Overhead crane control method, device, equipment and storage medium

Abstract

Embodiments of the present invention provide an overhead crane control method, apparatus, device, and storage medium. Based on preset avoidance rules, a target task database for a target overhead crane is established so that after obtaining the status information and task information of the target overhead crane, the target task can be determined from the target task database more quickly based on the status information and task information of the target overhead crane. Since the status information includes the operating status parameters and priority parameters of the target overhead crane, and the task information includes the task location parameters and task status parameters, based on the preset protection requirements for the target overhead crane, the path information corresponding to the target task can be determined, and the operation of the target overhead crane can be controlled according to the path information, thereby effectively reducing the idle running rate of the overhead crane and making it less likely for conflicts to occur in the movements of different overhead cranes.

Description

Technical Field

[0001] The present invention relates to the field of automation control technology, and in particular to an overhead crane control method, device, equipment and storage medium. Background Art

[0002] Overhead cranes are mainly used for loading and unloading operations in freight yards, material yards, and bulk cargo. At present, overhead cranes are widely used in heavy cargo distribution centers such as factories and docks to meet the needs of lifting and loading and unloading large quantities of heavy cargo.

[0003] Currently, the control of overhead cranes mainly relies on manual control. Operators are required to pre-arrange the operation plan of the overhead crane according to the material status of the entire warehouse area and production needs. While completing the production schedule, they also need to minimize the empty running of the overhead crane and solve the avoidance problem between the overhead cranes.

[0004] In addition, after the overhead crane completes the corresponding loading and unloading actions, the material status of the warehouse area cannot be synchronized in real time, resulting in problems such as low work efficiency, high operating costs, and easy errors in the overhead crane. Summary of the Invention

[0005] The embodiments of the present invention provide an overhead crane control method, device, equipment and storage medium, which solve the technical problems in the existing overhead crane control process, such as low overhead crane working efficiency and easy work interference between overhead cranes.

[0006] In a first aspect, the present invention provides an overhead crane control method through an embodiment of the present invention, comprising: establishing a target task database for a target overhead crane according to preset avoidance rules; obtaining status information and task information of the target overhead crane, and determining a target task from the target task database based on the status information and task information of the target overhead crane; determining path information corresponding to the target task based on preset protection requirements for the target overhead crane, and controlling the operation of the target overhead crane according to the path information; wherein the target overhead crane includes a plurality of cranes, the status information includes operating status parameters and priority parameters of the target overhead cranes, and the task information includes task location parameters and task status parameters.

[0007] Preferably, the target overhead crane includes a first target overhead crane and a second target overhead crane; the preset avoidance rule includes: when there is a conflict between the mission information of the first target overhead crane and the status information of the second target overhead crane, controlling the operation of the first target overhead crane based on the mission information of the second target overhead crane.

[0008] Preferably, when there is a conflict between the mission information of the first target overhead crane and the status information of the second target overhead crane, controlling the operation of the first target overhead crane based on the mission information of the second target overhead crane includes: when there is a conflict between the mission position parameter of the first target overhead crane and the operating status parameter of the second target overhead crane, determining whether the mission status parameter of the second target overhead crane is valid; if so, controlling the first target overhead crane to enter a waiting state until the operating status parameter of the first target overhead crane meets a first preset safety requirement, and then re-controlling the operation of the first target overhead crane; otherwise, controlling the operation of the first target overhead crane based on the mission status parameter of the second target overhead crane.

[0009] Preferably, the determining whether the mission status parameters of the second target overhead crane are valid includes: if the mission status parameters of the second target overhead crane include an activated mission, and the mission position parameters of the second target overhead crane conflict with the operating status parameters of the first target overhead crane, then determining that the mission status parameters of the second target overhead crane are valid.

[0010] Preferably, controlling the operation of the first target overhead crane based on the mission status parameters of the second target overhead crane includes: if the mission status parameters of the second target overhead crane do not include an activated mission, controlling the first target overhead crane to operate so as to complete the target mission of the first target overhead crane; if the mission status parameters of the second target overhead crane include an activated mission, and the mission position parameters of the second target overhead crane do not conflict with the operating status parameters of the first target overhead crane, then controlling the first target overhead crane to operate when the operating status parameters of the first target overhead crane meet second preset safety requirements.

[0011] Preferably, the target overhead crane further includes a third target overhead crane and a fourth target overhead crane, wherein a priority parameter of the third target overhead crane is greater than a priority parameter of the fourth target overhead crane; the preset avoidance rule further includes: when there is a conflict between the mission information of the fourth target overhead crane and the status information of the third target overhead crane, controlling the third target overhead crane to operate; and when there is no conflict between the mission information of the fourth target overhead crane and the status information of the third target overhead crane, increasing the priority parameter of the fourth target overhead crane.

[0012] Preferably, determining the path information corresponding to the target task based on the preset protection requirements for the target overhead crane includes: using an A* algorithm to determine the proposed path information corresponding to the target task; and correcting the proposed path information based on the preset protection requirements to obtain the path information corresponding to the target task.

[0013] In a second aspect, the present invention provides an overhead crane control device according to an embodiment of the present invention, comprising:

[0014] A task database creation unit is used to establish a target task database for a target overhead crane according to preset avoidance rules;

[0015] a task allocation unit, configured to obtain status information and task information of a target overhead crane, and determine a target task from the target task database based on the status information and task information of the target overhead crane;

[0016] An overhead crane path control unit is configured to determine path information corresponding to the target task based on a preset protection requirement for the target overhead crane, and control the operation of the target overhead crane according to the path information;

[0017] The target overhead crane includes a plurality of cranes, the state information includes operation state parameters and priority level parameters of the target overhead cranes, and the task information includes task location parameters and task state parameters.

[0018] In a third aspect, the present invention provides an overhead crane control device through an embodiment of the present invention, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, any one of the implementations in the first aspect is implemented.

[0019] In a fourth aspect, the present invention provides a computer-readable storage medium through an embodiment of the present invention, on which a computer program is stored, and when the program is executed by a processor, any implementation method of the first aspect is implemented.

[0020] One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:

[0021] In an embodiment of the present invention, a target task database for a target overhead crane is established based on preset avoidance rules. This allows for faster determination of the target task from the database based on the target crane's status and task information after obtaining the target crane's status and task information. The status information includes the target crane's operating status parameters and priority parameters, and the task information includes task location parameters and task status parameters. Furthermore, based on preset protection requirements for the target crane, the path information corresponding to the target task can be determined, and the operation of the target crane can be controlled based on the path information. This effectively reduces the crane's idle running rate and makes it less likely that conflicts will occur between different cranes. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are 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.

[0023] Figure 1 Flowchart of the overhead crane control method according to an embodiment of the present invention;

[0024] Figure 2 Schematic diagram of the structure of the overhead crane control device in an embodiment of the present invention;

[0025] Figure 3 Schematic diagram of the overhead crane control device structure in an embodiment of the present invention.

[0026] Figure 4 Schematic diagram of a computer-readable storage medium structure in an embodiment of the present invention. DETAILED DESCRIPTION

[0027] The embodiments of the present invention provide an overhead crane control method, device, equipment and storage medium, which solve the technical problems in the existing overhead crane control process, such as low overhead crane working efficiency and easy work interference between overhead cranes.

[0028] The technical solution provided by the embodiments of the present invention is to solve the above technical problems, and the overall idea is as follows:

[0029] Based on preset avoidance rules, a target task database for the target overhead crane is established. After obtaining the target overhead crane's status information and task information, the target task is determined from the target task database based on the target overhead crane's status information and task information. The status information includes the target overhead crane's operating status parameters and priority parameters, and the task information includes task location parameters and task status parameters. Based on the preset protection requirements for the target overhead crane, the path information corresponding to the target task can be determined, and the operation of the target overhead crane can be controlled based on the path information.

[0030] In order to better understand the above technical solution, the above technical solution will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0031] First, the term "and / or" as used herein simply describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A alone, A and B together, or B alone. Furthermore, the character " / " in this document generally indicates an "or" relationship between the associated objects.

[0032] It should be noted that the terms "first," "second," and the like in the specification and claims of the present invention and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, such that the embodiments of the present invention described herein can be implemented in an order other than that illustrated or described herein.

[0033] In a first aspect, the present invention provides an overhead crane control method through an embodiment of the present invention, which can be applied to all overhead cranes in a target area, and the target area can include a wharf and a factory warehouse area.

[0034] See Figure 1 As shown, the overhead crane control method includes the following steps S101 to S103:

[0035] Step S101: establishing a target task database for a target overhead crane according to preset avoidance rules.

[0036] Specifically, the target overhead cranes include multiple cranes. In one embodiment, the target overhead cranes may include a first target overhead crane and a second target overhead crane.

[0037] Correspondingly, the preset avoidance rule may include: when there is a conflict between the mission information of the first target overhead crane and the status information of the second target overhead crane, controlling the operation of the first target overhead crane based on the mission information of the second target overhead crane.

[0038] In a specific implementation, the status information includes the operating status parameters and priority parameters of the target overhead crane, and the task information includes the task location parameters and task status parameters. When the task location parameters of the first target overhead crane conflict with the operating status parameters of the second target overhead crane, it is determined whether the task status parameters of the second target overhead crane are valid.

[0039] If the mission state parameter of the second target overhead crane is determined to be valid, the first target overhead crane is controlled to enter a waiting state until the operation state parameter of the first target overhead crane meets the first preset safety requirement, and then the first target overhead crane is controlled to operate again.

[0040] In some embodiments, the operating status parameters of the target overhead crane may include: the coordinates of the overhead crane clamp, the load status of the overhead crane, etc. The priority parameter may include the priority of the overhead crane's current task. The task location parameters may include: the coordinates of the cargo to be hoisted, the coordinates of the target location, the task name, etc. The task status parameters may include: the identifier of the overhead crane's current task, the progress of the current task, the number of received but inactive tasks, the currently executing task, the size of the cargo to be hoisted, the weight of the cargo to be hoisted, the existence of the cargo to be hoisted, and whether the cargo to be hoisted can be transported.

[0041] Regarding how to determine whether the mission status parameters of the second target overhead crane are valid, specifically, if the mission status parameters of the second target overhead crane include an activated mission, and the mission position parameters of the second target overhead crane conflict with the operating status parameters of the first target overhead crane, then the mission status parameters of the second target overhead crane are determined to be valid.

[0042] If it is determined that the mission state parameter of the second target overhead crane is invalid, the operation of the first target overhead crane is controlled based on the mission state parameter of the second target overhead crane.

[0043] Regarding how to control the operation of the first target overhead crane based on the mission status parameters of the second target overhead crane, specifically, if the mission status parameters of the second target overhead crane do not include an activated mission, the first target overhead crane is controlled to operate to complete the target mission of the first target overhead crane; if the mission status parameters of the second target overhead crane include an activated mission, and the mission position parameters of the second target overhead crane do not conflict with the operating status parameters of the first target overhead crane, then when the operating status parameters of the first target overhead crane meet the second preset safety requirements, the first target overhead crane is controlled to operate.

[0044] In a specific implementation, the first preset safety requirement may include: the distance between the target position coordinate value of the second target overhead crane and the coordinate value of the first target overhead crane clamp is greater than a preset safety distance threshold. The second preset safety requirement may include: half of the distance between the target position coordinate value of the second target overhead crane and the coordinate value of the first target overhead crane clamp is greater than a preset safety distance threshold.

[0045] Among them, the preset safety distance can be set according to the actual hardware conditions of the overhead crane.

[0046] Different from the above embodiment, in this embodiment of the present invention, the target overhead travelling vehicle may further include a third target overhead travelling vehicle and a fourth target overhead travelling vehicle, wherein the priority parameter of the third target overhead travelling vehicle is greater than the priority parameter of the fourth target overhead travelling vehicle.

[0047] The corresponding preset avoidance rules include: when the mission information of the fourth target overhead crane conflicts with the status information of the third target overhead crane, controlling the third target overhead crane to operate; and when the mission information of the fourth target overhead crane does not conflict with the status information of the third target overhead crane, increasing the priority parameter of the fourth target overhead crane.

[0048] That is, when multiple target cranes conflict during mission execution, the target crane with the higher priority parameter will take priority. However, once the target crane with the lower priority parameter completes its mission, its corresponding priority parameter will be raised to ensure that the lower priority crane also has the opportunity to execute the mission.

[0049] For example, based on the above-mentioned preset avoidance rules, a target task database as shown in Table 1 below can be pre-established:

[0050] Table 1. Target task database under one implementation

[0051]

[0052] Step S102: acquiring the state information and task information of the target overhead crane, and determining the target task from the target task database based on the state information and task information of the target overhead crane.

[0053] Specifically, the status information and task information of the target overhead crane can be obtained through the external data interface, including the coordinate value of the overhead crane clamp, the load status of the overhead crane, the priority level of the overhead crane's current task, the coordinate value of the cargo to be hoisted, the coordinate value of the target position, the task name, the identifier of the task currently being executed by the overhead crane, the progress of the current task, the received but inactivated tasks, the currently executed tasks, the size of the cargo to be hoisted, the weight of the cargo to be hoisted, whether the cargo to be hoisted exists, whether the cargo to be hoisted can be transported, etc.

[0054] In some embodiments, the acquired target crane status information may include the crane number, the position value of the crane clamp, the crane control mode, and the crane load status, as shown in Table 2 below:

[0055] Table 2. Status information and task information of the target overhead crane obtained under one embodiment

[0056]

[0057] The crane control mode can include manual, automatic power on, automatic power off, pause, and maintenance. The crane priority, task issuance, initialization status, task exit, and task execution timeout are determined based on the crane control mode.

[0058] Then, after obtaining the status information and task information of the target overhead crane, the operating status, control mode, task priority, obstacle area information and other system chain messages of the overhead crane are judged in real time according to the tasks to be performed by the overhead crane, and the target task is determined from the target task database.

[0059] Step S103: Based on the protection requirements preset for the target overhead crane, path information corresponding to the target task is determined, and the operation of the target overhead crane is controlled according to the path information.

[0060] Regarding how to determine the path information corresponding to the target task, specifically, the A* algorithm can be used to determine the proposed path information corresponding to the target task.

[0061] Since the target task includes the task location information, and the task location information may include the source stack and the target stack, the A* algorithm can be used to calculate the path from the source stack to the target stack, thereby obtaining the proposed path information.

[0062] Of course, other path algorithms, such as the Dijkstra algorithm, can also be used to calculate the proposed path information corresponding to the target task. In some embodiments, the proposed path information can be shown in Table 3 below:

[0063] Table 3. Proposed path information under one implementation

[0064]

[0065] In order to avoid coordinate data values ​​out of range or abnormal data delay, which may cause collision accidents when the overhead crane is driving based on the planned path information, the planned path information can also be corrected based on preset protection requirements to obtain the path information corresponding to the target task.

[0066] Specifically, the preset protection requirements may include executing overhead crane action protection after detecting a collision alarm message. Overhead crane action protection may include avoidance, scheduled waiting, and following, where following includes automatic following and manual following.

[0067] Finally, the target overhead crane is controlled based on the path information. Once the distance between the overhead cranes is detected to be less than the preset safety distance, the overhead crane will be automatically controlled to perform an evasive action to prevent a collision caused by human intervention.

[0068] The system also verifies the task data and cargo data in the target task. Once it detects that the cargo stacking, coordinates, and dimensions do not match the corresponding data in the target task, it stops controlling the target overhead crane and issues an alarm to the operator to avoid errors and dangers.

[0069] In addition, when the target overhead crane completes the target task, the position of the hoisted cargo can also be updated to facilitate synchronization of the current position information of the hoisted cargo. For example, the current position information of the hoisted cargo can be determined by the following Table 4:

[0070] Table 4. Position information of the target crane during the completion of the target task

[0071] SkyTrain Task No. Task Status Source stack Target stack position C1 10001 4 A0101 B0101

[0072] On the second aspect, based on the same inventive concept, the present invention provides an overhead crane control device through an embodiment of the present invention, which can be applied to all overhead cranes in a target area, and the target area can include a wharf and a factory warehouse area.

[0073] See Figure 2As shown, the overhead crane control device may include:

[0074] The task database creation unit 201 is used to establish a target task database for a target overhead crane according to preset avoidance rules.

[0075] The task allocation unit 202 is configured to obtain the state information and task information of the target overhead crane, and determine the target task from the target task database based on the state information and task information of the target overhead crane.

[0076] The overhead crane path control unit 203 is configured to determine path information corresponding to the target task based on the protection requirements preset for the target overhead crane, and control the operation of the target overhead crane according to the path information.

[0077] The target overhead cranes include multiple cranes, the status information includes the operating status parameters and priority parameters of the target overhead cranes, and the task information includes the task location parameters and task status parameters.

[0078] As an optional embodiment, the mission database creation unit 201 stores preset avoidance rules. If the target overhead cranes include a first target overhead crane and a second target overhead crane, the preset avoidance rules include: when there is a conflict between the mission information of the first target overhead crane and the status information of the second target overhead crane, controlling the operation of the first target overhead crane based on the mission information of the second target overhead crane.

[0079] If the target overhead cranes further include a third target overhead crane and a fourth target overhead crane, wherein the priority parameter of the third target overhead crane is greater than the priority parameter of the fourth target overhead crane, the preset avoidance rule includes: when there is a conflict between the mission information of the fourth target overhead crane and the status information of the third target overhead crane, controlling the third target overhead crane to operate; and when there is no conflict between the mission information of the fourth target overhead crane and the status information of the third target overhead crane, increasing the priority parameter of the fourth target overhead crane.

[0080] Among them, when the mission position parameters of the first target overhead crane conflict with the operating status parameters of the second target overhead crane, it is determined whether the mission status parameters of the second target overhead crane are valid; if so, the first target overhead crane is controlled to enter a waiting state until the operating status parameters of the first target overhead crane meet the first preset safety requirements, and then the first target overhead crane is controlled to operate again; otherwise, the operation of the first target overhead crane is controlled based on the mission status parameters of the second target overhead crane.

[0081] As an optional implementation, if the mission status parameters of the second target overhead crane include an activated mission and the mission position parameters of the second target overhead crane conflict with the operation status parameters of the first target overhead crane, the mission status parameters of the second target overhead crane are determined to be valid.

[0082] As an optional implementation, if the mission status parameters of the second target overhead crane do not include an activated mission, the first target overhead crane is controlled to operate to complete the target mission of the first target overhead crane; if the mission status parameters of the second target overhead crane include an activated mission, and the mission position parameters of the second target overhead crane do not conflict with the operating status parameters of the first target overhead crane, then when the operating status parameters of the first target overhead crane meet the second preset safety requirements, the first target overhead crane is controlled to operate.

[0083] As an optional implementation manner, the overhead crane path control unit 203 is specifically configured to:

[0084] Use the A* algorithm to determine the proposed path information corresponding to the target task;

[0085] The proposed path information is modified based on the preset protection requirements to obtain the path information corresponding to the target task.

[0086] Since the overhead crane control device described in this embodiment is an electronic device used to implement the overhead crane control method in the embodiment of the present invention, those skilled in the art will be able to understand the specific implementation and various variations of the electronic device in this embodiment based on the overhead crane control method described in the embodiment of the present invention. Therefore, how the electronic device implements the method in the embodiment of the present invention will not be described in detail here. As long as those skilled in the art can implement the electronic device used in the overhead crane control method in the embodiment of the present invention, it falls within the scope of protection of the present invention.

[0087] On the third aspect, based on the same inventive concept, an embodiment of the present invention provides an overhead crane control device that can be applied to all overhead cranes in a target area, and the target area can include a dock and a factory warehouse area.

[0088] Please refer to Figure 3 As shown, the overhead crane control device provided by the embodiment of the present invention includes: a memory 301, a processor 302 and a code stored in the memory and executable on the processor 302. When executing the code, the processor 302 implements any implementation of the overhead crane control method described above.

[0089] Among them, Figure 3In the embodiment of the present invention, a bus architecture (represented by bus 300) is shown. Bus 300 may include any number of interconnected buses and bridges, and bus 300 links together various circuits including one or more processors represented by processor 302 and memory represented by memory 301. Bus 300 may also link together various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. Bus interface 305 provides an interface between bus 300 and receiver 303 and transmitter 304. Receiver 303 and transmitter 304 may be the same component, namely a transceiver, which provides a unit for communicating with various other devices over a transmission medium. Processor 302 is responsible for managing bus 300 and general processing, while memory 301 may be used to store data used by processor 302 when performing operations.

[0090] Fourthly, Figure 4 As shown, based on the same inventive concept, the present invention provides a computer-readable storage medium 400 through an embodiment of the present invention, on which a computer program 401 is stored. When the program 401 is executed by a processor, any implementation method of the overhead crane control method described above is implemented.

[0091] The technical solutions in the above embodiments of the present invention have at least the following technical effects or advantages:

[0092] Based on preset avoidance rules, a target task database for a target overhead crane is established. This allows for faster identification of the target task from the database based on the target crane's status and task information after obtaining the target crane's status and task information. Because the status information includes the target crane's operating status parameters and priority parameters, and the task information includes task location parameters and task status parameters, the path information corresponding to the target task can be determined based on preset protection requirements for the target crane. The target crane's operation is then controlled based on this path information, effectively reducing the crane's idle travel rate and preventing conflicts between different cranes.

[0093] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable code.

[0094] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as combinations of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer instructions. These computer instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the process in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0095] These computer instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0096] These computer instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0097] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0098] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A method for controlling an overhead crane, characterized in that: include: According to the preset avoidance rules, a target task database for the target overhead crane is established; Acquiring state information and task information of a target overhead crane, and determining a target task from the target task database based on the state information and task information of the target overhead crane; Based on the protection requirements preset for the target overhead crane, determining path information corresponding to the target task, and controlling the operation of the target overhead crane according to the path information; The target overhead crane includes multiple cranes, the state information includes the operation state parameters and priority level parameters of the target overhead cranes, and the task information includes the task location parameters and task state parameters; The target overhead crane includes a first target overhead crane and a second target overhead crane; The preset avoidance rules include: When there is a conflict between the mission information of the first target overhead travelling vehicle and the status information of the second target overhead travelling vehicle, controlling the operation of the first target overhead travelling vehicle based on the mission information of the second target overhead travelling vehicle; The determining of the path information corresponding to the target task based on the preset protection requirements for the target overhead travelling crane includes: Using the A* algorithm to determine the proposed path information corresponding to the target task; Modifying the proposed path information based on the preset protection requirements to obtain path information corresponding to the target task; The preset protection requirement includes executing overhead crane action protection after detecting collision alarm information.

2. The method according to claim 1, wherein When the mission information of the first target overhead travelling vehicle conflicts with the status information of the second target overhead travelling vehicle, controlling the operation of the first target overhead travelling vehicle based on the mission information of the second target overhead travelling vehicle comprises: When there is a conflict between the mission position parameter of the first target overhead travelling vehicle and the operating state parameter of the second target overhead travelling vehicle, determining whether the mission state parameter of the second target overhead travelling vehicle is valid; If so, controlling the first target overhead travelling crane to enter a waiting state until the operating state parameters of the first target overhead travelling crane meet a first preset safety requirement, and then re-controlling the first target overhead travelling crane to operate; Otherwise, the operation of the first target overhead travelling crane is controlled based on the mission state parameter of the second target overhead travelling crane.

3. The method according to claim 2, wherein The determining whether the mission status parameter of the second target overhead crane is valid includes: If the mission status parameter of the second target overhead crane includes an activated mission, and the mission position parameter of the second target overhead crane conflicts with the operation status parameter of the first target overhead crane, the mission status parameter of the second target overhead crane is determined to be valid.

4. The method according to claim 2, wherein The controlling the operation of the first target overhead crane based on the mission state parameter of the second target overhead crane includes: If the task status parameter of the second target overhead crane does not include an activated task, controlling the first target overhead crane to operate so as to complete the target task of the first target overhead crane; If the mission status parameters of the second target overhead crane include an activated mission, and the mission position parameters of the second target overhead crane do not conflict with the operating status parameters of the first target overhead crane, then when the operating status parameters of the first target overhead crane meet second preset safety requirements, the first target overhead crane is controlled to operate.

5. The method according to claim 1, wherein The target overhead crane further includes a third target overhead crane and a fourth target overhead crane, wherein the priority parameter of the third target overhead crane is greater than the priority parameter of the fourth target overhead crane; The preset avoidance rules also include: When the mission information of the fourth target overhead crane conflicts with the status information of the third target overhead crane, controlling the third target overhead crane to operate; When there is no conflict between the task information of the fourth target overhead crane and the status information of the third target overhead crane, the priority parameter of the fourth target overhead crane is increased.

6. A crane control device, characterized in that: include: A task database creation unit is used to establish a target task database for a target overhead crane according to preset avoidance rules; a task allocation unit, configured to obtain status information and task information of a target overhead crane, and determine a target task from the target task database based on the status information and task information of the target overhead crane; An overhead crane path control unit is configured to determine path information corresponding to the target task based on a preset protection requirement for the target overhead crane, and control the operation of the target overhead crane according to the path information; The target overhead crane includes multiple cranes, the state information includes the operation state parameters and priority level parameters of the target overhead cranes, and the task information includes the task location parameters and task state parameters; The target overhead crane includes a first target overhead crane and a second target overhead crane; The preset avoidance rules include: When there is a conflict between the mission information of the first target overhead travelling vehicle and the status information of the second target overhead travelling vehicle, controlling the operation of the first target overhead travelling vehicle based on the mission information of the second target overhead travelling vehicle; The determining of the path information corresponding to the target task based on the preset protection requirements for the target overhead travelling crane includes: Using the A* algorithm to determine the proposed path information corresponding to the target task; Modifying the proposed path information based on the preset protection requirements to obtain path information corresponding to the target task; The preset protection requirement includes executing overhead crane action protection after detecting collision alarm information.

7. An overhead crane control device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the method according to any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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