Crane anti-collision control method, device, system and crane

Abstract

The present application relates to the field of crane technology, and in particular to a crane anti-collision control method, device, system, crane, computing device, and computer-readable storage medium. The crane anti-collision control method includes obtaining distance data between a target crane and an adjacent crane according to a preset time period; calculating the relative speed between the target crane and the adjacent crane based on at least two acquired distance data and time periods; obtaining the actual speed of the target crane and the acceleration of the target crane; calculating the dynamic deceleration distance of the target crane based on the actual speed, relative speed, and acceleration of the target crane; and performing deceleration control on the target crane based on the dynamic deceleration distance. The crane anti-collision control scheme provided in the present application can prevent crane collisions while reducing the impact on the crane's operating efficiency, thereby improving the overall operating efficiency of the bridge crane.

Description

Technical Field

[0001] The present invention relates to the technical field of cranes, and in particular to a crane anti-collision control method, device, system, crane, computing equipment, and computer-readable storage medium. Background Art

[0002] Cranes are common material handling tools in industrial enterprises. They come in a variety of types, including bridge, gantry, and tower cranes. Bridge cranes often have overlapping operating areas with adjacent cranes, creating a risk of collision during operation. With the increasing adoption of intelligent systems in the steel industry and port terminals, the need for efficient adjacent crane operations is increasing, while preventing collisions. Summary of the Invention

[0003] In view of the above problems in the prior art, the present application provides a crane anti-collision control method, apparatus, system, crane, computing device and computer-readable storage medium.

[0004] A first aspect of the present application provides a crane anti-collision control method, comprising:

[0005] acquiring distance data between a target crane and an adjacent crane at least twice according to a preset time period, wherein the target crane and the adjacent crane are located on the same track and the target crane is traveling toward the adjacent crane;

[0006] Calculating a relative speed between the target crane and the adjacent crane based on the distance data and the time period obtained at least twice;

[0007] Acquiring the actual speed of the target crane and the acceleration of the target crane;

[0008] calculating a dynamic deceleration distance of the target crane according to the actual speed, the relative speed, and the acceleration of the target crane;

[0009] The target crane is decelerated and controlled according to the dynamic deceleration distance.

[0010] The crane anti-collision control method provided in this embodiment can prevent the crane from colliding while reducing the impact on the crane's operating efficiency, thereby improving the overall operating efficiency of the bridge crane.

[0011] As a possible implementation of the first aspect, the calculating the relative speed between the target crane and the adjacent crane includes: calculating using the following formula:

[0012]

[0013] Among them, V r represents the relative speed between the target crane and the adjacent crane; m represents the number of cycles for obtaining the distance data between the target crane and the adjacent crane; P k represents the k-th distance data between the target crane and the adjacent crane, P k-1 Represents the distance data obtained last time; T i Indicates the preset time period.

[0014] As a possible implementation of the first aspect, obtaining the actual speed of the target crane includes:

[0015] Obtain the large wheel data of the target crane, and calculate the actual speed of the target crane based on the large wheel data; wherein the large wheel data includes the large wheel diameter, the real-time motor speed, and the large crane reducer speed ratio:

[0016] The actual speed of the target crane is calculated using the following formula:

[0017]

[0018] Among them, V q represents the actual speed of the target crane; π represents the pi ratio; D represents the diameter of the large wheel; N represents the real-time speed of the motor; and i represents the speed ratio of the large vehicle reducer.

[0019] As a possible implementation of the first aspect, the calculating and obtaining the dynamic deceleration distance of the target crane includes:

[0020] When the target crane and the adjacent crane are traveling relative to each other, the dynamic deceleration distance of the target crane is calculated using the following formula:

[0021]

[0022] When the target crane and the adjacent crane are traveling in the same direction and the traveling speed of the adjacent crane is lower than the speed of the target crane, the dynamic deceleration distance of the target crane is calculated using the following formula:

[0023]

[0024] When the target crane and the adjacent crane are traveling in the same direction and the traveling speed of the adjacent crane is greater than the speed of the target crane, the dynamic deceleration distance of the target crane is calculated using the following formula:

[0025]

[0026] Among them, S d V represents the dynamic deceleration distance of the target crane; r V represents the relative speed between the target crane and the adjacent crane; q represents the actual speed of the target crane; a represents the acceleration of the target crane.

[0027] As a possible implementation of the first aspect, the method further includes: determining a deceleration position threshold and a stop position threshold of the target crane, so that the target crane starts to decelerate when the deceleration position threshold is met, and stops when the target crane meets the stop position threshold;

[0028] The deceleration threshold PreLS satisfies:

[0029]

[0030] The stop bit threshold LS satisfies:

[0031] LS=(Pq-S d )<Pls

[0032] Wherein, Pq represents the distance between the target crane and the adjacent crane detected by the anti-collision ranging sensor; Ppre represents the anti-collision deceleration distance of the crane; Pls: the anti-collision stop distance of the crane; a represents the acceleration of the target crane itself; S d Represents the dynamic deceleration distance; V pre Indicates the preset creep speed.

[0033] A second aspect of the present application provides a crane anti-collision control device, comprising:

[0034] a data acquisition module, configured to acquire distance data between a target crane and an adjacent crane at least twice according to a preset time period, wherein the target crane and the adjacent crane are located on the same track and are traveling toward the adjacent crane;

[0035] a calculation module, configured to calculate a relative speed between the target crane and the adjacent crane based on the distance data and the time period obtained at least twice;

[0036] The data acquisition module is further used to obtain the actual speed of the target crane and the acceleration of the target crane;

[0037] The calculation module is further configured to calculate a dynamic deceleration distance of the target crane based on the actual speed, the relative speed, and the acceleration of the target crane;

[0038] A control module is used to perform deceleration control on the target crane according to the dynamic deceleration distance.

[0039] As a possible implementation of the second aspect, the following also is included:

[0040] The filtering module is used to filter the distance data.

[0041] A third aspect of the present application provides a crane anti-collision control system, comprising anti-collision ranging sensors installed on both sides of a crane trolley, a PLC control unit for controlling the acceleration, deceleration, and stopping of the crane trolley after program processing, and a frequency converter; the anti-collision ranging sensors, the frequency converter, and the PLC control unit are communicatively connected;

[0042] The anti-collision distance measuring sensor is used to detect the distance data of adjacent cranes;

[0043] The frequency converter is used to adjust the speed of the motor of the crane's traveling mechanism;

[0044] The PLC control unit is used to execute the crane anti-collision control method according to any one of claims 1 to 5 and generate a control signal;

[0045] The frequency converter is used to adjust the speed of the motor of the traveling mechanism of the crane according to the control signal, so as to achieve deceleration control of the crane.

[0046] A fourth aspect of the present application provides a crane, characterized in that it includes the crane anti-collision control device as described above.

[0047] A fifth aspect of the present application provides a computing device, characterized by comprising:

[0048] processor, and

[0049] A memory stores program instructions thereon, which, when executed by the processor, cause the processor to execute the crane anti-collision control method as described above.

[0050] These and other aspects of the invention will be apparent from and elucidated with reference to the following description of the embodiment(s). BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The following further illustrates the various features of the present invention and the relationships between the various features with reference to the accompanying drawings. The accompanying drawings are all exemplary, and some features are not shown in actual proportion. In addition, some drawings may omit features that are customary in the field to which this application relates and are not necessary for this application, or additional features that are not necessary for this application may be shown. The combination of the various features shown in the accompanying drawings is not intended to limit this application. In addition, throughout this specification, the same reference numerals refer to the same content. The specific description of the drawings is as follows:

[0052] Figure 1 This is a flowchart of a crane anti-collision control method provided in accordance with the first embodiment of the present application;

[0053] Figure 2 This is a flow chart of a crane anti-collision control method provided in the second embodiment of the present application.

[0054] Figure 3 1 is a schematic structural diagram of a crane anti-collision control device 300 provided in an embodiment of the present application;

[0055] Figure 4 This is a schematic structural diagram of a crane anti-collision control system provided by an embodiment of the present application;

[0056] Figure 5 It is a structural schematic diagram of a computing device 900 provided in an embodiment of the present application. DETAILED DESCRIPTION

[0057] The technical solution provided by this application is further described below with reference to the accompanying drawings and examples. It should be understood that the system structure and business scenarios provided in the examples of this application are mainly for illustrating possible implementation methods of the technical solution of this application and should not be interpreted as the sole limitation of the technical solution of this application. It is known to those skilled in the art that with the evolution of the system structure and the emergence of new business scenarios, the technical solution provided by this application is also applicable to similar technical problems.

[0058] It should be understood that the crane anti-collision control solutions provided in the embodiments of the present application include, among others, apparatuses, systems, cranes, computing devices, and computer-readable storage media. Because these technical solutions solve the same or similar problems, some repetitions may not be repeated in the following descriptions of the specific embodiments. However, these specific embodiments should be considered as cross-references and can be combined with each other.

[0059] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art in the art of this application. In the event of any inconsistency, the meaning described in this specification or the meaning derived from the contents recorded in this specification shall prevail. In addition, the terms used herein are only for the purpose of describing the embodiments of the present application and are not intended to limit this application.

[0060] Crane collision avoidance typically uses distance sensors to measure the distance between adjacent cranes. Two thresholds are preset as the crane's deceleration and stop positions to ensure safe crane operation. The crane decelerates when it reaches the deceleration threshold at its maximum speed and stops at a low speed before reaching the stop threshold. If a crane enters the deceleration zone at less than its maximum speed, it decelerates prematurely, reducing operational efficiency.

[0061] The technology of this application is mainly used in bridge cranes, especially uniform acceleration systems with constant acceleration. Based on the defects of the existing technology, this application provides a crane anti-collision control method, device, system, crane, computing equipment and computer-readable storage medium.

[0062] Figure 1 This is a flowchart of a crane anti-collision control method provided in the first embodiment of the present application. Figure 1 As shown, the crane anti-collision control method provided in this embodiment includes the following steps:

[0063] S101: Acquire the actual speed of the target crane and the distance data of adjacent cranes.

[0064] In this embodiment, the crane currently in need of control is the target crane. Each crane's trolley is equipped with collision avoidance sensors on both sides, which detect and measure the distance between the target crane and the adjacent cranes. Distance data between the target crane and the adjacent cranes is acquired at least twice over a preset time period, with the target crane and the adjacent crane traveling on the same track, and the target crane traveling toward the adjacent crane.

[0065] S102: Calculate the relative speed between the target crane and the adjacent cranes based on the distance data and time period obtained at least twice.

[0066] Based on the distance data between the target crane and the adjacent cranes detected in real time by the anti-collision ranging sensor within a preset time period, the relative speed of the target crane and the adjacent cranes can be obtained by calculation.

[0067] S103: Acquire the actual speed and acceleration of the target crane.

[0068] The actual speed of the target crane can be directly obtained from the control system. In addition, the trolley part of the crane is composed of large wheels, reducers, motors, etc., so it can also be calculated based on the speed feedback from the frequency converter to obtain the actual speed and acceleration of the target crane.

[0069] S104: Calculate the dynamic deceleration distance of the target crane based on the actual speed and the relative speed.

[0070] Since the target crane and the adjacent cranes are in motion, in order to avoid collision, it is necessary to calculate the deceleration distance to avoid collision between the cranes in real time and dynamically. This deceleration distance can be called a dynamic deceleration distance.

[0071] S105: Perform deceleration control on the target crane according to the dynamic deceleration distance.

[0072] According to the calculated dynamic deceleration distance of the target crane, the corresponding deceleration position and stop position can be obtained to control the target crane.

[0073] The dynamic deceleration distance obtained in this embodiment, as well as the real-time calculation of the deceleration position and the stop position based on the adjacent distance of the crane, controls the deceleration and stopping of the crane. Under the premise of ensuring collision avoidance, it can reduce the crawling time in the deceleration zone of the crane, thereby improving operating efficiency.

[0074] The following further introduces an embodiment of the crane anti-collision control method provided by the present application in conjunction with a specific implementation method. Figure 2 This is a flow chart of a crane anti-collision control method provided in the second embodiment of the present application. Figure 2 As shown, the crane anti-collision control method provided in this embodiment includes the following steps:

[0075] S201: Acquire distance data between a target crane and adjacent cranes within a preset time period.

[0076] The crane that currently needs to be controlled for collision avoidance and deceleration is the target crane, and the cranes adjacent to the target crane are the adjacent cranes. Assume that there are at least two cranes operating on the same track. When a crane moves from left to right, its speed is positive, and when it moves from right to left, its speed is negative.

[0077] Anti-collision ranging sensors are installed on both sides of each crane trolley to detect the distance data of cranes adjacent to the target crane.

[0078] In actual situations, the distance data of the anti-collision ranging sensor fluctuates greatly. Therefore, in this embodiment, the distance data of the anti-collision ranging sensor may be smoothed.

[0079] The Kalman filter principle can be used to filter out the noise in the measured distance data waveform, making the data closer to the real situation and smoother;

[0080] Equivalent formula:

[0081]

[0082] in:

[0083] P n : The distance data (value) between the target crane and the adjacent cranes in the nth time period after filtering;

[0084] n: the nth time period, n-1 represents the previous time period;

[0085] P t : Distance data measured by the anti-collision distance sensor;

[0086] T i : The duration of each time period during which the anti-collision distance measurement sensor measures the distance data between the target crane and the adjacent crane. In this embodiment, the duration of each time period may be 100ms;

[0087] T f : The time for smoothing filtering. The longer the time, the slower the response and the smoother the curve.

[0088] S202: Calculate the relative speed between the target crane and the adjacent cranes.

[0089] The relative speed of the target crane and the adjacent crane can be obtained based on the distance data between the target crane and the adjacent crane detected by the anti-collision ranging sensor of the target crane.

[0090] In this embodiment, a recursive average filtering method can be used to sample m consecutive filtered distance data, and the m sampling values can be regarded as a queue, that is, the queue length is fixed at m; each time a new data is sampled, it is put into the end of the queue, and the data at the head of the queue is discarded, and the m data in the queue are averaged to obtain the relative speed result after processing by the recursive average filtering method, which has a good inhibitory effect on periodic interference.

[0091]

[0092] in:

[0093] V r : Relative velocity obtained after recursive average filtering;

[0094] m: the number of continuous distance data sampled and filtered;

[0095] P k : The k-th sampled filtered distance data in the continuous m distance data; P k-1 is the filtered distance data of the last sampling;

[0096] T i : The anti-collision distance measurement sensor measures the duration of each time period of the distance data between the target crane and the adjacent cranes.

[0097] In this embodiment, if V r >0 means the distance between the target crane and the adjacent crane is shortening. r <0 indicates that the distance between the target crane and the adjacent cranes is increasing.

[0098] S203: Calculate the actual speed of the target crane.

[0099] The actual speed of the crane itself is calculated by the control system and can be directly obtained from the control system. In addition, the crane's trolley is composed of large wheels, reducers, motors, etc., so it can also be calculated based on the speed feedback from the inverter. From this, the actual speed (linear speed) of the target crane can be derived as follows:

[0100]

[0101] in:

[0102] V q : Actual speed of the target crane.

[0103] π: Pi.

[0104] D: The maximum wheel diameter of the target crane.

[0105] N: The rated speed of the motor of the target crane, which is obtained from the inverter in real time.

[0106] i: The speed ratio of the reducer of the target crane trolley.

[0107] S204: Calculate the dynamic deceleration distance of the target crane.

[0108] In the uniform acceleration system of the target crane, the calculation formula for the deceleration distance of the target crane is as follows:

[0109]

[0110] in:

[0111] S: deceleration distance of the target crane;

[0112] a: is the acceleration of the target crane itself.

[0113] During normal operation of the target crane, adjacent cranes often move relative to each other or in the same direction.

[0114] When the actual speed of the target crane V q Greater than 0 (i.e., traveling from left to right), the speed V of the adjacent crane r ≤-V q When , it means that the target crane and the adjacent crane are moving in opposite directions, otherwise they are moving in the same direction.

[0115] When the target crane and the adjacent crane are traveling relative to each other, the dynamic deceleration distance S at this time is d :

[0116]

[0117] When the target crane and the adjacent crane are traveling in the same direction and the speed of the adjacent crane is lower than that of the target crane, V r <0, the dynamic deceleration distance at this time:

[0118]

[0119] When the target crane and the adjacent crane are traveling in the same direction, and the speed of the adjacent crane is greater than that of the target crane, the adjacent crane does not need to be considered. At this time, when the relative speed is greater than zero, V r ≥0, dynamic deceleration distance at this time:

[0120]

[0121] The calculation of the dynamic deceleration distance when the actual speed Vq of the target crane is less than 0 (i.e., traveling from right to left) is the same as when Vq is greater than 0 (i.e., traveling from left to right).

[0122] S205: Determine the deceleration position threshold and the stop position threshold of the target crane.

[0123] The deceleration threshold and the stop threshold can be set based on the dynamic deceleration distance calculated in the above steps.

[0124] The deceleration threshold PreLS satisfies:

[0125]

[0126] Among them, V pre It indicates the preset crawling speed, which can be set as needed so that the crane decelerates to the preset crawling speed after entering the deceleration position and moves forward at the preset crawling speed.

[0127] In some embodiments, the preset creeping speed V preIt can be (|V r |-V q ), at this time the deceleration threshold PreLS satisfies:

[0128]

[0129] The stop bit threshold LS satisfies:

[0130] LS=(Pq-S d )<Pls

[0131] in:

[0132] Pq: distance detected by the crane's anti-collision ranging sensor;

[0133] Ppre: Crane anti-collision deceleration distance;

[0134] Pls: Crane anti-collision stop distance;

[0135] a: is the acceleration of the target crane itself;

[0136] S d : Dynamic deceleration distance.

[0137] If the deceleration threshold is set too high, the crane will begin to decelerate when it reaches the deceleration position while it is still far from the stop position, resulting in a longer crawling time. Alternatively, if the stop threshold is set too high, the crane will stop prematurely, increasing the time required to accelerate from a stop to operating speed. Therefore, improperly set deceleration and stop thresholds will affect the crane's operating efficiency.

[0138] By setting appropriate deceleration position thresholds and stop position thresholds, the crane can be decelerated from entering the deceleration position, crawling, and then stopped at the stop position. This can reduce the crawling distance and reduce the impact of crawling on the crane's working efficiency.

[0139] Based on the dynamic deceleration distance, the deceleration threshold and the stop threshold can be set smaller, as long as an effective safety distance is guaranteed, so as to prevent the crane from colliding while reducing the impact on the crane's operating efficiency.

[0140] S206: Generate a corresponding output signal to control the deceleration of the crane.

[0141] According to the deceleration position threshold and the stop position threshold, the corresponding output signal is generated. When the deceleration position output signal is detected during the operation of the crane, the crane starts to decelerate; the stop position output signal is detected to stop the crane, ensuring the effective safe parking distance of the crane.

[0142] This embodiment obtains distance data of adjacent cranes through anti-collision ranging sensors to obtain a real-time dynamic deceleration distance for the target crane to maintain safety, thereby reducing the impact on the crane's operating efficiency when preventing crane collisions, thereby improving the overall operating efficiency of the bridge crane.

[0143] Based on an inventive concept, the present application also provides a crane anti-collision control device 300, such as Figure 3 As shown, Figure 3 is a schematic diagram of the structure of a crane anti-collision control device 300 provided in an embodiment of the present application. The crane anti-collision control device 300 of this embodiment is specifically configured to execute steps S101 through S104 described above, as well as any optional examples therein. For details, please refer to the detailed description in the method embodiment; a brief description is provided below:

[0144] The crane anti-collision control device 300 includes:

[0145] The data acquisition module 301 is used to obtain the actual speed of the target crane and the distance data of the adjacent cranes;

[0146] A calculation module 302 is configured to calculate the relative speed between the target crane and the adjacent cranes based on the distance data;

[0147] The calculation module 302 is further configured to calculate a dynamic deceleration distance of the target crane based on the actual speed and the relative speed;

[0148] The control module 303 is configured to perform anti-collision control on the target crane according to the dynamic deceleration distance.

[0149] In this embodiment, the calculation module 302 calculates based on the data obtained by the data acquisition module 301 to obtain the dynamic deceleration distance of the target crane. Finally, the control module 303 performs anti-collision control on the target crane based on the dynamic deceleration distance. This prevents the crane from colliding while reducing the impact on the crane's operating efficiency, thereby improving the overall operating efficiency of the bridge crane.

[0150] In some implementations, a filtering module 304 is further included for filtering the distance data to remove noise in the measured distance data waveform, so that the obtained data is closer to reality and smoother.

[0151] Based on the same inventive concept, the present application also provides a crane anti-collision control system, such as Figure 4 As shown, Figure 4This is a schematic diagram of the structure of a crane anti-collision control system provided by an embodiment of the present application, comprising anti-collision ranging sensors installed on both sides of the crane trolley, a PLC control unit that controls the acceleration, deceleration, and stopping of the trolley of the upper bridge crane through program processing, and a frequency converter; the anti-collision ranging sensors, frequency converter, and PLC control unit are communicatively connected;

[0152] The anti-collision distance measuring sensor is used to detect the distance data of adjacent cranes;

[0153] The frequency converter is used to provide the required power to the motor of the crane and to adjust the speed of the motor of the crane;

[0154] The PLC control unit is used to generate a control signal based on the distance data obtained from the anti-collision ranging sensor, the motor rated speed obtained from the frequency converter, and the large wheel data of the crane;

[0155] The frequency converter is used to perform anti-collision control on the crane according to the control signal of the PLC control unit.

[0156] The PLC control unit incorporates a program based on the aforementioned crane anti-collision control method. During crane travel, the program dynamically calculates deceleration and stopping points, effectively and quickly controlling the crane to decelerate or stop within its minimum range, ensuring crane safety. The PLC control unit can be a Siemens S7-1500 PLC, for example.

[0157] Based on the same inventive concept, the present application also provides a crane, comprising the crane anti-collision control device as described above.

[0158] Figure 5 This is a schematic structural diagram of a computing device 900 provided in an embodiment of the present application. The computing device can execute various optional embodiments of the above-mentioned crane anti-collision control. The computing device can be a terminal, or a chip or chip system inside the terminal. Figure 5 As shown, the computing device 900 includes: a processor 910 , a memory 920 , and a communication interface 930 .

[0159] It should be understood that Figure 5 The communication interface 930 in the computing device 900 shown may be used to communicate with other devices, and may specifically include one or more transceiver circuits or interface circuits.

[0160] The processor 910 may be connected to a memory 920. The memory 920 may be used to store the program code and data. Therefore, the memory 920 may be a storage unit within the processor 910, an external storage unit independent of the processor 910, or a component including both a storage unit within the processor 910 and an external storage unit independent of the processor 910.

[0161] Optionally, the computing device 900 may further include a bus. The memory 920 and the communication interface 930 may be connected to the processor 910 via a bus. The bus may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 A line without an arrow is used to represent the bus, but this does not mean that there is only one bus or one type of bus.

[0162] It should be understood that in the embodiment of the present application, the processor 910 can adopt a central processing unit (CPU). The processor can also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. Alternatively, the processor 910 uses one or more integrated circuits to execute relevant programs to implement the technical solutions provided in the embodiments of the present application.

[0163] The memory 920 may include a read-only memory and a random access memory, and provides instructions and data to the processor 910. A portion of the processor 910 may also include a non-volatile random access memory. For example, the processor 910 may also store information about the device type.

[0164] When the computing device 900 is running, the processor 910 executes the computer-executable instructions in the memory 920 to perform any operation step of the above method and any optional embodiment thereof.

[0165] It should be understood that the computing device 900 according to the embodiment of the present application can correspond to the corresponding subject in executing the method according to each embodiment of the present application, and the above-mentioned and other operations and / or functions of each module in the computing device 900 are respectively for implementing the corresponding processes of each method of the present embodiment. For the sake of brevity, they will not be repeated here.

[0166] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0167] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0168] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0169] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0170] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0171] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0172] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the program is used to execute the above method, which includes at least one of the solutions described in the above embodiments.

[0173] The computer storage medium of the embodiment of the present application can adopt any combination of one or more computer-readable media.Computer-readable media can be computer-readable signal media or computer-readable storage media.Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or components, or any combination thereof.More specific examples (non-exhaustive list) of computer-readable storage media include: electrical connection with one or more wires, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination thereof.In this document, computer-readable storage media can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0174] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0175] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0176] The computer program code for performing the operation of the present application can be written in one or more programming languages or a combination thereof, and the programming language includes an object-oriented programming language - such as Java, Smalltalk, C++, and also includes a conventional procedural programming language - such as "C" language or similar programming language. The program code can be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on a remote computer, or completely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (for example, using an Internet service provider to connect through the Internet). In addition, the words "first, second, third, etc." or module A, module B, module C and the like in the specification and claims are only used to distinguish similar objects and do not represent a specific order for the objects. It is understandable that the specific order or sequence can be interchanged where permitted so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0177] In the above description, the numbers representing the steps, such as S110, S120, etc., do not necessarily mean that the steps must be executed in this manner. If permitted, the order of the steps can be interchanged or they can be executed simultaneously.

[0178] The term "comprising" as used in the specification and claims should not be construed as limiting to what is listed thereafter; it does not exclude other elements or steps. Thus, it should be interpreted as specifying the presence of the features, integers, steps, or components mentioned, but not excluding the presence or addition of one or more other features, integers, steps, or components, or groups thereof. Thus, the expression "a device comprising means A and B" should not be limited to a device consisting solely of components A and B.

[0179] References in this specification to "one embodiment" or "an embodiment" mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Therefore, the phrases "in one embodiment" or "in an embodiment" appearing throughout this specification do not necessarily refer to the same embodiment, but may refer to the same embodiment. Furthermore, in one or more embodiments, the particular features, structures, or characteristics can be combined in any suitable manner, as would be apparent to one of ordinary skill in the art from this disclosure.

[0180] Note that the above are only preferred embodiments of the present application and the technical principles employed. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments and may include many other equivalent embodiments without departing from the scope of protection of the present application, all of which fall within the scope of protection of the present application.

Claims

1. A crane anti-collision control method, characterized in that: include: acquiring distance data between a target crane and an adjacent crane at least twice according to a preset time period, wherein the target crane and the adjacent crane are located on the same track; Calculating a relative speed between the target crane and the adjacent crane based on the distance data and the time period obtained at least twice; Acquiring the actual speed of the target crane and the acceleration of the target crane; The dynamic deceleration distance of the target crane is calculated based on the actual speed, the relative speed, and the acceleration of the target crane. Specifically, when the target crane and the adjacent crane are traveling relative to each other, the dynamic deceleration distance of the target crane is calculated using the following formula: When the target crane and the adjacent crane are traveling in the same direction and the traveling speed of the adjacent crane is lower than the speed of the target crane, the dynamic deceleration distance of the target crane is calculated using the following formula: When the target crane and the adjacent crane are traveling in the same direction and the traveling speed of the adjacent crane is greater than the speed of the target crane, the dynamic deceleration distance of the target crane is calculated using the following formula: Among them, S d V represents the dynamic deceleration distance of the target crane; r V represents the relative speed between the target crane and the adjacent crane; q represents the actual speed of the target crane; a represents the acceleration of the target crane; performing deceleration control on the target crane according to the dynamic deceleration distance, specifically, determining a deceleration position threshold and a stop position threshold of the target crane, so that the target crane starts to decelerate when the deceleration position threshold is met, and stops when the stop position threshold is met; The deceleration threshold PreLS satisfies: The stop bit threshold LS satisfies: LS=(Pq-S d )<Pls Wherein, Pq represents the distance between the target crane and the adjacent crane detected by the anti-collision ranging sensor; Ppre represents the anti-collision deceleration distance of the crane; Pls represents the anti-collision stopping distance of the crane; a represents the acceleration of the target crane; S d Represents the dynamic deceleration distance; V pre Indicates the preset creep speed.

2. The method according to claim 1, characterized in that The calculating of the relative speed between the target crane and the adjacent crane includes: using the following formula for calculation: Among them, V r represents the relative speed between the target crane and the adjacent crane; m represents the number of cycles for obtaining the distance data between the target crane and the adjacent crane; P k represents the k-th distance data between the target crane and the adjacent crane, P k-1 Represents the distance data obtained last time; T i Indicates the preset time period.

3. The method according to claim 1, characterized in that The obtaining of the actual speed of the target crane comprises: Obtaining the large wheel data of the target crane, and calculating the actual speed of the target crane based on the large wheel data; wherein the large wheel data includes the large wheel diameter, the real-time motor speed, and the large crane reducer speed ratio; The actual speed of the target crane is calculated using the following formula: Among them, V q represents the actual speed of the target crane; π represents the pi ratio; D represents the diameter of the large wheel; N represents the real-time speed of the motor; and i represents the speed ratio of the large vehicle reducer.

4. A crane anti-collision control device, characterized in that: The crane anti-collision control method according to claim 1 comprises: a data acquisition module, configured to acquire distance data between a target crane and an adjacent crane at least twice according to a preset time period, wherein the target crane and the adjacent crane are located on the same track and are traveling toward the adjacent crane; a calculation module, configured to calculate a relative speed between the target crane and the adjacent crane based on the distance data and the time period obtained at least twice; The data acquisition module is further used to obtain the actual speed of the target crane and the acceleration of the target crane; The calculation module is further configured to calculate a dynamic deceleration distance of the target crane based on the actual speed, the relative speed, and the acceleration of the target crane; A control module is used to perform deceleration control on the target crane according to the dynamic deceleration distance.

5. The device according to claim 4, characterized in that Also includes: A filtering module is used to perform filtering processing on the distance data.

6. A crane anti-collision control system, characterized in that: It includes anti-collision distance measuring sensors installed on both sides of the crane trolley, a PLC control unit and a frequency converter that controls the acceleration, deceleration and stopping of the crane trolley after program processing; the anti-collision distance measuring sensors, the frequency converter and the PLC control unit are communicatively connected; The anti-collision distance measuring sensor is used to detect the distance data of adjacent cranes; The frequency converter is used to adjust the speed of the motor of the crane's traveling mechanism; The PLC control unit is used to execute the crane anti-collision control method according to any one of claims 1 to 3 and generate a control signal; The frequency converter is used to adjust the speed of the motor of the traveling mechanism of the crane according to the control signal, so as to achieve deceleration control of the crane.

7. A crane, characterized in that: The crane anti-collision control device comprises the device described in any one of claims 4 to 5.

8. A computing device, characterized in that include: A processor and a memory having program instructions stored thereon, wherein when the program instructions are executed by the processor, the processor executes the crane anti-collision control method according to any one of claims 1 to 3.

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