Load-oriented swing suppression automatic control system for crane

Abstract

A load swing damping oriented automatic control system of crane is used to run a crane anti-swing control algorithm to solve the problem of load swing in the process of precise positioning. In addition to the structure of the crane system, it also includes a remote data acquisition end and a crane anti-swing motion control board card, both of which can communicate wirelessly. The remote data acquisition end collects the swing angle information of the crane spreader and transmits it to the anti-swing motion control board card. After receiving data from the remote data acquisition end, programmable logic controller and remote controller, the anti-swing motion control board card performs logical judgment and operation, and then outputs the operation results and other control instructions to the programmable logic controller to control the operation of the crane mechanical main body. The interface circuit board of the anti-swing motion control board card integrates an STM32 single-chip microcomputer suitable for real-time control to ensure real-time performance. At the same time, it integrates an NVIDIA Jetson vision processor suitable for complex information processing to ensure functionality.

Description

Technical Field

[0001] This invention relates to the technical field of automatic control of nonlinear underactuated systems, and in particular to an automatic control system for cranes oriented towards load anti-sway. Background Technology

[0002] A crane, also known as a hoist, is a multi-action electromechanical device used to vertically lift or horizontally move heavy objects within a certain range. It mainly consists of three parts: the frame, the mechanism, and the control system. The frame is the main body of the crane, referring primarily to its metal structure. The mechanism, which relies on the frame, supports the crane's movement and is divided into four main categories: hoisting mechanism, traveling mechanism, luffing mechanism, and slewing mechanism. The control system is the operable system that enables the crane to perform movements such as movement and lifting of lifting devices. Traditionally, the control system of cranes is located in the operator's cab for use by technicians. Based on the differences in their components, cranes are classified into bridge cranes, gantry cranes, tower cranes, mobile cranes, portal cranes, elevators, cable cranes, mast cranes, and mechanical parking equipment.

[0003] Lifting machinery is a type of special equipment, suitable for moving heavy objects in various working conditions. Among the diverse types of operations, some tasks inevitably have stringent requirements for the swing angle of the crane's lifting device. For example, stacking operations require the crane to arrange goods as neatly and compactly as possible to make full use of space. This necessitates operators relying on extensive experience to effectively suppress the swing of the lifting device. Relying on the human eye to estimate the position of the lifting device and on experience to reduce load swing during operation is prone to errors. If improper operation leads to damage to the mechanical structure or failure of electrical controls, there is a chance of safety accidents, even personal injury or death. In addition, when manually operating a crane, in order to solve the problem of rope swing, it is necessary to reduce the movement speed of the mechanism, which greatly reduces the work efficiency. It should be noted that the load swing reduction of the crane should be based on the precise positioning of the mechanism, which further increases the difficulty of operation for crane operators. Generally speaking, crane operators need to undergo long-term rigorous training and learn from various lessons during operation to gain the corresponding experience. Training a person who meets the requirements of traditional operations is too costly. Therefore, it is necessary to upgrade and transform the traditional crane control system so that it can accurately position the crane while fully suppressing the load swing angle, thereby ensuring personnel safety, reducing the difficulty of operation, and improving work efficiency.

[0004] In industrial settings, cranes are often used in conjunction with Programmable Logic Controllers (PLCs) and frequency converters. Specifically, the PLC generates input signals for the frequency converter, which drives the motors on the crane's mechanical body to ensure stable operation. In addition, to improve operational safety, cranes are often equipped with various limit devices, whose output signals are also connected to the PLC to protect the crane when its mechanisms reach their travel limits. The automatic control system designed for these cranes must ensure an interface for data exchange with the PLC and incorporate commonly used communication protocols, such as Modbus-RTU. While research on crane motors is quite advanced, with increased motor usage time and the inevitable impacts and vibrations during operation, minor damage to the motor's internal components occurs without affecting its use. This damage can lead to leakage flux in the motor, interfering with the control system's operation. Therefore, when selecting sensors for a crane-specific automatic control system, electromagnetic interference protection measures must be implemented to ensure the long-term stable operation of the entire automatic control system. To prevent crane spreader from swaying, the control algorithm must include feedback on angle information. Sensors should be mounted on the spreader to measure its sway. If wired methods are used to retrieve angle information, the spreader's movement will tangle the cables, affecting both communication and crane safety. Therefore, wireless communication should be used between the control board and sensors in the design of the crane's automatic control system.

[0005] In conclusion, considering the specific operating environment of cranes, it is of great significance to build a new automatic control system for eliminating crane load sway. In order to ensure stable operation, the real-time performance of the system must be guaranteed. At the same time, the system should be able to ensure functionality without affecting real-time performance. Summary of the Invention

[0006] This invention provides a hardware and software control system for a crane anti-sway control algorithm for load damping. Users can incorporate their own designed or selected anti-sway motion control algorithm into the system proposed in this invention, based on the actual mechanical structure of the crane system, to verify the algorithm's feasibility and for practical application.

[0007] To solve the above problems, the technical solution adopted by the present invention is as follows:

[0008] An automatic control system for cranes designed to prevent load swaying includes a crane system consisting of a programmable logic controller, a frequency converter, and the crane's mechanical body, as well as a crane anti-sway motion control board and a remote data acquisition terminal, wherein:

[0009] The anti-sway motion control board is connected to the programmable logic controller (PLC), and the two can communicate bidirectionally. The anti-sway motion control board can be pre-programmed with a crane anti-sway control algorithm selected by the user. It is used to receive data from the remote data acquisition terminal, the PLC, and the remote controller, perform logical judgment, data processing and calculation, and transmit the calculation results and other control instructions to the PLC to control the operation of the crane's mechanical body. This effectively suppresses load sway while the crane system operates according to predetermined requirements.

[0010] The remote data acquisition terminal is responsible for collecting the swing angle information of the crane's spreader. It is installed on the crane's spreader and transmits the swing angle information data to the anti-sway motion control board via wireless communication as input to the crane's anti-sway control algorithm.

[0011] The anti-sway motion control board mainly consists of three parts: an interface circuit board, an STM32 microcontroller, and an NVIDIA Jetson vision processor. The interface circuit board serves as an integrated baseboard, with two sets of plug-in interfaces for connecting the pins of the STM32 microcontroller and the NVIDIA Jetson vision processor, respectively.

[0012] The interface circuit board connects the STM32 microcontroller and the NVIDIA Jetson visual processor via one SPI peripheral pin and one I2C peripheral pin, enabling board-level communication via both SPI and I2C. Internally, the STM32 microcontroller has seven serial interfaces, which are presented in two ways: First, three interfaces are directly connected to the external input / output pins of the circuit board as TTL interfaces. One of these is used to connect to a host computer during program debugging, and another is used to connect to the receiver module of the remote control to obtain data transmitted from the remote control. One interface is reserved. Second, the other four interfaces are connected to the TTL and RS-232 conversion circuit. The system is converted to the RS-232 serial interface standard and connected to four DB9 interfaces. Two of these DB9 interfaces are connected to an RS-232 to Ethernet module, which communicates with the programmable logic controller (PLC) via Ethernet using the Modbus-RTU protocol through a switch. If the PLC has a DB9 interface instead of an Ethernet port, these two DB9 interfaces do not need to be connected to the RS-232 to Ethernet module and can be directly connected to the PLC. One DB9 interface is used to connect to a wireless data transmitter to receive crane spreader swing angle information transmitted from a remote data acquisition terminal. One DB9 interface is reserved. The power supply interfaces of the STM32 microcontroller and the NVIDIA Jetson vision processor are connected to a voltage conversion circuit. The external power supply is provided through the voltage conversion chip and the chip's peripheral circuitry, forming a complete circuit system.

[0013] A real-time operating system is ported into the STM32 microcontroller. Based on this, threads are deployed to perform the following functions: receiving remote control data via a serial interface connected to the input / output pins; receiving sway angle data of the hoist via a DB9 interface connected to the wireless data transmission; receiving visual processor data via an SPI or I2C interface connected inside the interface circuit board; and reading and writing registers of the programmable logic controller via the Modbus-RTU protocol through two DB9 interfaces connected to the RS-232 to Ethernet module, performing logic judgments, and running control algorithms. Each thread runs independently. In the logic judgment thread, the priority of changes in remote control commands is set to the highest. In the control algorithm running thread, an interface for the anti-sway control algorithm is reserved.

[0014] The remote data acquisition terminal consists of an inertial sensor, a wireless data transmitter, and a rechargeable power supply. The inertial sensor is connected to one wireless data transmitter, and the angle, angular velocity, angular acceleration, and other information it collects are transmitted wirelessly to another wireless data transmitter connected to the anti-sway motion control board to complete the acquisition of the crane spreader's swing angle information.

[0015] Compared with the prior art, the advantages and beneficial effects of the present invention are as follows:

[0016] The crane automatic control system provided by this invention enables the feasibility verification and practical application of crane anti-sway control algorithms. Developed specifically for crane automation retrofitting, the anti-sway motion control board provides a pre-defined interface for the control algorithm. Users simply need to convert the control algorithm into code and embed it, such as a sliding mode control algorithm. [1] Trajectory planning algorithm [2] In terms of structure, the interface circuit board integrates an STM32 microcontroller suitable for real-time processing and an NVIDIA Jetson vision processor suitable for complex information processing. The former is used in conjunction with the real-time operating system to ensure stable system operation and real-time performance, while the latter can process computationally intensive information such as vision and LiDAR data, ensuring functionality. The anti-sway motion control board is compatible with the communication interfaces of two programmable logic controllers. It can communicate with the programmable logic controller not only through the Ethernet port, but also through the DB9 interface after slight structural modifications. Attached Figure Description

[0017] Figure 1 This is a schematic diagram illustrating the concept of a crane automatic control system and control algorithm for load suppression, which is designed to eliminate load sway.

[0018] Figure 2 This is a schematic diagram of the composition structure of an automatic control system for cranes designed to eliminate load sway, provided by the present invention.

[0019] Figure 3 This is a schematic diagram of the remote data acquisition terminal in an automatic control system for cranes designed to eliminate load sway, provided by the present invention.

[0020] Figure 4 This is a structural schematic diagram of an anti-sway motion control board in an automatic crane control system for load mitigation provided by the present invention. Implementation

[0021] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0022] Generally speaking, the research on automatic control of cranes includes two aspects: one is the precise positioning of the crane lifting device to lift and lower the load at the desired position; the other is the load sway elimination during the crane lifting process to improve the crane's operating efficiency and suppress the interference of the harsh working environment on the lifting work. Reference [3] proposed a perfect solution to the problem of precise positioning of cranes. Unfortunately, the inventor did not study the load sway elimination of cranes. In fact, the crane system is a structurally distinct underactuated system. [4]-[6] Therefore, achieving both precise positioning and load sway elimination is a very challenging task. Nevertheless, thanks to the unremitting efforts of researchers, some achievements have been made in control algorithms, such as a sliding mode control algorithm proposed in reference [1] and a trajectory planning algorithm proposed in reference [2]. Based on these achievements, this invention proposes an automatic control system for cranes to achieve precise positioning of the lifting device while completing the task of eliminating load sway of the crane.

[0023] Figure 1 This is a schematic diagram illustrating the concept of an automatic control system for cranes designed to suppress load sway, combined with a control algorithm to achieve load suppression. The automatic control system of this invention provides a desired target position for the lifting device and a load sway angle. The target position can be manually input into the algorithm of the anti-sway motion control board. Alternatively, if the user has developed a visual detection algorithm, it can be provided by the visual detection algorithm in the NVIDIA Jetson vision processor. For a single-rope crane system, the given load sway angle is 0, which serves as the input to the control algorithm. Simultaneously, while the load sway angle status information is acquired at the remote acquisition terminal, the lifting device position information is also acquired by the PLC and input into the anti-sway control board, serving as feedback in the control algorithm, forming a closed-loop control. The algorithm stored in the anti-sway motion control board calculates an analog quantity representing the desired inverter output frequency and transmits it to the PLC. The PLC then uses this analog quantity as a control input to the inverter. The inverter outputs the desired frequency to the motor of the crane's main body, driving the lifting device to the desired position given by the input, while simultaneously suppressing load sway.

[0024] Figure 2 The figure shows an automatic control system for cranes designed to eliminate load swaying, provided by the present invention, which includes a crane system, a remote data acquisition terminal, and an anti-sway motion control board.

[0025] The crane system is the controlled object of the entire automatic control system, including the PLC, frequency converter, and crane mechanical body. The PLC collects the position information of each component of the crane, provides an interface for manual operation of the crane, inputs analog signals to the frequency converter to control the running speed of the crane mechanism, and performs logical judgments based on the limit information fed back by each limit device to limit the travel of the crane mechanism, protecting the equipment and operators in special circumstances. The frequency converter, as the actuator of the crane control system, receives the analog signals output by the PLC and outputs electrical energy according to the frequency corresponding to the analog signals, driving the motors on which the crane mechanical body depends to run at the desired speed. Except for the swing angle of the lifting device, other usable state information of the crane mechanical body can be collected by the PLC.

[0026] The remote data acquisition terminal is used to collect the swing angle status information of the crane spreader, including a rechargeable power supply, inertial sensors, and wireless data transmission, such as... Figure 3 As shown. The rechargeable power supply powers both the inertial sensor and the wireless data transmitter A. The power supply is selected based on the operating voltages of the latter two: the inertial sensor operates at DC 9V to 36V, and the wireless data transmitter A operates at 10V to 28V. Therefore, a common 12V output type power supply can be selected. The inertial sensor (installed on the crane's lifting device) is responsible for collecting the angle, angular velocity, and angular acceleration of the crane's three attitude angles. Considering the length of a control cycle in the algorithm running on the anti-sway motion control board, the refresh rate of the inertial sensor should be guaranteed to be an average of 100Hz. The interface uses a standard RS-232 serial interface output, and the baud rate can be set to 115200bps. In addition, when selecting the sensor, attention should be paid to its suitability for the industrial environment, especially for cranes equipped with high-power motors. For heavy machinery, due to increased motor usage time and unavoidable impacts and vibrations during operation, the motor's internal components may suffer minor damage without affecting its use. This can lead to a certain amount of magnetic leakage, interfering with the operation of the inertial sensor. Therefore, a sensor with electromagnetic interference protection should be selected. In this example, an inertial sensor conforming to EN61000 and GBT17626 standards is used, and it is encapsulated in a metal shell to resist impact and vibration. Wireless data transmitters A and B operate in a point-to-point unidirectional transmission and reception mode. Wireless data transmitter A receives angle status information from the inertial sensor and then forwards it to wireless data transmitter B. Wireless data transmitter B is connected to one DB9 interface on the anti-sway motion control card interface circuit board (see...). Figure 4), so that the control algorithm running in the board can obtain the angle status information of the crane spreader.

[0027] The structure of the anti-sway motion control board is as Figure 4 shown, which is the most core part of the automatic control system of the crane mentioned in this invention, and includes three parts: an independently designed and developed interface circuit board, an STM32 single-chip microcomputer, and an NVIDIA Jetson vision processor.

[0028] Among them, the interface circuit board serves as the bottom board of the STM32 single-chip microcomputer and the NVIDIA Jetson vision processor, playing an integrating role, and leading out the peripheral hardware interfaces of the STM32, which is convenient for use in the engineering field. This interface circuit board connects the 1-way SPI peripheral pins and 1-way I2C peripheral pins of the STM32 single-chip microcomputer and the NVIDIA Jetson vision processor correspondingly, enabling users to perform board-level communication through these two methods; 7-way serial interfaces of the STM32 single-chip microcomputer are led out. Among them, 3 ways are directly connected to the external pins of the interface circuit board as TTL interfaces, 1 way is used to connect to the upper computer at the computer end when debugging the program, 1 way is used to connect to the receiving module supporting the remote control to obtain the data transmitted from the remote control end, 1 way is reserved, and the other 4 ways are converted into RS-232 serial interface standards through conversion chips and are respectively connected to 4 DB9 interfaces. 2 DB9 interfaces are used to communicate with the programmable logic controller, 1 DB9 interface is used to connect to the wireless data transmission B to receive the crane spreader swing angle information transmitted from the remote data acquisition end, and 1 DB9 interface is reserved. In this link, the TTL to RS-232 chip selects MAX3232CUE; the STM32 single-chip microcomputer and the NVIDIA Jetson vision processor are powered by an external power supply through a voltage conversion chip and the peripheral circuit of the chip to form a complete circuit system. This circuit selects 2 pieces of TPS54531 chips to convert the 19V voltage into 3.3V and 5V respectively, and the fusing current is 2A.

[0029] In order to correspond to the physical interfaces and communication methods on the crane system, the interface circuit board needs to be connected with some peripheral modules for use, including wireless data transmission B, RS-232 to Ethernet modules A and B, and switches (see Figure 4These modules can all be directly powered by an external 19V power supply. Wireless data transmitter B receives the crane's spreader swing angle status information from wireless data transmitter A at the remote data acquisition terminal, and inputs it into the STM32 microcontroller for use in the anti-sway motion control algorithm. Most crane PLCs communicate with other devices via Ethernet ports using the Modbus-RTU protocol. The PLC acts as a slave, and the master uses two different ports on the same IP address for reading and writing to the slave's registers. Therefore, the STM32 microcontroller needs to provide two serial interfaces: one dedicated to reading from the PLC's multiplex registers and the other dedicated to writing to the PLC registers. These are then converted into two network interfaces using an RS-232 to Ethernet module. Considering that most PLCs only have one Ethernet port or only one Ethernet port for connecting to the master, the two network interfaces need to be integrated via a switch before being connected to the PLC. Specifically, if the PLC communicates via the DB9 interface using the RS-232 standard, the two DB9 interfaces on the anti-sway motion control board do not need to be connected to the RS-232 to Ethernet module and can be directly connected to the PLC.

[0030] The STM32 microcontroller is model STM32F429IGT6, packaged on a core board. It features 8 serial interfaces, 3 I2C interfaces, and 6 SPI interfaces, meeting the interface requirements of this invention. Utilizing a 180MHz system clock frequency and a large 1MB FLASH memory, it can run a real-time operating system. The embedded real-time operating system is RT-thread. Based on this operating system, this invention establishes 7 threads by default to handle remote control data reception, hoist angle data reception, vision processor data reception, reading programmable logic controller (PLC) registers via Modbus-RTU protocol, writing PLC registers via Modbus-RTU protocol, performing logic judgments, and running control algorithms. The remote control data reception, hoist swing angle data reception, and vision processor data reception are implemented using serial interface interrupts. The implementation of reading and writing to the PLC registers via the Modbus-RTU protocol requires first sending messages to the PLC in Modbus-RTU format via the serial interface, sequentially sending the hexadecimal device number, function code, data, and CRC checksum, and then receiving the PLC's response data via serial interface interrupts. In the logic judgment thread, the priority of remote control command changes is set to the highest to ensure the priority of human operation. The control algorithm execution thread reserves an interface for the anti-sway control algorithm, used for encapsulating the anti-sway control algorithm. Furthermore, mutual exclusions are introduced between threads to protect shared resources such as the debugging serial interface and the Modbus-RTU protocol transmit / receive channels, ensuring stable software operation. The NVIDIA Jetson vision processor, model NVIDIA Jetson Xavier NX, is used to manage video information that may occur during crane operation. It can manage up to 6 cameras (up to 24 via virtual channels). Although this function is not used in this embodiment, a complete communication interface is still reserved. When visual feedback needs to be added to the proposed crane anti-sway control algorithm, users can develop it according to specific circumstances. They only need to embed their own algorithm. In the following description, this embodiment will provide a reference algorithm.

[0031] The above detailed description of the system's composition demonstrates that the hardware structure and software framework of this invention are well-developed. Furthermore, it fully considers the specific application scenarios in industrial settings, making reasonable provisions for both physical hardware interfaces and software program interfaces to facilitate further development by users based on their needs. This is particularly beneficial for integrating anti-sway control algorithms; users simply need to convert the selected algorithm into code and fill it into the corresponding location in the program to achieve the goal of eliminating crane load sway. The following will further illustrate this embodiment from a usage perspective.

[0032] First, open the programming environment of the STM32 microcontroller and encapsulate the control algorithm in the reserved control algorithm running thread. For single-rope cranes, it is recommended to encapsulate the sliding mode control algorithm proposed in reference [1]; for multi-rope cranes, it is recommended to encapsulate the trajectory planning algorithm proposed in reference [2]. Multi-rope cranes are more difficult to control than single-rope cranes. In order to better illustrate the performance of the present invention, this embodiment selects the latter for experimental verification. The control algorithm running thread provides the angle, angular velocity, and angular acceleration of the three attitude angles of the crane lifting device retrieved from the remote data acquisition terminal. Users can select to use these variables according to the selected control algorithm structure. The result of the calculation should be stored in a predefined array, which will be written as a control quantity when the thread that writes to the register of the programmable logic controller via the Modbus-RTU protocol runs.

[0033] Secondly, improve the logic judgment thread. This thread already contains some universally applicable logical relationships, such as the remote control responding to human intent, which should be processed first. Generally, the thread that reads the programmable logic controller's registers via the Modbus-RTU protocol can retrieve information such as: rope lowering length, encoder feedback motor speed, speed limit, and target cargo position. Users can use this information to add further logical relationships to optimize the crane system's workflow, or they can leave it as is and use the default logical relationships.

[0034] Next, after the program is compiled without errors, use an STM32 microcontroller to burn the program into the anti-sway motion control card. After the program is successfully burned, ensure that the entire board is powered off and connect it to the PLC. Taking the Ethernet port as an example, simply connect one interface of the switch to the Ethernet port on the PLC with a network cable.

[0035] Next, install the remote data acquisition terminal and fix it horizontally on the crane's spreader. The spreader must be kept horizontal at this time. Then, power on the remote data acquisition terminal, place it horizontally on the spreader and keep it still for 2 seconds. Only after the inertial sensor has completed initialization can it be swung freely.

[0036] Finally, power on the anti-sway motion control card and wait 2 seconds to ensure the card program is successfully initialized before powering on the entire crane system. During the operation of this automatic control system, the program printing interface provided on the card can be connected to a computer, and any serial interface debugging tool can be used to observe the crane's operating status.

[0037] Following the above usage method, the invention was applied to a real container gantry crane for hardware experiments. The PLC was able to obtain data written to the registers by the anti-sway motion control board at least once within one operating cycle (20ms), demonstrating that the real-time control performance of the invention is guaranteed by relying on the anti-sway motion control board. Furthermore, the communication time between the NVIDIA Jetson vision processor and the STM32 microcontroller was less than 20ms, indicating that the invention can process complex information using the NVIDIA Jetson vision processor without sacrificing real-time performance, thus enabling the system to possess functionality. Taking long-distance transport with a load as an example, multiple experiments were conducted. The maximum swing angle reached by the crane under manual operation during transport was 3.0°, which decayed to 1.2° after 32.7 seconds. After introducing the invention, the load swing angle could be reduced to 1.2°, and decayed to 0.16° after 24.6 seconds, proving that the invention effectively supports the operation of the anti-sway control algorithm and achieves its purpose.

[0038] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

[0039] References

[0040] Fang Yongchun, Lu Biao, Sun Ning. A control method for bridge cranes based on sliding surfaces [P]. Tianjin: CN106315414B, 2017-12-05.

[0041] B. Lu, H. Cao, Y. Hao, J. Lin and Y. Fang, "Online AntiswingTrajectory Planning for a Practical Rubber Tire Container Gantry Crane," inIEEE Transactions on Industrial Electronics, vol. 69, no. 6, pp. 6193-6203, June 2022, DOI: 10.1109 / TIE.2021.3088356.

[0042] Gong Zhiming, Wang He, Chang Yujun. Precision automatic positioning control system and method for cranes [P]. Henan Province: CN102502411B, 2015-07-01.

[0043] L. Sun, W. Yin, M. Wang, and J. Liu. Position control for flexiblejoint robot based on online gravity compensation with vibration suppression.IEEE Transactions on Industrial Electronics, 65(6), 4840-4848, 2018.

[0044] B. Lu, Y . Fang, and N. Sun. Continuous sliding mode control strategyfor a class of nonlinear underactuated systems. IEEE Transactions onAutomatic Control, 63(10), 3471-3478, 2018.

[0045] J. Xu, Z. Guo, and H. Tong. Design and implementation of integralsliding-mode control on an underactuated two-wheeled mobile robot. IEEETransactions on Industrial Electronics, 61(7), 3671-3681, 2014.

Claims

1. A load swing suppression-oriented automatic control system for a crane, comprising a crane system constituted by a programmable logic controller (PLC), a frequency converter, and a crane mechanical main body, characterized by, Also include crane anti-swing motion control board card and remote data acquisition end, wherein: The anti-swing motion control board card is connected with the programmable logic controller, and bidirectional communication can be carried out between the two. The anti-swing motion control board card can be pre-enclosed with a crane anti-swing control algorithm selected by the user, be used for receiving data from the remote data acquisition end, the programmable logic controller and the remote controller, carrying out logical judgment, data processing and operation, transmitting the operation results and other control instructions to the programmable logic controller, so as to control the operation of the crane mechanical main body, so as to fully suppress the load swing while the crane system operates according to the predetermined requirements. The remote data acquisition end is responsible for collecting the swing angle information of the crane spreader, and is arranged on the spreader of the crane. The swing angle information data is transmitted to the anti-swing motion control board card through wireless communication as the input of the crane anti-swing control algorithm. The anti-swing motion control board card mainly consists of an interface circuit board, an STM32 single-chip microcomputer and an NVIDIA Jetson vision processor. The interface circuit board is used as an integrated bottom plate, and two groups of plug-in interfaces are left for connecting the pins of the STM32 single-chip microcomputer and the NVIDIA Jetson vision processor. The interface circuit board connects the STM32 single-chip microcomputer and the NVIDIA Jetson vision processor, that is, connects the 1-way SPI peripheral pin and the 1-way I2C peripheral pin of the two, so that the user can communicate at the board level through the SPI and I2C two ways. The internal circuit leads out 7-way serial interfaces of the STM32 single-chip microcomputer. The serial interfaces are led out in two ways. The first way is that 3-way is directly connected to the external input and output pins of the circuit board as a TTL interface, of which 1-way is used to connect the computer end of the host computer when debugging the program, 1-way is used to connect the receiving module matched with the remote controller to obtain the data transmitted by the remote controller end, and 1-way is reserved. The second way is that the other 4-way is connected with the TTL and RS-232 conversion circuit, which is converted into the RS-232 serial interface standard and connected to 4 DB9 interfaces. Of the two DB9 interfaces connected with the RS-232 conversion Ethernet module, Modbus-RTU protocol is used for Ethernet communication with the programmable logic controller through the switch. If the programmable logic controller leaves a DB9 interface instead of an Ethernet port, the two DB9 interfaces are not connected with the RS-232 conversion Ethernet module, and can be directly connected with the programmable logic controller. One DB9 interface is used to connect the wireless data transmission to receive the crane spreader swing angle information transmitted by the remote data acquisition end, and one DB9 interface is reserved. The power supply interfaces of the STM32 single-chip microcomputer and the NVIDIA Jetson vision processor are connected to the voltage conversion circuit. The external power supply is powered through the voltage conversion chip and the peripheral circuit of the chip to form a complete circuit system.

2. The load sway oriented automatic crane control system as claimed in claim 1, characterized in that, A real-time operating system is transplanted into the STM32 single-chip microcomputer, based on which deployment threads are implemented to respectively receive remote controller data from a serial interface connected to input and output pins, receive spreader swing angle data from a DB9 interface connected to a wireless data transmitter, receive visual processor data from an SPI interface or an I2C interface connected inside an interface circuit board, read and write registers of a programmable logic controller through Modbus-RTU protocol from two DB9 interfaces connected to an RS-232 to Ethernet module, perform logical judgment and run control algorithms, and independently run each thread; in the logical judgment thread, the priority of changes in control instructions of the remote controller is set to the highest, and in the control algorithm running thread, an interface for a swing prevention control algorithm is reserved.

3. The load sway oriented automatic crane control system as claimed in claim 1, wherein, The remote data acquisition end is composed of an inertial sensor, a wireless data transmitter and a rechargeable power supply, the inertial sensor is connected to one wireless data transmitter, is used to collect angle, angular velocity and angular acceleration information and transmit the information to another wireless data transmitter connected to the swing prevention motion control board card through the wireless data transmitter, and completes the spreader swing angle information collection of the crane.

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