Control system for acceleration and deceleration in advance based on path

Abstract

The invention relates to the technical field of speed control in an OHT walking process, and discloses a control system for acceleration and deceleration in advance based on a path, and the system comprises a path data management module which is used for initializing and storing path data; the command and state verification module is used for verifying whether the current command of the crown block is consistent with the actual state of the crown block in real time; the exception handling module is used for continuously monitoring the deviation between the position of the crown block and a preset path; the roaming task processing module is used for identifying the roaming state of the crown block; the deceleration path calculation module is used for acquiring path speed data and dynamically calculating a safe distance and a deceleration point; the label and position judgment module is used for analyzing label information in the path; an exception ending and recovering module; and a speed control optimization module. By calculating acceleration and deceleration paths in advance, the system can ensure that the crown block reaches a proper speed before entering the speed-limiting road section, so that time waste caused by sudden deceleration or acceleration is reduced, and the overall transportation efficiency is finally improved.

Description

Technical Field

[0001] The invention relates to the technical field of speed control during the running of an OHT, and in particular to a control system based on path advance acceleration and deceleration. Background Art

[0002] In modern industrial manufacturing and logistics systems, overhead hoist transport (OHT) is a key automated transportation equipment and is widely used in semiconductor manufacturing, warehousing logistics, automated production lines, etc. With the expansion of production scale and the increase in complexity, higher requirements are placed on the operating efficiency, path planning and speed control of overhead hoists.

[0003] Traditional overhead crane control systems usually use a fixed path and speed limit sign method, that is, when the speed limit sign is detected during the operation of the overhead crane, the system instructs the overhead crane to slow down to the speed limit to ensure safety. However, traditional systems often start to decelerate when the overhead crane approaches the speed limit sign, resulting in a certain lag in speed control. Since the deceleration process starts late, the overhead crane may quickly reduce its speed in a short period of time, causing a sudden increase in mechanical stress, which in turn causes problems such as increased equipment wear and unstable operation. This lag is particularly evident in high-load or complex path environments, and may have an adverse effect on production efficiency and equipment life. Summary of the invention

[0004] In view of the deficiencies of the prior art, the present invention provides a control system based on path advance acceleration and deceleration to solve the problems of speed control lag and complex deployment of speed limit signs in traditional systems.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a control system based on path advance acceleration and deceleration, comprising:

[0006] The path data management module is used to initialize and store path data, ensure the accuracy and uniqueness of path search, and dynamically set and adjust the starting and ending points of the path according to the current tasks and path requirements of the overhead crane;

[0007] The command and status verification module is used to verify in real time whether the current command of the overhead crane is consistent with its actual status, and when inconsistency is detected, an abnormal code is generated and transmitted to the overhead crane controller to terminate the current path search or execution;

[0008] The exception handling module is used to continuously monitor the deviation between the position of the overhead crane and the planned path. When the deviation exceeds the set threshold, the exception handling process is triggered, including re-planning the path, alarm prompting or directly terminating the task;

[0009] Roaming task processing module, used to identify the roaming status of the overhead crane and dynamically adjust the path and speed control strategy according to the task requirements. It is especially suitable for processing complex roaming tasks and adjusting the path when switching tasks;

[0010] The deceleration path calculation module is used to obtain path speed data, dynamically calculate safety distances and deceleration points, so as to ensure that the overhead crane decelerates in advance on sections where deceleration is required, and store the deceleration point information in the path data for use during path execution;

[0011] The label and position judgment module is used to parse the label information in the path, determine the type of the current path and adjust the speed control strategy. At the same time, it dynamically adjusts the path planning according to the label information to ensure the accurate execution of the overhead crane task;

[0012] The abnormal termination and recovery module is used to terminate the current task when an abnormal situation is detected, and transmit the abnormal code to the crane controller, and then try to resume path finding and execution, including re-planning the path and adjusting the speed control strategy;

[0013] The speed control optimization module is used to continuously monitor the current position and speed of the overhead crane, dynamically adjust the positions of the deceleration point and the acceleration point, and adopt a smooth speed change strategy to ensure that the operation of the overhead crane is smooth.

[0014] Preferably, the path data management module further includes a path data initialization submodule, which is used to clear the storage list before each path search starts to ensure that new path data will not be confused with old data.

[0015] Preferably, the command and status verification module further includes an abnormal status processing submodule, which is used to immediately stop the current path search or execution and generate an abnormal code for diagnosis when it is detected that the command and status are inconsistent.

[0016] Preferably, the exception handling module further includes a position deviation monitoring submodule for monitoring the deviation between the position of the overhead crane and the predetermined path in real time, and triggering re-path planning or termination of the current task when the deviation exceeds a preset threshold.

[0017] Preferably, the roaming task processing module further includes a task switching submodule, which is used to automatically adjust the path and speed control strategy when the overhead crane switches from the roaming state to the fixed task state.

[0018] Preferably, the deceleration path calculation module also includes a safety distance calculation submodule, which is used to dynamically calculate appropriate deceleration points and safety distances according to the real-time speed and path characteristics of the overhead crane, and use these data for speed control during path execution.

[0019] Preferably, the tag and position determination module further includes a path optimization submodule for dynamically adjusting the path planning and speed control strategies during the path execution process to ensure that the overhead crane can perform the task according to the optimal path and speed.

[0020] Preferably, the abnormal termination and recovery module further includes a path recovery submodule for attempting to recover path search and execution after handling the abnormal situation, and replanning the path and adjusting the speed control strategy.

[0021] Preferably, the speed control optimization module further includes a smooth speed change control submodule for adopting a smooth speed change strategy during the deceleration or acceleration of the overhead crane to reduce the impact of speed mutations on the operating stability of the overhead crane.

[0022] Preferably, a control method based on path advance acceleration and deceleration comprises the following steps:

[0023] S1: Path data initialization

[0024] The system clears the storage list before starting the path search;

[0025] During the path search process, the system stores the path data in a list in order, including information such as the path starting point, end point, path attributes, and maximum allowed speed;

[0026] S2: Command and status verification

[0027] Before executing any path command, the system verifies whether the current command of the overhead crane is consistent with the actual status. If the command and status are inconsistent, the system will generate an exception code, terminate the path search, and feed back to the overhead crane controller for processing;

[0028] S3: Path finding exception handling

[0029] The system monitors the position deviation of the overhead crane during the path finding process. When the absolute value of the position difference exceeds the set threshold, the exception handling process is triggered, including re-planning the path or terminating the task;

[0030] S4: Roaming task processing

[0031] The system identifies the roaming state of the overhead crane and dynamically adjusts the path and speed control strategy according to the task requirements. The roaming task processing module can optimize the path in the roaming state;

[0032] S5: Deceleration path calculation

[0033] The system obtains the speed data of the current path and dynamically calculates possible deceleration sections and safety distances. When deceleration is required, the system triggers the deceleration command in advance to ensure that the overhead crane can smoothly pass through the speed-limited section.

[0034] S6: Label and position determination

[0035] The system determines the path type based on the label information in the path and adjusts the speed and operation strategy of the overhead crane accordingly. If the label is inconsistent with the end point, the system will automatically adjust the path planning;

[0036] S7: Abnormal termination and recovery

[0037] When the system detects an abnormal situation, it immediately terminates the current path search or deceleration path calculation and transmits the abnormal code to the overhead crane controller. After processing the abnormality, the system automatically tries to resume path search and execution;

[0038] S8: Speed ​​control optimization

[0039] The system monitors the speed and position of the overhead crane in real time, dynamically adjusts the positions of the deceleration and acceleration points, and ensures the smoothness of the driving process through a smooth speed change strategy.

[0040] The present invention provides a control system based on path advance acceleration and deceleration. It has the following beneficial effects:

[0041] 1. By calculating the acceleration and deceleration path in advance, the system of the present invention can ensure that the overhead crane has reached an appropriate speed before entering the speed-limited section, thereby reducing the time wasted due to sudden deceleration or acceleration. This advance adjustment strategy makes the speed of the overhead crane on the entire path more stable and efficient, avoiding unnecessary pauses and speed changes, and ultimately improving the overall transportation efficiency. Especially in complex path environments, such as when there are multiple speed-limited sections or different mission points, the dynamic adjustment function of the system can significantly shorten the time it takes for the overhead crane to complete the task and improve the throughput of the transportation system.

[0042] 2. The system of the present invention predicts the deceleration point in advance and performs smooth speed adjustment, so that the overhead crane can gradually decelerate before entering the speed-limited section, thus avoiding sudden speed changes. This smooth speed change not only improves the stability of the overhead crane operation, but also effectively reduces the mechanical stress and wear caused by speed changes, thereby extending the service life of the equipment and ensuring the safety of the overhead crane operation.

[0043] 3. The present invention plans the path and speed in advance, so that the deployment of speed limit signs no longer needs to consider complex path conditions and speed limit requirements, and only the necessary signs need to be set at key points. This greatly simplifies the installation and management of speed limit signs and reduces operational problems caused by improper sign deployment. At the same time, the path optimization function of the system can also automatically adjust the location and strategy of the speed limit point, making the use of speed limit signs more flexible and intelligent, reducing the need for human intervention.

[0044] 4. The system of the present invention can dynamically adjust the path and speed control strategy of the overhead crane. Therefore, when the path needs to be adjusted or a new task needs to be added, it is only necessary to configure the system accordingly without making large-scale changes to the hardware facilities. This flexible adjustment capability enables the system to respond quickly and optimize when faced with changes in production demand, significantly reducing the maintenance and adjustment costs of the system. In addition, the system's exception handling and automatic recovery functions also reduce downtime caused by abnormal situations and improve the reliability and availability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 This is a control system architecture diagram based on path advance acceleration and deceleration of the present invention;

[0046] Figure 2 The present invention is a flow chart of a control method based on path advance acceleration and deceleration. DETAILED DESCRIPTION

[0047] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] Please see attached Figure 1 - Attachment Figure 2 , an embodiment of the present invention provides a control system based on path advance acceleration and deceleration, including:

[0049] Route data management module

[0050] The path data management module is one of the core modules of the entire control system, responsible for the initialization and management of path data. The main function of this module is to ensure the accuracy and uniqueness of path finding, and dynamically set and adjust the starting and ending points of the path according to the current mission requirements of the overhead crane.

[0051] Path data initialization submodule: This submodule is responsible for clearing the list of stored path data before each path search. The path data is initialized to prevent the residual old path data from interfering with the new path search process and to ensure the uniqueness and accuracy of the data. The data clearing process involves a thorough refresh of the storage list, including the cleaning of the data cache and the removal of expired data. In addition, in order to ensure the integrity of the data, the system will also back up the path data so that data can be restored when necessary.

[0052] Path data storage and management: The process of path data storage is not just a simple data entry, but involves the formatting, sorting, classification and priority setting of data. The system will store the path data in a list in order according to the task type and current status of the overhead crane. The stored data includes the starting point and end point of the path, the attributes of the path (such as whether it is a speed-limited section) and the maximum allowed speed of the path. In order to ensure the real-time and accuracy of the path data, the system adopts an advanced data synchronization and update mechanism, which can avoid conflicts and overwriting of path data in the case of multi-task parallel. In addition, the path data management module also includes the compression and encryption functions of path data to improve the efficiency and security of data storage.

[0053] Command and status verification module

[0054] The function of the command and status verification module is to ensure the consistency between the command and the actual status when the OHT executes the path search and task instructions. This module is an important guarantee for the safety and stability of the system.

[0055] Command consistency check submodule: The working principle of this submodule is to monitor the current command of the OHT and its actual state in real time, and use specific algorithms and logic to compare whether the two are consistent. For example, when the overhead crane executes a specific path command, the system will track the actual position of the overhead crane in real time and match it with the preset path point. If a position deviation or state inconsistency is detected, the system will immediately issue an alarm and generate an exception code. This verification mechanism ensures that the overhead crane can operate accurately according to the predetermined path and speed when performing complex tasks, avoiding operational errors caused by inconsistent states.

[0056] Abnormal status processing submodule: When the command and status are detected to be inconsistent, this submodule is responsible for immediately stopping the current path search or execution and generating an abnormal code. The generation of the abnormal code is based on the system's built-in abnormal handling rules, which cover a variety of possible abnormal situations, such as command execution failure, abnormal status data, etc. The abnormal code will be immediately transmitted to the OHTC so that the control center can take timely measures to deal with it. This submodule also includes the recording and analysis of abnormal data, so that the abnormal handling mechanism can be further optimized in subsequent system maintenance and upgrades.

[0057] Exception handling module

[0058] The main function of the exception handling module is to continuously monitor the deviation between the position of the OHT during the path execution and the predetermined path, and trigger the corresponding exception handling process when the deviation exceeds the set threshold.

[0059] Position deviation monitoring submodule: This submodule uses high-precision positioning sensors and data processing algorithms to monitor the actual position of the overhead crane in real time. The system compares the deviation between the current position of the overhead crane and the target position on the path based on the preset path data. When the deviation exceeds the threshold set by the system (for example, the position deviation exceeds 2 meters), the system will immediately trigger an alarm and enter the exception handling process. In order to ensure the accuracy of monitoring, the system uses multi-sensor fusion technology, which can integrate data from different sensors to generate more accurate location information.

[0060] Exception Handling Process Submodule: When the system detects a position deviation or other abnormal situation, the Exception Handling Process Submodule will automatically start. First, the system will evaluate the severity of the abnormality, such as whether the deviation will cause the overhead crane to derail or collide with other overhead cranes. If necessary, the system will immediately terminate the current task and re-plan the path. The process of re-planning the path involves the evaluation and selection of multiple alternative paths to ensure that the new path can avoid the location or conditions where the abnormality occurred. In addition, the system also supports real-time adjustment of speed and task instructions during the abnormality handling process to minimize the impact on the normal operation of the overhead crane.

[0061] Roaming task processing module

[0062] The roaming task processing module is specifically used to identify and process the roaming task status of the overhead crane. A roaming task usually refers to a task type in which the overhead crane moves freely in a specified area without setting a fixed path.

[0063] Roaming state identification submodule: This submodule determines whether the overhead crane is in a roaming state by analyzing the crane's running trajectory, mission type, and planned path. The system uses a machine learning algorithm to classify the crane's motion mode and can effectively distinguish between the roaming state and the normal mission state. When the system detects that the crane has entered the roaming state, it will automatically adjust the path finding and speed control strategies to meet the special needs of the roaming mission.

[0064] Task switching and path adjustment submodule: When the overhead crane switches from roaming state to fixed task state, this submodule is responsible for path adjustment and speed optimization. During the task switching process, the system will evaluate the feasibility of the current path in real time, and select the appropriate path for adjustment according to the urgency and priority of the task. For example, in a scene with complex path intersections, the system will give priority to paths with higher safety, and dynamically adjust the speed of the overhead crane while adjusting the path to avoid safety hazards caused by speed mismatch.

[0065] Deceleration path calculation module

[0066] The deceleration path calculation module is an important module to ensure that the overhead crane can smoothly pass through the speed-limited section. By dynamically calculating and adjusting the deceleration path, the system can optimize the speed control strategy according to the real-time status and path conditions of the overhead crane.

[0067] Safety distance calculation submodule: The core function of this submodule is to dynamically calculate the appropriate deceleration point and safety distance based on the real-time speed, load, path characteristics and other parameters of the overhead crane. The system uses a variety of algorithm models, including classic physical mechanics models and artificial intelligence prediction models, which can accurately estimate the deceleration distance required for the overhead crane at different speeds. During the calculation process, the system also considers terrain factors such as the curvature and slope of the path, as well as the dynamic characteristics of the overhead crane (such as braking distance, inertia, etc.) to ensure the accuracy of the calculation results.

[0068] Slowdown point storage and call submodule: Once the slowdown point is determined, this submodule will store the slowdown point information in the path data and call it when the path is executed. The system uses efficient database management technology to ensure that the slowdown point data can be quickly accessed. During the path execution process, the system will dynamically adjust the call order and timing of the slowdown point according to the real-time path information and the state of the overhead crane. For example, when the path suddenly changes or the overhead crane mission changes, the system will immediately re-evaluate the slowdown point and adjust the slowdown strategy if necessary to ensure the smooth operation of the overhead crane.

[0069] Label and location determination module

[0070] The label and position judgment module is responsible for parsing the label information in the path and adjusting the speed and path planning of the overhead crane according to the label information to ensure the accurate execution of the overhead crane task.

[0071] Tag information parsing submodule: The main function of this submodule is to parse the tag information in the path, including but not limited to speed limit tags, stop tags, turn tags, etc. The system obtains the specific information of the tag through radio frequency identification (RFID) or visual recognition technology and matches it with the path data. The parsed tag information will be used to guide the path execution and speed adjustment of the overhead crane. For example, when a speed limit tag is detected, the system will adjust the operating speed of the overhead crane according to the speed limit data in the tag.

[0072] Path optimization submodule: During the path execution process, the path optimization submodule will dynamically adjust the path planning and speed control strategy according to the label information. The system uses advanced path planning algorithms to ensure that the overhead crane selects the optimal path for execution when multiple paths intersect or overlap. For example, when the system detects that the label information in the path is inconsistent with the predetermined path, the path optimization submodule will immediately start, recalculate the path and adjust the speed to ensure that the overhead crane performs the task according to the optimal path and speed.

[0073] Abnormal termination and recovery module

[0074] The abnormal termination and recovery module is responsible for terminating the current task when an abnormal situation is detected, and trying to resume path finding and execution to ensure that the overhead crane can resume normal operation in the shortest time.

[0075] Abnormal detection and processing submodule: When the system detects an abnormal situation, this submodule will immediately terminate the current task and generate an abnormal code. Abnormal detection includes a variety of situations, such as path interruption, position deviation, equipment failure, etc. The system has built-in comprehensive abnormal detection rules, which can quickly respond to abnormal situations and automatically record abnormal data for subsequent analysis and optimization.

[0076] Path recovery submodule: After handling the abnormal situation, the path recovery submodule will try to restore path finding and execution. The recovery process includes replanning the path, adjusting the speed control strategy, and updating the task priority. The system will give priority to the alternative path with higher security and less path interference for recovery to ensure the stability of the overhead crane after the abnormal situation is handled. In addition, the system will monitor the recovery path in real time during the recovery process to ensure the effectiveness and safety of the recovery operation.

[0077] Speed ​​control optimization module

[0078] The speed control optimization module monitors the speed and position of the overhead crane in real time, dynamically adjusts the positions of the deceleration and acceleration points, and adopts a smooth speed change strategy to ensure smooth operation of the overhead crane.

[0079] Real-time speed monitoring submodule: This submodule is responsible for monitoring the real-time speed of the overhead crane. The system obtains speed data through the speed sensor installed on the overhead crane and analyzes the speed in real time in combination with the path data. The system can not only detect the current speed of the overhead crane, but also predict the future speed trend of the overhead crane so that adjustments can be made in advance.

[0080] Smooth speed change control submodule: In order to avoid sudden changes in speed, this submodule adopts a smooth speed change strategy. Specifically, the system will gradually adjust the speed of the overhead crane during deceleration or acceleration to avoid instability or operational errors caused by sudden speed changes. The system ensures the smoothness of speed changes by controlling the acceleration and deceleration curves of the overhead crane. For example, during the path execution process, if a speed limit is detected on the path ahead, the system will pre-adjust the speed in advance instead of suddenly decelerating when reaching the limit point, to ensure smooth operation of the overhead crane.

[0081] A control method based on path advance acceleration and deceleration, comprising the following steps:

[0082] S1: Path data initialization

[0083] Before path search begins, the system first initializes the path data. The process of path data initialization includes clearing the storage list to ensure that the new path data will not be confused with the old data. Path data initialization is not just a simple clearing of the storage list, but also includes checking and optimizing the storage structure. For example, the system will format the storage list during the initialization process to ensure the consistency of the data structure. In addition, the system will dynamically adjust the starting and ending points of the path according to the task type and path requirements to meet the needs of different tasks.

[0084] S2: Command and status verification

[0085] Before executing any path instruction, the system will verify the current command of the overhead crane with its actual status. The verification process involves multi-level comparison and analysis. The system determines whether the command is executed correctly by comparing the command sequence and the overhead crane status data. If the system detects that the command is inconsistent with the status, it will immediately generate an exception code and terminate the path search. This process is not just a simple comparison, but involves complex status monitoring and abnormality identification algorithms to ensure that the system can detect problems and respond in the shortest time.

[0086] S3: Path finding exception handling

[0087] During the path finding process, the system will continuously monitor the position deviation of the overhead crane. When the absolute value of the position difference exceeds the set threshold, the system will trigger the exception handling process. Path finding exception handling includes multiple operations such as re-planning the path or terminating the task. The system will select the appropriate handling method based on the type and severity of the exception. For example, when the position deviation is small, the system may choose to re-plan the path, while when the deviation is large or accompanied by other exceptions, the system may immediately terminate the task to ensure safety.

[0088] S4: Roaming task processing

[0089] The system can identify the roaming state of the overhead crane and dynamically adjust the path and speed control strategy according to the task requirements. The key to roaming task processing lies in the identification and optimization of tasks. The system determines whether the overhead crane is in a roaming state by analyzing the operation trajectory and task data of the overhead crane. When the system detects a roaming task, it will automatically adjust the path planning and speed control strategy to ensure the smooth completion of the task. For example, the system may perform a real-time scan of the roaming area and dynamically adjust the movement path of the overhead crane based on the scanning results to avoid collisions or path conflicts during the roaming process.

[0090] S5: Deceleration path calculation

[0091] The system dynamically calculates possible deceleration sections and safety distances by obtaining the speed data of the current path. The deceleration path calculation is the key to the crane's ability to smoothly pass through the speed limit section. The system will continuously update the speed data and path information during the path execution process to ensure the accuracy of the deceleration point. When the system detects that deceleration is required, it will trigger the deceleration command in advance to avoid the crane from suddenly decelerating when approaching the speed limit point, ensuring the smooth operation. The system uses an advanced calculation model that can accurately calculate the most appropriate deceleration point and safety distance based on factors such as the crane's load, speed, and path curvature.

[0092] S6: Label and position determination

[0093] The system determines the type of path by parsing the label information in the path and adjusts the speed and operation strategy of the overhead crane accordingly. The parsing process of label information includes reading, analyzing and applying the label data. For example, when the system detects that there is a speed limit label in the path, it will immediately adjust the speed of the overhead crane to meet the label requirements. In addition, the system will automatically adjust the path planning based on the correlation between the label and the end point of the path to ensure that the overhead crane can complete the task according to the predetermined plan. For example, during the path execution process, if it is detected that the label information in the path ahead is inconsistent with the predetermined path, the system will immediately recalculate the path and adjust the speed to avoid task deviations caused by inconsistencies between the label and the path.

[0094] S7: Abnormal termination and recovery

[0095] After detecting an abnormal situation, the system will immediately terminate the current path search or deceleration path calculation and transmit the abnormal code to the crane controller. The abnormal termination process includes the analysis and recording of abnormal data to optimize the system's abnormal handling mechanism later. After handling the abnormality, the system will automatically try to resume path search and execution. The recovery process includes re-planning the path, adjusting the speed control strategy, and updating the task priority. The system will select the most appropriate recovery strategy based on the type and severity of the abnormality to ensure that the crane can resume normal operation as soon as possible.

[0096] S8: Speed ​​control optimization

[0097] The system monitors the speed and position of the overhead crane in real time, dynamically adjusts the position of the deceleration point and acceleration point, and ensures the smoothness of the driving process through a smooth speed change strategy. The core of speed control optimization lies in dynamic adjustment and prediction. The system can predict the speed change trend of the overhead crane in advance through the analysis of real-time data and make adjustments when necessary. For example, when the system detects that there is an acceleration point in the path ahead, it will gradually increase the speed of the overhead crane to ensure that the overhead crane can pass the acceleration point smoothly without sudden changes.

[0098] Through the above detailed description, the control system and its method of this solution not only have advanced technical advantages, but also show great flexibility and adaptability at the application level. Whether in a complex path environment or in a multi-task parallel operation scenario, it can provide OHT with a stable and efficient path planning and speed control solution to ensure the safety and reliability of the system.

[0099] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A control system based on path advance acceleration and deceleration, characterized in that: include: The path data management module is used to initialize and store path data, ensure the accuracy and uniqueness of path search, and dynamically set and adjust the starting and ending points of the path according to the current tasks and path requirements of the overhead crane; The command and status verification module is used to verify in real time whether the current command of the overhead crane is consistent with its actual status, and when inconsistency is detected, an abnormal code is generated and transmitted to the overhead crane controller to terminate the current path search or execution; The exception handling module is used to continuously monitor the deviation between the position of the overhead crane and the planned path. When the deviation exceeds the set threshold, the exception handling process is triggered, including re-planning the path, alarm prompting or directly terminating the task; Roaming task processing module, used to identify the roaming status of the overhead crane and dynamically adjust the path and speed control strategy according to the task requirements. It is especially suitable for processing complex roaming tasks and adjusting the path when switching tasks. The deceleration path calculation module is used to obtain path speed data, dynamically calculate safety distances and deceleration points, so as to ensure that the overhead crane decelerates in advance on sections where deceleration is required, and store the deceleration point information in the path data for use during path execution; The label and position judgment module is used to parse the label information in the path, determine the type of the current path and adjust the speed control strategy. At the same time, it dynamically adjusts the path planning according to the label information to ensure the accurate execution of the overhead crane task; The abnormal termination and recovery module is used to terminate the current task when an abnormal situation is detected, and transmit the abnormal code to the crane controller, and then try to resume the path finding and execution, including re-planning the path and adjusting the speed control strategy; The speed control optimization module is used to continuously monitor the current position and speed of the overhead crane, dynamically adjust the positions of the deceleration point and the acceleration point, and adopt a smooth speed change strategy to ensure that the operation of the overhead crane is smooth.

2. A control system based on path advance acceleration and deceleration according to claim 1, characterized in that: The path data management module also includes a path data initialization submodule, which is used to clear the storage list before each path search starts to ensure that new path data will not be confused with old data.

3. The control system based on path advance acceleration and deceleration according to claim 1, characterized in that: The command and status verification module also includes an abnormal status processing submodule, which is used to immediately stop the current path search or execution and generate an abnormal code for diagnosis when it is detected that the command and status are inconsistent.

4. The control system based on path advance acceleration and deceleration according to claim 1, characterized in that: The exception handling module also includes a position deviation monitoring submodule, which is used to monitor the deviation between the position of the overhead crane and the predetermined path in real time, and when the deviation exceeds a preset threshold, trigger the re-planning of the path or terminate the current task.

5. The control system based on path advance acceleration and deceleration according to claim 1, characterized in that: The roaming task processing module also includes a task switching submodule, which is used to automatically adjust the path and speed control strategy when the overhead crane switches from the roaming state to the fixed task state.

6. The control system based on path advance acceleration and deceleration according to claim 1, characterized in that: The deceleration path calculation module also includes a safety distance calculation submodule, which is used to dynamically calculate appropriate deceleration points and safety distances according to the real-time speed and path characteristics of the overhead crane, and use these data for speed control during path execution.

7. The control system based on path advance acceleration and deceleration according to claim 1, characterized in that: The label and position determination module also includes a path optimization submodule, which is used to dynamically adjust the path planning and speed control strategy during the path execution process to ensure that the overhead crane can perform the task according to the optimal path and speed.

8. The control system based on path advance acceleration and deceleration according to claim 1, characterized in that: The abnormal termination and recovery module also includes a path recovery submodule for attempting to recover path search and execution after handling the abnormal situation, and replanning the path and adjusting the speed control strategy.

9. The control system based on path advance acceleration and deceleration according to claim 1, characterized in that: The speed control optimization module also includes a smooth speed change control submodule, which is used to adopt a smooth speed change strategy during the deceleration or acceleration of the overhead crane to reduce the impact of speed mutations on the operating stability of the overhead crane.

10. A control method based on path advance acceleration and deceleration, characterized in that: A control system based on path advance acceleration and deceleration as described in any one of claims 1 to 9, comprising the following steps: S1: Path data initialization The system clears the storage list before starting the path search; During the path search process, the system stores the path data in a list in order, including information such as the path starting point, end point, path attributes, and maximum allowed speed; S2: Command and status verification Before executing any path command, the system verifies whether the current command of the overhead crane is consistent with the actual status. If the command and status are inconsistent, the system will generate an exception code, terminate the path search, and feed back to the overhead crane controller for processing; S3: Path finding exception handling The system monitors the position deviation of the overhead crane during the path finding process. When the absolute value of the position difference exceeds the set threshold, the exception handling process is triggered, including re-planning the path or terminating the task; S4: Roaming task processing The system identifies the roaming state of the overhead crane and dynamically adjusts the path and speed control strategy according to the task requirements. The roaming task processing module can optimize the path in the roaming state; S5: Deceleration path calculation The system obtains the speed data of the current path and dynamically calculates possible deceleration sections and safety distances. When deceleration is required, the system triggers the deceleration command in advance to ensure that the overhead crane can smoothly pass through the speed-limited section. S6: Label and position determination The system determines the path type based on the label information in the path and adjusts the speed and operation strategy of the overhead crane accordingly. If the label is inconsistent with the end point, the system will automatically adjust the path planning; S7: Abnormal termination and recovery When the system detects an abnormal situation, it immediately terminates the current path search or deceleration path calculation and transmits the abnormal code to the overhead crane controller. After processing the abnormality, the system automatically tries to resume path search and execution; S8: Speed ​​control optimization The system monitors the speed and position of the overhead crane in real time, dynamically adjusts the positions of the deceleration and acceleration points, and ensures the smoothness of the driving process through a smooth speed change strategy.

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