offset information of the tire crane relative to the preset travel path;

[0053] Determine whether the offset value corresponding to the lateral offset information is zero;

[0054] If the offset value corresponding to the lateral offset information is zero, then control the tire crane to continue moving along the travel path;

[0055] If the offset value corresponding to the lateral offset information is not zero, then output a signal to be reset.

[0056] By adopting the above technical solution, when the tire crane passes through the defect, the movement situation of the tire crane can be judged to know whether the tire crane deviates from the original travel path, which is convenient for subsequent control and correction of the tire crane.

[0057] Optionally, after the signal to be reset is output, the tire crane travel control method further includes:

[0058] Control the tire crane to offset at the upper limit angle value to move towards the travel path and calculate according to the upper limit angle value and the lateral offset information to determine the longitudinal distance information;

[0059] Count the defects within the moving range to determine the defect quantity information;

[0060] Determine whether the quantity corresponding to the defect quantity information is zero;

[0061] If the quantity corresponding to the defect quantity information is not zero, then after the tire crane moves to the driving path, it moves along the driving path;

[0062] If the quantity corresponding to the defect quantity information is zero, then calculate and determine the moving distance information based on the defect position information and the target position information of the last passed defect;

[0063] Determine whether the value corresponding to the longitudinal distance information is greater than the value corresponding to the moving distance information;

[0064] If the value corresponding to the longitudinal distance information is not greater than the value corresponding to the moving distance information, then after the tire crane moves to the driving path, it moves along the driving path until it moves to the position corresponding to the target position information;

[0065] If the value corresponding to the longitudinal distance information is greater than the value corresponding to the moving distance information, then after the tire crane moves to the driving path, it moves in the reverse direction along the driving path until it moves to the position corresponding to the target position information.

[0066] By adopting the above technical solution, when the tire crane deviates from the original driving path after passing through a defect, it deviates at the upper limit angle value so that the tire crane can move to the driving path as soon as possible, and then judge the number of defects to determine whether there are defects between the current tire crane and the destination. When there are defects, the tire crane moves to the original driving path and then continues to move. When there are no defects, it means that the next position where the tire crane needs to move is the destination. At this time, judge whether the destination is passed during the deviation of the tire crane, so that when the tire crane moves to the original driving path, it can control the tire crane to move towards the target position information.

[0067] In a second aspect, the present application provides a tire crane traveling control system, adopting the following technical solution:

[0068] A tire crane traveling control system includes:

[0069] An acquisition module, configured to acquire the current position information of the tire crane and the target position information of the moving destination of the tire crane;

[0070] A processing module, connected to the acquisition module and the judgment module, for storing and processing information;

[0071] The processing module delimits a moving range according to the current position information and the target position information, and acquires the defect type information and defect position information of each preset defect within the moving range, and defines the defect adjacent to the tire crane within the moving range as an adjacent defect;

[0072] The processing module matches and analyzes the defect type information and the pre-offset distance information stored in the preset distance database to determine the pre-offset distance information corresponding to the defect type information;

[0073] The processing module calculates based on the current position information and the defect position information of adjacent defects to determine the interval distance information;

[0074] The processing module matches and analyzes the interval distance information and the upper limit distance information stored in the preset upper limit database to determine the upper limit distance information corresponding to the interval distance information;

[0075] A judgment module, configured to judge whether the distance value corresponding to the upper limit distance information is greater than the distance value corresponding to the pre-offset distance information;

[0076] If the judgment module judges that the distance value corresponding to the upper limit distance information is not greater than the distance value corresponding to the pre-offset distance information, the processing module outputs a distance insufficient signal;

[0077] If the judgment module judges that the distance value corresponding to the upper limit distance information is greater than the distance value corresponding to the pre-offset distance information, the processing module calculates based on the pre-offset distance information and the preset upper limit angle value to determine the operation distance information, and determines the operation position information based on the operation distance information and the interval distance information, and controls the tire crane to move in the direction of the adjacent defect by offsetting at the position corresponding to the operation position information.

[0078] By adopting the above technical solution, the acquisition module first acquires the current position information of the tire crane and the target position information of the destination to be moved, so that the processing module determines the defect situation that will be encountered in the intermediate journey. The processing module determines the distance information that needs to be pre-offset according to the corresponding defect situation, so that the tire crane can perform pre-offset activities before moving to the defect. When the tire crane passes through the defect, it is offset again under the action of the defect to return to the original moving track, so that the tire crane does not need to be offset and adjusted after passing through the defect, so that the tire crane can stop immediately if it needs to stop after passing through the defect, thereby improving the subsequent operation efficiency of the tire crane.

[0079] In a third aspect, the present application provides an intelligent terminal, adopting the following technical solution:

[0080] An intelligent terminal includes a memory and a processor, and a computer program capable of being loaded and executed by the processor for any one of the above tire crane travel control methods is stored on the memory.

[0081] By adopting the above technical solution, through the use of an intelligent terminal, the current position information of the rubber-tyred gantry crane and the target position information of the destination to be moved are first obtained to determine the defect conditions that will be encountered in the intermediate journey, and the distance information for pre-offset is determined according to the corresponding defect conditions, so that the rubber-tyred gantry crane can perform a pre-offset activity before moving to the defect. When the rubber-tyred gantry crane passes through the defect, it is offset again under the action of the defect to return to the original moving track, so that the rubber-tyred gantry crane does not need to be offset and adjusted after passing through the defect, so that the rubber-tyred gantry crane can stop immediately if it needs to stop after passing through the defect, thus improving the subsequent operation efficiency of the rubber-tyred gantry crane.

[0082] Fourthly, the present application provides a computer storage medium which can store corresponding programs and has the characteristic of improving the operation efficiency of a rubber-tyred gantry crane, and adopts the following technical solution:

[0083] A computer-readable storage medium stores a computer program that can be loaded and executed by a processor to perform any one of the above rubber-tyred gantry crane travel control methods.

[0084] By adopting the above technical solution, there is a computer program for the rubber-tyred gantry crane travel control method in the storage medium. First, the current position information of the rubber-tyred gantry crane and the target position information of the destination to be moved are obtained to determine the defect conditions that will be encountered in the intermediate journey, and the distance information for pre-offset is determined according to the corresponding defect conditions, so that the rubber-tyred gantry crane can perform a pre-offset activity before moving to the defect. When the rubber-tyred gantry crane passes through the defect, it is offset again under the action of the defect to return to the original moving track, so that the rubber-tyred gantry crane does not need to be offset and adjusted after passing through the defect, so that the rubber-tyred gantry crane can stop immediately if it needs to stop after passing through the defect, thus improving the subsequent operation efficiency of the rubber-tyred gantry crane.

[0085] In summary, the present application includes at least one of the following beneficial technical effects:

[0086] 1. The rubber-tyred gantry crane can be pre-offset before moving to the defect, so that the rubber-tyred gantry crane is on the driving path after moving through the defect, so that the rubber-tyred gantry crane can stop working at any time after passing through the defect, improving the operation efficiency of the rubber-tyred gantry crane;

[0087] 2. Different moving situations of the rubber-tyred gantry crane can be distinguished, so that the rubber-tyred gantry crane can be as close as possible to the driving path after passing through the defect;

[0088] 3. After the rubber-tyred gantry crane passes through the defect, for the rubber-tyred gantry crane not on the driving path, it can be controlled to perform a further offset operation so that the rubber-tyred gantry crane can move to the driving path, making the movement of the rubber-tyred gantry crane more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0089] Figure 1 is a flowchart of the rubber-tyred gantry crane travel control method.

[0090] Figure 2 It is a schematic diagram of the normal traveling process of a rubber tyred gantry crane.

[0091] Figure 3 It is a flowchart of the offset range limiting method.

[0092] Figure 4 It is a flowchart of the first abnormal traveling method.

[0093] Figure 5 It is a schematic diagram of the first abnormal traveling process.

[0094] Figure 6 It is a flowchart of the second abnormal traveling method.

[0095] Figure 7 It is a schematic diagram of the second abnormal traveling process.

[0096] Figure 8 It is a flowchart of the third abnormal traveling method.

[0097] Figure 9 It is a flowchart of the method for determining the position deviation situation.

[0098] Figure 10 It is a flowchart of the rectification method after position deviation.

[0099] Figure 11 It is a module flowchart of the traveling control method of a rubber tyred gantry crane. Specific embodiments

[0100] In order to make the purpose, technical solutions and advantages of the present application clearer, the following further describes the present application in detail with reference to the Figures 1-11 accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0101] The embodiments of the present invention will be further described in detail below with reference to the accompanying drawings of the specification.

[0102] The embodiments of the present application disclose a traveling control method for a rubber tyred gantry crane. During the movement of the rubber tyred gantry crane, pre-offset activities can be performed on the rubber tyred gantry crane before passing through a defect, so as to reduce or offset the time required for offset adjustment after the rubber tyred gantry crane passes through the defect, so that the rubber tyred gantry crane can stop for operation at any time after passing through the defect, thereby improving the overall operation efficiency of the rubber tyred gantry crane.

[0103] Referring to Figure 1 and Figure 2 , the method flow of the traveling control of the rubber tyred gantry crane includes the following steps:

[0104] Step S100: Obtain the current position information of the rubber tyred gantry crane and the target position information of the moving destination of the rubber tyred gantry crane.

[0105] The position corresponding to the current position information is the position of each tire on the tire crane, which can be obtained by installing a positioning device on the tire. In order to improve the accuracy of positioning, it can be achieved through satellite positioning; the position corresponding to the target position information is the position to which each wheel on the tire crane needs to be moved for the normal operation of the tire crane, which is manually input by the staff according to the operation requirements of the tire crane and will not be elaborated on; the subsequent contents are all described for the conditions of each tire, and the entire tire crane is not explained.

[0106] Step S101: Determine a moving range according to current position information and target position information, obtain defect type information and defect position information of each preset defect within the moving range, and define defects adjacent to the tire crane within the moving range as adjacent defects.

[0107] The moving range is the range between the current position of the tire crane's tire and the destination. The moving range will change as the tire position moves. The defects are all defects within the area where the tire crane can move. The defects are recorded when the tire crane passes through for the first time. During the movement of the tire crane, if there are unrecorded defects, the defects will be recorded to facilitate the subsequent movement of the tire crane. At the same time, when the defects are corrected, the staff can manually delete the recorded defects. The defect type information is used to distinguish between various defects, so as to identify and analyze each defect within the moving range. The position corresponding to the defect position information is the position of the defect. At the same time, the defects adjacent to the tire crane in the moving range are defined as adjacent defects for identification, so as to facilitate the subsequent further control of the movement of the tire belt in the adjacent defect.

[0108] Step S102: matching and analyzing the defect type information stored in the preset distance database with the pre-bias distance information to determine the pre-bias distance information corresponding to the defect type information.

[0109] The distance value corresponding to the pre-deviation distance information is the offset distance that the defect can offset the tire, that is, it is also the distance that the tire needs to be offset in advance before moving to the defect. Different defect type information corresponds to different pre-deviation distance information. The correspondence between the two is recorded by the offset situation when the tire crane moves to the defect for the first time. A distance database can be established based on different defect type information and pre-deviation distance information. The establishment method is a conventional technical means of those skilled in the art and will not be elaborated on.

[0110] Step S103: Calculate and determine the interval distance information based on the current position information and the defect position information of the adjacent defects.

[0111] The distance value corresponding to the interval distance information is the distance between the tire on the tire crane and the adjacent defect, which is obtained by the coordinates of the two in the tire forward direction.

[0112] Step S104: Analyze the matching between the interval distance information and the upper limit distance information stored in the preset upper limit database to determine the upper limit distance information corresponding to the interval distance information.

[0113] The distance corresponding to the upper limit distance information is the distance value that the tire can offset when passing through the distance corresponding to the interval distance information at the maximum offset angle. Different interval distance information corresponds to different upper limit distance information, and the corresponding relationship between the two is obtained through experiments by the staff. The upper limit database can be established according to different interval distance information and the corresponding upper limit distance information. The establishment method is a conventional technical means for those skilled in the art and will not be elaborated.

[0114] Step S105: Determine whether the distance value corresponding to the upper limit distance information is greater than the distance value corresponding to the pre-offset distance information.

[0115] The purpose of the determination is to know whether the distance between the current tire and the adjacent defect can meet the distance required for the tire offset value.

[0116] Step S1051: If the distance value corresponding to the upper limit distance information is not greater than the distance value corresponding to the pre-offset distance information, then output a distance insufficient signal.

[0117] When the distance value corresponding to the upper limit distance information is not greater than the distance value corresponding to the pre-offset distance information, it means that during the offset movement of the tire, the tire moves to the defect before offsetting to the corresponding distance. At this time, output a distance insufficient signal to record and identify this situation for subsequent processing of this situation.

[0118] Step S1052: If the distance value corresponding to the upper limit distance information is greater than the distance value corresponding to the pre-offset distance information, then calculate according to the pre-offset distance information and the preset upper limit angle value to determine the operation distance information, and determine the operation position information according to the operation distance information and the interval distance information, and control the tire crane to move in the direction of the adjacent defect at the position corresponding to the operation position information.

[0119] When the distance value corresponding to the upper limit distance information is greater than the distance value corresponding to the pre-offset distance information, it indicates that when the tire moves to the defect, the tire can be offset to the required position; the distance value corresponding to the operation distance information is the distance value of the tire moving in the forward direction of the tire crane, which is calculated by combining the pre-offset distance information and the upper limit angle value using the trigonometric calculation formula, which is a conventional technical means for those skilled in the art and will not be elaborated here. Among them, the upper limit angle value is the maximum angle that the tire on the tire crane can be offset; the position corresponding to the operation position information is the position where the tire crane performs the offset movement. According to the interval distance information and the operation distance information, the distance value of this position from the current position of the tire crane can be determined, so that this position can be determined. When the tire crane moves to the position corresponding to the operation position information, the tire of the tire crane can be offset at the upper limit angle value to move in the direction of the adjacent defect, so that when the tire crane moves to the defect, it can be pre-offset by a certain distance. Among them, the offset direction of the tire crane is controlled by the offset action direction of the defect on the tire. When the defect can offset the tire crane to the left, the tire pre-offset should be to the right, and the corresponding directions of the two should always be opposite.

[0120] Referring to Figure 2 and Figure 3 , after the pre-offset distance information is determined, the tire crane travel control method further includes:

[0121] Step S200: Obtain the coverage distance information of the adjacent defect in the offset direction.

[0122] The value corresponding to the coverage distance information is the distance value of the defect from the original moving track in the tire offset direction, that is, the maximum offset value that the tire can pass through the adjacent defect after offset.

[0123] Step S201: Determine whether the distance value corresponding to the pre-offset distance information is greater than the distance value corresponding to the coverage distance information.

[0124] The purpose of the determination is to know whether the tire can still pass through the defect after the required offset value of the tire offset.

[0125] Step S2011: If the distance value corresponding to the pre-offset distance information is not greater than the distance value corresponding to the coverage distance information, then compare the upper limit distance information with the pre-offset distance information.

[0126] When the distance value corresponding to the pre-offset distance information is not greater than the distance value corresponding to the coverage distance information, it indicates that after the tire is offset by the required offset value, the tire can still pass through the defect. At this time, it is normal to compare the upper and lower distance information with the pre-offset distance information to facilitate the normal progress of the subsequent tire movement.

[0127] Step S2012: If the distance value corresponding to the pre-offset distance information is greater than the distance value corresponding to the coverage distance information, output a smaller offset signal, update the coverage distance information to the new pre-offset distance information for comparing the upper limit distance information with the pre-offset distance information, and define the original pre-offset distance information as the initial distance information.

[0128] When the distance value corresponding to the pre-offset distance information is greater than the distance value corresponding to the coverage distance information, it indicates that after the tire is offset by the required offset value, the tire cannot pass through the defect. That is, the maximum allowable offset of the tire is the distance value corresponding to the coverage distance information. At this time, output a smaller offset signal to identify this situation for subsequent processing of this situation; at the same time, update the coverage distance information to the new pre-offset distance information for the subsequent normal movement of the tire crane, and define the original pre-offset distance information as the initial distance information for identification to record the pre-offset distance information before the update, which is convenient for subsequent calling of this data.

[0129] Refer to Figure 4 and Figure 5 , after comparing the upper limit distance information with the pre-offset distance information, the tire crane travel control method further includes:

[0130] Step S300: Obtain the defect width information of adjacent defects in the moving direction of the tire crane and the defect angle information of the offset effect of adjacent defects on the tire crane.

[0131] The width value corresponding to the defect width information is the width value of adjacent defects in the moving direction of the tire crane, and the angle value corresponding to the defect angle information is the offset angle value that the tire crane will be affected by the defect when moving on this defect. Both are obtained by recording when the tire crane first passes through this defect.

[0132] Step S301: Determine whether there is a distance shortage signal.

[0133] The purpose of the determination is to know whether the tire crane can currently move to the required position for offset, so as to distinguish different situations.

[0134] Step S3011: If there is a distance shortage signal, determine whether there is a smaller offset signal.

[0135] When there is a distance shortage signal, it means that the tire crane cannot move to the required offset position. At this time, the purpose of determining the smaller offset signal is to further distinguish the situation.

[0136] Step S30111: If there is no smaller offset signal, output a first abnormal signal.

[0137] When there is no signal with a small offset, it indicates that there is only a signal with insufficient distance at this time. At this time, a first abnormal signal is output to record this situation, which is convenient for controlling the movement of the rubber-tyred gantry crane in this situation later.

[0138] Step S30112: If there is a signal with a small offset, output a second abnormal signal.

[0139] When there is a signal with a small offset, it indicates that at this time, there is not only a signal with insufficient distance but also a signal with a small offset. At this time, a second abnormal signal is output to record this situation, which is convenient for controlling the movement of the rubber-tyred gantry crane in this situation later.

[0140] Step S3012: If there is no signal with insufficient distance, determine whether there is a signal with a small offset.

[0141] When there is no signal with insufficient distance, it means that the rubber-tyred gantry crane can move to the required position when the defect width is satisfied. At this time, the purpose of judging the signal with a small offset is to further distinguish the situation.

[0142] Step S30121: If there is no signal with a small offset, output a normal signal.

[0143] When there is no signal with a small offset, it means that there is neither a signal with insufficient distance nor a signal with a small offset, and the rubber-tyred gantry crane can perform the offset operation normally. At this time, a normal signal is output to identify the situation, so that the staff can know that the rubber-tyred gantry crane can perform the pre-offset movement normally.

[0144] Step S30122: If there is a signal with a small offset, determine the minimum angle according to the angle value corresponding to the defect angle information and the upper limit angle value, and control the rubber-tyred gantry crane to move to the edge in the direction of the adjacent defect length.

[0145] When there is a signal with a small offset, it means that the current adjacent defect width does not meet the requirements. At this time, the rubber-tyred gantry crane can only move to the edge in the direction of the adjacent defect length and cannot meet the required offset requirements; the minimum angle is the minimum value of the angle value corresponding to the defect angle information and the upper limit angle value, which is obtained through numerical comparison, and is convenient for controlling the movement of the tyre in the defect in this situation later.

[0146] Step S302: Calculate and determine the defect offset distance information according to the defect width information and the minimum angle, and calculate the difference between the initial distance information and the coverage distance information to determine the first offset difference information.

[0147] The distance corresponding to the defect offset distance information is the maximum distance value that the tire can offset within the defect. Among them, the setting of the minimum angle is to enable the tire to offset to this angle or to prevent the tire from passing through the defect without passing through it. The calculation method is conventional trigonometric calculation and will not be elaborated here. The value corresponding to the first offset difference information is the offset value that the tire lacks in the offset direction after the pre-offset operation of the tire, so that the subsequent tire can be compensated according to this difference when moving in the defect.

[0148] Step S303: Determine whether the distance value corresponding to the defect offset distance information is less than the distance value corresponding to the first offset difference information.

[0149] The purpose of the determination is to know whether the amount lacking in the pre-offset of the tire can be compensated during the movement within the defect.

[0150] Step S3031: If the distance value corresponding to the defect offset distance information is less than the distance value corresponding to the first offset difference information, then when the tire crane moves to the adjacent defect, control the tire crane to offset at the minimum angle to pass through the adjacent defect.

[0151] When the distance value corresponding to the defect offset distance information is less than the distance value corresponding to the first offset difference information, it means that the amount lacking after the pre-offset operation of the tire cannot be completely compensated by the movement of the tire within the defect. At this time, control the tire crane to offset at the minimum angle when moving within the defect, so that the tire can be as close as possible to the original movement track after passing through the defect.

[0152] Step S3032: If the distance value corresponding to the defect offset distance information is not less than the distance value corresponding to the first offset difference information, then calculate according to the first offset difference information and the defect width information to determine the correction angle information, and when the tire crane moves to the adjacent defect, control the tire crane to offset at the angle corresponding to the correction angle information to pass through the adjacent defect.

[0153] When the distance value corresponding to the defect offset distance information is not less than the distance value corresponding to the first offset difference information, it means that the amount lacking after the pre-offset operation of the tire can be completely compensated by the movement of the tire within the defect. At this time, determine the angle value that the tire needs to offset according to the difference and the situation of the defect width. The calculation method is conventional trigonometric calculation and will not be elaborated here. Record the information of this value as the correction angle information, so that the tire can offset and move according to the angle corresponding to the correction angle information when moving within the defect, so that the tire is exactly on the original movement track when passing through the defect.

[0154] Refer to Figure 6 and Figure 7 , after the first abnormal signal is output, the tire crane traveling control method further includes:

[0155] Step S400: Control the tire crane to move to the edge of the adjacent defect according to the upper limit distance information, and calculate the difference between the upper limit distance information and the pre-offset distance information to determine the second offset difference information.

[0156] When the first abnormal signal is output, it indicates that there is only a distance shortage signal at this time, that is, the tire cannot be pre-offset to the required position because the available moving distance is insufficient. At this time, control the tire crane to move normally to the edge of the adjacent defect according to the upper limit distance information, so that the tire can perform the pre-offset operation as much as possible; the value corresponding to the second offset difference information is the difference between the distance the tire offsets when moving to the defect and the actual required offset distance. The calculation method is the distance value corresponding to the pre-offset distance information minus the distance value corresponding to the upper limit distance information.

[0157] Step S401: Calculate according to the second offset difference information and the defect width information to determine the difference angle information.

[0158] The angle value corresponding to the difference angle information is the angle value required to completely compensate the offset difference within the defect. The calculation method is conventional trigonometric function calculation, which will not be elaborated here.

[0159] Step S402: Determine whether the angle value corresponding to the difference angle information is greater than the upper limit angle value.

[0160] The purpose of the judgment is to know whether the angle value required for the tire to move within the defect exceeds the maximum angle that the tire itself can offset, that is, to know whether the required angle offset of the tire can be achieved.

[0161] Step S4021: If the angle value corresponding to the difference angle information is greater than the upper limit angle value, then control the tire crane to offset at the upper limit angle value when the tire crane moves to the adjacent defect to pass through the adjacent defect.

[0162] When the angle value corresponding to the difference angle information is greater than the upper limit angle value, it means that the tire cannot offset at the required offset angle within the defect. At this time, control the tire crane to offset at the upper limit angle value to pass through the adjacent defect, so that the tire crane can be as close as possible to the original moving track after passing through the defect, so as to reduce the subsequent rectification time.

[0163] Step S4022: If the angle value corresponding to the difference angle information is not greater than the upper limit angle value, then control the tire crane to offset at the angle value corresponding to the operation angle information when the tire crane moves to the adjacent defect to pass through the adjacent defect.

[0164] When the angle value corresponding to the difference angle information is not greater than the upper limit angle value, it means that the tire can offset at the required offset angle within the defect. At this time, control the tire crane to offset at the angle value corresponding to the operation angle information to pass through the adjacent defect, so that the tire crane is exactly on the original moving track after passing through the defect.

[0165] Reference Figure 8 After the second abnormal signal is output, the traveling control method of the tire crane further includes:

[0166] Step S500: Control the tire crane to move to the edge of the adjacent defect according to the upper limit distance information, and calculate the difference between the upper limit distance information and the initial distance information to determine the third offset difference information.

[0167] When the second abnormal signal is output, it indicates that there are both a distance shortage signal and a small offset signal. At this time, the tire crane can be controlled to move to the edge of the adjacent defect according to the upper limit distance information. The value corresponding to the third offset difference information is the difference between the distance value that the original tire needs to offset and the current actual offset distance value. The calculation method is the distance value corresponding to the initial distance information minus the distance value corresponding to the upper limit distance information.

[0168] Step S501: Calculate according to the defect width information and the upper limit angle value to determine the upper limit offset distance information.

[0169] The distance value corresponding to the upper limit offset distance information is the maximum distance value that the tire can offset in the offset direction along the inner edge of the defect. The calculation method is a conventional trigonometric function calculation and will not be elaborated here.

[0170] Step S502: Determine whether the distance value corresponding to the upper limit offset distance information is greater than the distance value corresponding to the third offset difference information.

[0171] The purpose of the judgment is to know whether the distance that the tire can offset within the defect can compensate for the difference in the pre-offset distance value.

[0172] Step S5021: If the distance value corresponding to the upper limit offset distance information is not greater than the distance value corresponding to the third offset difference information, then when the tire crane moves to the adjacent defect, control the tire crane to offset at the upper limit angle value to pass through the adjacent defect.

[0173] When the distance value corresponding to the upper limit offset distance information is not greater than the distance value corresponding to the third offset difference information, it means that the tire cannot completely compensate for the offset difference within the defect. At this time, control the tire crane to offset at the upper limit angle value to pass through the adjacent defect, so that the tire can be as close as possible to the original moving track after passing through the adjacent defect to reduce the subsequent rectification time.

[0174] Step S5022: If the distance value corresponding to the upper limit offset distance information is greater than the distance value corresponding to the third offset difference information, then calculate according to the third offset difference information and the defect width information to determine the change angle information, and when the tire crane moves to the adjacent defect, control the tire crane to offset at the angle corresponding to the change angle information to pass through the adjacent defect.

[0175] When the distance value corresponding to the upper limit offset distance information is greater than the distance value corresponding to the third offset difference information, it indicates that the tire can completely compensate for the offset amount difference within the defect. At this time, according to the third offset difference information and the defect width information, the offset angle value of the tire within the defect can be calculated. The calculation method is conventional trigonometric calculation, which will not be elaborated here. Record the information of this angle, that is, the variation angle information, so that the tire can offset at the angle corresponding to the variation angle information within the defect and pass through adjacent defects, so that the tire crane is exactly on the original moving track after passing through the defect.

[0176] Refer to Figure 9 , when the tire crane passes through adjacent defects, the tire crane traveling control method further includes:

[0177] Step S600: Obtain the lateral offset information of the tire crane relative to the preset traveling path.

[0178] The traveling path is the original traveling track of the tire. This path includes direction and route. The offset value corresponding to the lateral offset information is the distance of the tire crane relative to the traveling path in the offset direction after passing through adjacent defects.

[0179] Step S601: Determine whether the offset value corresponding to the lateral offset information is zero.

[0180] The purpose of the determination is to know whether the tire crane is on the traveling path after passing through adjacent defects.

[0181] Step S6011: If the offset value corresponding to the lateral offset information is zero, control the tire crane to continue moving along the traveling path.

[0182] When the offset value corresponding to the lateral offset information is zero, it indicates that the tire crane is on the traveling path after passing through adjacent defects. At this time, there is no need to correct the deviation of the tire crane, and it can be controlled to continue moving along the traveling path.

[0183] Step S6012: If the offset value corresponding to the lateral offset information is not zero, output a signal to be reset.

[0184] When the offset value corresponding to the lateral offset information is not zero, it indicates that the tire crane is not on the traveling path after passing through adjacent defects. At this time, it is necessary to correct the deviation of the tire crane, and output a signal to be reset to record and identify this situation, so as to facilitate subsequent deviation correction operations.

[0185] Refer to Figure 10 , after the signal to be reset is output, the tire crane traveling control method further includes:

[0186] Step S700: Control the tire crane to offset at the upper limit angle value to move towards the traveling path and calculate and determine the longitudinal distance information according to the upper limit angle value and the lateral offset information.

[0187] When the signal to be reset is output, it indicates that the RTG is not on the driving path after passing through adjacent defects and a deviation correction operation is required. At this time, the RTG is controlled to offset at the upper limit angle value to approach the driving path direction, so as to quickly move the RTG onto the driving path. The value corresponding to the longitudinal distance information is the moving distance value of the RTG moving onto the driving path in the forward direction of the RTG, which is obtained by combining trigonometric functions based on the upper limit angle value and the lateral offset information, and is a conventional technical means for those skilled in the art and will not be elaborated.

[0188] Step S701: Determine the defect quantity information according to the defect count within the moving range.

[0189] The quantity value corresponding to the defect quantity information is the number of defects within the moving range, which is obtained by counting the defects. The counting method is a conventional technical means for those skilled in the art and will not be elaborated.

[0190] Step S702: Determine whether the quantity corresponding to the defect quantity information is zero.

[0191] The purpose of the determination is to know whether there are defects between the current position of the RTG and the destination to be moved, that is, to determine whether there are still defects to pass through after the RTG passes through adjacent defects.

[0192] Step S7021: If the quantity corresponding to the defect quantity information is not zero, then move along the driving path after the RTG moves onto the driving path.

[0193] When the quantity corresponding to the defect quantity information is not zero, it indicates that the RTG still has defects to pass through. At this time, when the RTG is corrected to the driving path, the RTG can be controlled to move normally.

[0194] Step S7022: If the quantity corresponding to the defect quantity information is zero, then calculate and determine the moving distance information according to the defect position information of the last passed defect and the target position information.

[0195] When the quantity corresponding to the defect quantity information is zero, it indicates that there are no defects to pass through in front of the RTG at the destination. The distance value corresponding to the moving distance information is the distance between the last passed defect and the destination. The calculation method is the position coordinate corresponding to the target position information minus the position coordinate corresponding to the defect position information, and this coordinate is the coordinate value in the moving direction of the RTG.

[0196] Step S703: Determine whether the value corresponding to the longitudinal distance information is greater than the value corresponding to the moving distance information.

[0197] The purpose of the determination is to know whether the RTG will pass through the destination during the deviation correction process.

[0198] Step S7031: If the value corresponding to the longitudinal travel information is not greater than the value corresponding to the moving distance information, then after the tire crane moves to the travel path, it moves along the travel path until it moves to the position corresponding to the target position information.

[0199] When the value corresponding to the longitudinal travel information is not greater than the value corresponding to the moving distance information, it indicates that the tire crane has not passed the destination during the deviation correction process. At this time, control the tire crane to move to the travel path and then move along the travel path so that the tire crane can move to the destination.

[0200] Step S7032: If the value corresponding to the longitudinal travel information is greater than the value corresponding to the moving distance information, then after the tire crane moves to the travel path, it moves in the reverse direction along the travel path until it moves to the position corresponding to the target position information.

[0201] When the value corresponding to the longitudinal travel information is greater than the value corresponding to the moving distance information, it indicates that the tire crane has passed the destination during the deviation correction process. After the tire crane completes the deviation correction, it moves in the reverse direction along the travel path so that the tire crane can move to the destination.

[0202] Refer to Figure 11 , based on the same inventive concept, an embodiment of the present invention provides a tire crane travel control system, including:

[0203] An acquisition module, configured to acquire the current position information of the tire crane and the target position information of the destination where the tire crane moves;

[0204] A processing module, connected to the acquisition module and the judgment module, for storing and processing information;

[0205] The processing module delimits a moving range according to the current position information and the target position information, and acquires the defect type information and defect position information of each preset defect within the moving range, and defines the defect adjacent to the tire crane within the moving range as an adjacent defect;

[0206] The processing module performs matching analysis on the defect type information stored in the preset distance database and the pre-deviation distance information to determine the pre-deviation distance information corresponding to the defect type information;

[0207] The processing module calculates according to the current position information and the defect position information of the adjacent defect to determine the interval distance information;

[0208] The processing module performs matching analysis on the interval distance information stored in the preset upper limit database and the upper limit distance information to determine the upper limit distance information corresponding to the interval distance information;

[0209] A judgment module, configured to judge whether the distance value corresponding to the upper limit distance information is greater than the distance value corresponding to the pre-deviation distance information;

[0210] If the judgment module determines that the distance value corresponding to the upper limit distance information is not greater than the distance value corresponding to the pre-offset distance information, the processing module outputs a distance insufficient signal;

[0211] If the judgment module determines that the distance value corresponding to the upper limit distance information is greater than the distance value corresponding to the pre-offset distance information, the processing module calculates according to the pre-offset distance information and the preset upper limit angle value to determine the operation path information, and determines the operation position information according to the operation path information and the interval distance information, and controls the rubber-tyred gantry crane to move in the direction of the adjacent defect by offsetting at the position corresponding to the operation position information;

[0212] The defect range comparison module, according to the range of adjacent defects in the offset direction, enables the rubber-tyred gantry crane to always pass through the defect after pre-offset, so that the defect can perform an offset activity on the pre-offset rubber-tyred gantry crane;

[0213] The first defect movement module, when there is only a situation of insufficient defect range, enables the rubber-tyred gantry crane to be as close as possible to the driving path after passing through the defect according to the defect situation;

[0214] The second defect movement module, when there is only a situation of insufficient offset distance, enables the rubber-tyred gantry crane to be as close as possible to the driving path after passing through the defect according to the defect situation;

[0215] The third defect movement module, when there are both insufficient defect range and insufficient offset distance, enables the rubber-tyred gantry crane to be as close as possible to the driving path after passing through the defect according to the defect situation;

[0216] The position deviation determination module locates the position of the rubber-tyred gantry crane when the rubber-tyred gantry crane passes through the defect to determine whether the rubber-tyred gantry crane has a deviation;

[0217] The deviation movement control module controls the rubber-tyred gantry crane to perform a walking control according to the destination position situation when the rubber-tyred gantry crane has a deviation when passing through the defect.

[0218] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the above division of each functional module is used as an example. In practical applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-described system, device, and unit can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0219] The embodiment of the present invention provides a computer-readable storage medium storing a computer program that can be loaded and executed by a processor to control the walking of a rubber-tyred gantry crane.

[0220] Computer storage media include, for example: various media that can store program codes, such as USB flash drives, external hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs.

[0221] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, including a memory and a processor. A computer program capable of being loaded and executed by the processor to control the traveling of a rubber-tyred gantry crane is stored on the memory.

[0222] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. For the specific working processes of the systems, devices, and units described above, reference can be made to the corresponding processes in the foregoing method embodiments, which will not be elaborated herein.

[0223] The above are all preferred embodiments of the present application. The protection scope of the present application is not limited thereby. Any feature disclosed in this specification (including the abstract and drawings), unless specifically described, can be replaced by other equivalent or similar-purpose alternative features. That is, unless specifically described, each feature is only an example in a series of equivalent or similar features.

Claims

1. A traveling control method for a rubber-tyred gantry crane, characterized in that, it includes: Obtaining the current position information of the rubber-tyred gantry crane and the target position information of the moving destination of the rubber-tyred gantry crane; Defining the moving range according to the current position information and the target position information, obtaining the defect type information and defect position information of each preset defect within the moving range, and defining the defect adjacent to the rubber-tyred gantry crane within the moving range as an adjacent defect; Matching and analyzing the defect type information stored in the preset distance database with the pre-deviation distance information to determine the pre-deviation distance information corresponding to the defect type information; Calculating according to the current position information and the defect position information of the adjacent defect to determine the interval distance information; Matching and analyzing the interval distance information stored in the preset upper limit database with the upper limit distance information to determine the upper limit distance information corresponding to the interval distance information; Judging whether the distance value corresponding to the upper limit distance information is greater than the distance value corresponding to the pre-deviation distance information; If the distance value corresponding to the upper limit distance information is not greater than the distance value corresponding to the pre-deviation distance information, output a distance shortage signal; If the distance value corresponding to the upper limit distance information is greater than the distance value corresponding to the pre-deviation distance information, calculate according to the pre-deviation distance information and the preset upper limit angle value to determine the operation path information, and determine the operation position information according to the operation path information and the interval distance information, and control the rubber-tyred gantry crane to move in the direction of the adjacent defect by offsetting at the position corresponding to the operation position information; Wherein, after the pre-deviation distance information is determined, the traveling control method of the rubber-tyred gantry crane further includes: Obtaining the covering distance information of the adjacent defect in the offset direction; Judging whether the distance value corresponding to the pre-deviation distance information is greater than the distance value corresponding to the covering distance information; If the distance value corresponding to the pre-deviation distance information is not greater than the distance value corresponding to the covering distance information, compare the upper limit distance information with the pre-deviation distance information; If the distance value corresponding to the pre-deviation distance information is greater than the distance value corresponding to the covering distance information, output an offset smaller signal, update the covering distance information to the new pre-deviation distance information for comparing the upper limit distance information with the pre-deviation distance information, and define the original pre-deviation distance information as the initial distance information.

2. The traveling control method for a rubber-tyred gantry crane according to claim 1, characterized in that: After comparing the upper limit distance information with the pre-deviation distance information, the traveling control method of the rubber-tyred gantry crane further includes: Obtaining the defect width information of the adjacent defect in the moving direction of the rubber-tyred gantry crane and the defect angle information of the offset effect of the adjacent defect on the rubber-tyred gantry crane; Judging whether there is a distance shortage signal; If there is a distance shortage signal, judge whether there is an offset smaller signal; If there is no offset smaller signal, output a first abnormal signal; If there is an offset smaller signal, output a second abnormal signal; If there is no distance shortage signal, judge whether there is an offset smaller signal; If there is no offset smaller signal, output a normal signal; If there is an offset smaller signal, determine the minimum angle according to the angle value corresponding to the defect angle information and the upper limit angle value, and control the rubber-tyred gantry crane to move to the edge in the length direction of the adjacent defect. Determine the defect offset distance information according to the defect width information and the minimum angle, and calculate the difference between the initial distance information and the coverage distance information to determine the first offset difference information; Judge whether the distance value corresponding to the defect offset distance information is less than the distance value corresponding to the first offset difference information; If the distance value corresponding to the defect offset distance information is less than the distance value corresponding to the first offset difference information, when the rubber tyred gantry crane moves to the adjacent defect, control the rubber tyred gantry crane to offset at the minimum angle to pass through the adjacent defect; If the distance value corresponding to the defect offset distance information is not less than the distance value corresponding to the first offset difference information, calculate according to the first offset difference information and the defect width information to determine the correction angle information, and when the rubber tyred gantry crane moves to the adjacent defect, control the rubber tyred gantry crane to offset at the angle corresponding to the correction angle information to pass through the adjacent defect.

3. The rubber tyred gantry crane travel control method according to claim 2, characterized in that: After the first abnormal signal is output, the rubber tyred gantry crane travel control method further includes: Control the rubber tyred gantry crane to move to the edge of the adjacent defect according to the upper limit distance information and calculate the difference between the upper limit distance information and the pre-offset distance information to determine the second offset difference information; Calculate according to the second offset difference information and the defect width information to determine the difference angle information; Judge whether the angle value corresponding to the difference angle information is greater than the upper limit angle value; If the angle value corresponding to the difference angle information is greater than the upper limit angle value, when the rubber tyred gantry crane moves to the adjacent defect, control the rubber tyred gantry crane to offset at the upper limit angle value to pass through the adjacent defect; If the angle value corresponding to the difference angle information is not greater than the upper limit angle value, when the rubber tyred gantry crane moves to the adjacent defect, control the rubber tyred gantry crane to offset at the angle value corresponding to the operation angle information to pass through the adjacent defect.

4. The rubber tyred gantry crane travel control method according to claim 3, characterized in that: After the second abnormal signal is output, the rubber tyred gantry crane travel control method further includes: Control the rubber tyred gantry crane to move to the edge of the adjacent defect according to the upper limit distance information and calculate the difference between the upper limit distance information and the initial distance information to determine the third offset difference information; Calculate according to the defect width information and the upper limit angle value to determine the upper limit offset distance information; Judge whether the distance value corresponding to the upper limit offset distance information is greater than the distance value corresponding to the third offset difference information; If the distance value corresponding to the upper limit offset distance information is not greater than the distance value corresponding to the third offset difference information, when the rubber tyred gantry crane moves to the adjacent defect, control the rubber tyred gantry crane to offset at the upper limit angle value to pass through the adjacent defect; If the distance value corresponding to the upper limit offset distance information is greater than the distance value corresponding to the third offset difference information, calculate according to the third offset difference information and the defect width information to determine the change angle information, and when the rubber tyred gantry crane moves to the adjacent defect, control the rubber tyred gantry crane to offset at the angle corresponding to the change angle information to pass through the adjacent defect.

5. The rubber tyred gantry crane travel control method according to claim 4, characterized in that: When the rubber tyred gantry crane passes through the adjacent defect, the rubber tyred gantry crane travel control method further includes: Obtain the lateral offset information of the rubber tyred gantry crane relative to the preset travel path; Judge whether the offset value corresponding to the horizontal offset information is zero; If the offset value corresponding to the horizontal offset information is zero, control the tire crane to continue moving along the driving path; If the offset value corresponding to the horizontal offset information is not zero, output a signal to be reset.

6. The tire crane traveling control method according to claim 5, characterized in that: After the signal to be reset is output, the tire crane traveling control method further includes: Controlling the tire crane to offset at the upper limit angle value to move towards the driving path and calculating according to the upper limit angle value and the horizontal offset information to determine the longitudinal distance information; Determining the defect quantity information according to the defect count within the moving range; Judge whether the quantity corresponding to the defect quantity information is zero; If the quantity corresponding to the defect quantity information is not zero, the tire crane moves along the driving path after moving to the driving path; If the quantity corresponding to the defect quantity information is zero, calculate according to the defect position information of the last passed defect and the target position information to determine the moving distance information; Judge whether the value corresponding to the longitudinal distance information is greater than the value corresponding to the moving distance information; If the value corresponding to the longitudinal distance information is not greater than the value corresponding to the moving distance information, the tire crane moves along the driving path after moving to the driving path until it moves to the position corresponding to the target position information; If the value corresponding to the longitudinal distance information is greater than the value corresponding to the moving distance information, the tire crane moves in the reverse direction along the driving path after moving to the driving path until it moves to the position corresponding to the target position information.

7. A tire crane traveling control system, characterized in that, comprising: An acquisition module for acquiring the current position information of the tire crane and the target position information of the moving destination of the tire crane; A processing module, connected to the acquisition module and the judgment module, for storing and processing information; The processing module delimits a moving range according to the current position information and the target position information, and acquires the defect type information and defect position information of each preset defect within the moving range, and defines the defect adjacent to the tire crane within the moving range as an adjacent defect; The processing module matches and analyzes the defect type information stored in the preset distance database with the pre-offset distance information to determine the pre-offset distance information corresponding to the defect type information; The processing module calculates according to the current position information and the defect position information of the adjacent defect to determine the interval distance information; The processing module matches and analyzes the interval distance information stored in the preset upper limit database with the upper limit distance information to determine the upper limit distance information corresponding to the interval distance information; A judgment module for judging whether the distance value corresponding to the upper limit distance information is greater than the distance value corresponding to the pre-offset distance information; If the judgment module judges that the distance value corresponding to the upper limit distance information is not greater than the distance value corresponding to the pre-offset distance information, the processing module outputs a distance insufficient signal; If the judgment module determines that the distance value corresponding to the upper limit distance information is greater than the distance value corresponding to the pre-offset distance information, the processing module calculates according to the pre-offset distance information and the preset upper limit angle value to determine the operation distance information, determines the operation position information according to the operation distance information and the interval distance information, and controls the tire crane to move in the adjacent defect direction by offsetting at the position corresponding to the operation position information; The judgment module is further configured to obtain the coverage distance information of adjacent defects in the offset direction; determine whether the distance value corresponding to the pre-offset distance information is greater than the distance value corresponding to the coverage distance information; if the distance value corresponding to the pre-offset distance information is not greater than the distance value corresponding to the coverage distance information, then compare the upper limit distance information with the pre-offset distance information; if the distance value corresponding to the pre-offset distance information is greater than the distance value corresponding to the coverage distance information, then output an offset smaller signal, update the coverage distance information as the new pre-offset distance information to compare the upper limit distance information with the pre-offset distance information, and define the original pre-offset distance information as the initial distance information.

8. An intelligent terminal, Characterized in that, It includes a memory and a processor, and a computer program capable of being loaded and executed by the processor as any one of the methods in claims 1 to 6 is stored on the memory.

9. A computer-readable storage medium, Characterized in that, A computer program capable of being loaded and executed by the processor as any one of the methods in claims 1 to 6 is stored.

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