Shore crane soft leaning box control method and system and shore crane

Abstract

The invention relates to the technical field of lifting control, in particular to a quay crane soft leaning box control method and system and a quay crane. The speed limiting data is calculated according to the lifting appliance swing data, so that the situation that the lifting appliance swings excessively when the trolley runs to the obstacle position is avoided. Then calculating trajectory planning data, comparing the trajectory planning data with the trajectory monitoring information to perform feedback control calculation, superposing a feedback control quantity and the trajectory planning data to obtain speed control data correspondingly output by a control mechanism, and controlling the trolley according to the speed control data when the speed control data is smaller than the speed limiting data; the swinging amplitude of the lifting appliance can be further reduced, the lifting appliance is controlled to swing within a reasonable range, and soft box leaning is achieved.

Description

Technical Field

[0001] The present application relates to the field of lifting control technology, and in particular to a quay crane soft docking control method and system, and a quay crane. Background Art

[0002] The quay crane is a key equipment of modern automated terminals. With the increasing prominence of environmental protection, high efficiency, energy saving, stability, standardization and economic benefits, automated container terminals are gradually becoming the new favorite of the global port industry. The automation and intelligent transformation of many large ports at home and abroad are promoting the automation process of container handling in global ports. The automated quay crane can receive and execute instructions from the upper system, thereby automatically completing most of the operation processes, and the operator only needs to intervene when the equipment cannot handle it automatically. During operation, the length of the wire rope between the spreader and the trolley of the automated quay crane can exceed 30 meters, which will cause the spreader to swing significantly when the trolley frame moves. How to control the movement speed of the trolley when the quay crane is working so as to reduce the swing amplitude of the spreader and realize the soft docking of the spreader to the container is a technical problem that needs to be solved in this field. Summary of the invention

[0003] In view of this, the present application provides a quay crane soft docking control method and system, and a quay crane, which can control the movement speed of the trolley when the quay crane is working, thereby reducing the swing amplitude of the spreader to achieve soft docking of the spreader to the container.

[0004] In a first aspect, the present application provides a control method for a quay crane soft docking box, comprising: obtaining equipment status data and work site data of the quay crane; calculating the front-to-rear running limit position of the trolley according to the equipment status data and the work site data; taking the front-to-rear running limit position of the trolley as the running end point of the trolley running trajectory, retrieving the sling swing data from the equipment status data, and simulating and calculating the speed limit data of the trolley when the sling swing amplitude is maintained at a preset amplitude; calculating the trajectory planning data of the sling according to the control data, the equipment status data and the system kinematic model; obtaining the feedback control amount of the sling according to the difference between the trajectory planning data and the trajectory monitoring information in the equipment status data; superimposing the feedback control amount and the trajectory planning data to obtain the speed control data; when the trolley is running, if the speed corresponding to the speed control data is greater than or equal to the speed limit data, the trolley is controlled to run according to the speed limit data; and when the trolley is running, if the speed corresponding to the speed control data is less than the speed limit data, the trolley is controlled to run according to the speed control data.

[0005] In combination with the first aspect, in a possible implementation method, it also includes: calculating the extreme lifting position of the spreader according to the equipment status data and the work site data; taking the extreme lifting position of the spreader as the lifting end point of the spreader, and calculating the lifting speed limit data of the spreader in combination with the equipment status data; receiving the control data to obtain the corresponding lifting control speed; when the spreader is lifting and operating, if the lifting control speed is greater than or equal to the lifting speed limit data, the lifting and lowering speed limit data is used to control the spreader to perform lifting and lowering movement; and when the spreader is lifting and operating, if the lifting control speed is less than the lifting speed limit data, the lifting control speed is used to control the spreader to perform lifting and lowering movement.

[0006] In combination with the first aspect, in a possible implementation, the trajectory planning data includes a planned speed, a planned acceleration and a planned acceleration derivative; after the trajectory planning data of the sling is calculated based on the control data, the equipment status data and the system kinematic model, the quay crane soft docking control method also includes: filtering the trajectory planning data; smoothing the planned speed to obtain a speed feedforward control amount; and integrating the planned speed to obtain position planning data.

[0007] In combination with the first aspect, in a possible implementation method, the calculation of the trajectory planning data of the sling based on the control data, the equipment status data and the system kinematic model includes: calculating the trajectory planning data based on the trolley control data, the sling control data, the rope length between the trolley and the sling, the maximum operating speed of the trolley, the maximum operating acceleration of the trolley, the maximum operating deceleration of the trolley, the maximum lifting speed of the sling, the maximum lifting acceleration of the sling, the maximum lifting deceleration of the sling and the system kinematic model.

[0008] In combination with the first aspect, in a possible implementation method, obtaining the feedback control amount of the hoist according to the difference between the trajectory monitoring information in the trajectory planning data and the equipment status data includes: calculating the difference between the planned speed and the monitored speed in the equipment status data at each planned position corresponding to the position planning data, to obtain the speed correction amount; superimposing the feedback control amount and the trajectory planning data to obtain the speed control data includes: superimposing the speed correction amount and the speed feedforward control amount to obtain the speed control data at the corresponding position.

[0009] In combination with the first aspect, in a possible implementation method, the superposition of the speed correction amount and the speed feedforward control amount to obtain the speed control data at the corresponding position includes: if the monitored speed is greater than the planned speed, subtracting the speed correction amount from the speed feedforward control amount to obtain the speed control data; and if the monitored speed is less than the planned speed, adding the speed feedforward control amount and the speed correction amount to obtain the speed control data.

[0010] In combination with the first aspect, in a possible implementation, the control data includes trolley control data and spreader control data; wherein the method further includes: performing ramp processing on the trolley control data; and / or performing ramp processing on the spreader control data.

[0011] In combination with the first aspect, in a possible implementation method, it also includes: setting a minimum operating speed; when the trolley is running, if the speed corresponding to the speed control data is less than the minimum operating speed, controlling the trolley to run at the minimum operating speed; setting a minimum lifting speed; and when the hoist is lifting and operating, if the speed corresponding to the lifting control speed is less than the minimum lifting speed, controlling the trolley to lift and lower at the minimum lifting speed.

[0012] In the second aspect, the present application provides a quay crane soft docking control system, including: a data acquisition module, configured to: acquire equipment status data and work site data of the quay crane; a feedback control module, which is in communication connection with the data acquisition module, and the feedback control module is configured to: calculate the front-to-back operating limit position of the trolley according to the equipment status data and the work site data; take the front-to-back operating limit position of the trolley as the operating end point of the trolley's operating trajectory, retrieve the sling swing data from the equipment status data, and simulate and calculate the speed limit data of the trolley when the sling swing amplitude is maintained at a preset amplitude; calculate the sling speed limit data according to the control data, equipment status data and system kinematic model. trajectory planning data of the sling; obtaining a feedback control amount of the sling according to the difference between the trajectory planning data and the trajectory monitoring information in the equipment status data; superimposing the feedback control amount and the trajectory planning data to obtain speed control data; a speed control module, which is communicatively connected to the feedback control module, and the speed control module is configured as follows: when the trolley is running, if the speed corresponding to the speed control data is greater than or equal to the speed limit data, the trolley is controlled to run with the speed limit data; and when the trolley is running, if the speed corresponding to the speed control data is less than the speed limit data, the trolley is controlled to run with the speed control data.

[0013] In a third aspect, the present application provides a quay crane, including the aforementioned quay crane soft docking control system.

[0014] This application calculates the speed limit data based on the swing data of the spreader to avoid excessive swing amplitude of the spreader. Then calculate the trajectory planning data, compare the trajectory planning data with the trajectory monitoring information to perform feedback control calculation, superimpose the feedback control amount and the trajectory planning data to obtain the speed control data corresponding to the output of the control mechanism, and when the speed control data is less than the speed limit data, the trolley is controlled by the speed control data, which can further reduce the swing amplitude of the spreader, control the swing of the spreader within a reasonable range, and achieve soft support. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The figure is a schematic diagram of the method steps of a quay crane soft docking control method provided in one embodiment of the present application.

[0016] Figure 2 Shown is a schematic diagram of the method steps of a quay crane soft docking control method provided by another embodiment of the present application.

[0017] Figure 3 Shown is a schematic diagram of the method steps of a quay crane soft docking control method provided by another embodiment of the present application.

[0018] Figure 4 Shown is a schematic diagram of the method steps of a quay crane soft docking control method provided by another embodiment of the present application.

[0019] Figure 5 Shown is a schematic diagram of the method steps of a quay crane soft docking control method provided by another embodiment of the present application.

[0020] Figure 6 Shown is a schematic diagram of the method steps of a quay crane soft docking control method provided by another embodiment of the present application.

[0021] Figure 7 Shown is a schematic diagram of the method steps of a quay crane soft docking control method provided by another embodiment of the present application.

[0022] Figure 8 Shown is a schematic diagram of the method steps of a quay crane soft docking control method provided by another embodiment of the present application.

[0023] Fig. 9 This is a diagram showing the variation of the spreader position over time in a simulation example of the present application.

[0024] Fig.10 This is a diagram showing the variation of the swing amplitude of the hanger over time in a simulation example of the present application.

[0025] Fig.11 This is a schematic diagram of the forward and backward running speeds of the car obtained based on the car control data and speed feedforward control quantity in a simulation example.

[0026] Fig.12 A schematic diagram of the system structure of a quay crane soft docking control system provided in one embodiment.

[0027] Fig.13 The figure is a flow chart of the vehicle speed control according to an embodiment.

[0028] Fig.14 It is a schematic diagram of the specific process in the anti-sway control module.

[0029] Fig.15 The present invention is a flow chart of the control of lifting equipment according to an embodiment. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0031] Figure 1 The figure shows a schematic diagram of the method steps of a quay crane soft docking control method provided by an embodiment of the present application. The present application provides a quay crane soft docking control method. In one embodiment, as Figure 1 As shown, the quay crane soft docking control method includes:

[0032] Step 110: Acquire equipment status data and work site data of the quay crane.

[0033] In this step, multiple sensing devices are installed on the quay crane and in the work area, and the sensing devices detect and obtain equipment status data and work area data. The equipment status data includes the real-time working conditions of multiple mechanisms of the quay crane, equipment parameters and other data. The work area data includes the location of the container in the operation area of ​​the quay crane, and the quay crane grabs the container for lifting and handling operations.

[0034] Step 120: Calculate the front and rear operating limit positions of the trolley according to the equipment status data and the work site data.

[0035] In this step, the track data of the trolley of the quay crane can be obtained from the equipment status data, and then the extreme positions of the trolley at both ends of the running direction can be determined according to the position of the container, that is, the extreme running positions of the trolley in the front and rear directions can be obtained.

[0036] Step 130, taking the front and rear direction running limit position of the trolley as the running end point of the trolley running trajectory, retrieving the spreader swing data from the equipment status data, and simulating and calculating the speed limit data of the trolley when the spreader swing amplitude is maintained at a preset amplitude.

[0037] In this step, the spreader is in a single pendulum swing state when the trolley is running, and the spreader swing data caused by the environmental conditions is monitored. The spreader swing data includes parameters such as the spreader swing angle and the spreader swing angular velocity. Taking the extreme positions of the trolley in the front and rear directions as the running endpoints, the simulation calculation is performed using the single pendulum swing model. The trolley first gradually accelerates to approach the container, and when it reaches a certain deceleration node position, it needs to start to decelerate to approach the container. Calculation is performed based on the spreader swing data: if the spreader swing amplitude is to be maintained at a preset amplitude, the maximum speed that the trolley can reach at each position in the track is the speed limit data. Generally, the trolley can run at a uniform speed at the maximum speed before reaching the deceleration node. If it exceeds the deceleration node, the maximum speed needs to be gradually reduced accordingly.

[0038] Step 140: Calculate the trajectory planning data of the spreader according to the control data, the equipment status data and the system kinematic model.

[0039] In this step, the control data input by the operator includes the trolley control data for controlling the operation of the trolley. By pre-establishing a system kinematics model of the container crane, and then importing the control data and equipment status data input by the operator into the system kinematics model, the trajectory of the spreader can be calculated, that is, the trajectory planning data can be obtained.

[0040] Step 150: Obtain the feedback control amount of the spreader according to the difference between the trajectory planning data and the trajectory monitoring information in the equipment status data.

[0041] In this step, feedback control calculation is performed on the calculated trajectory planning data and the monitored trajectory monitoring information to obtain a feedback control amount.

[0042] Step 160: Superimpose the feedback control amount and the trajectory planning data to obtain speed control data.

[0043] This step combines the feedback control quantity and trajectory planning data to obtain the final speed control data output based on the control data.

[0044] Step 170: When the vehicle is running, determine whether the speed corresponding to the speed control data is less than the speed limit data.

[0045] If the judgment result of step 170 is no, step 180 is executed to control the vehicle to run according to the speed limit data.

[0046] If the judgment result of step 170 is yes, step 190 is executed to control the vehicle to run according to the speed control data.

[0047] This embodiment first calculates the speed limit data according to the swing data of the spreader to avoid excessive swing amplitude of the spreader. Then calculate the trajectory planning data, and perform feedback control calculation by comparing the trajectory planning data and the trajectory monitoring information. The feedback control amount and the trajectory planning data are superimposed to obtain the speed control data corresponding to the output of the control mechanism. When the speed control data is less than the speed limit data, the trolley is controlled by the speed control data, which can further reduce the swing amplitude of the spreader, control the swing of the spreader within a reasonable range, and achieve soft support.

[0048] Figure 2 FIG. 1 is a schematic diagram of the method steps of a quay crane soft docking control method provided by another embodiment of the present application. Figure 2 As shown, the quay crane soft docking control method also includes:

[0049] Step 200: Calculate the limit lifting position of the spreader according to the equipment status data and the work site data.

[0050] In this step, the lifting parameter data of the sling installed on the trolley can be obtained from the equipment status data, the height of the trolley above the ground and the position of the container under the sling can be obtained from the work site data, and the extreme position of the sling in the lifting direction can be determined by multiple data including the above parameters, that is, the extreme lifting position of the sling can be obtained.

[0051] Step 210: Taking the lifting limit position of the spreader as the lifting end point of the spreader, the lifting speed limit data of the spreader is calculated in combination with the equipment status data.

[0052] In this step, the maximum lifting speed of the spreader can be known through the equipment status data. Combined with the limit lifting position of the spreader, the limit speed that ensures that the spreader does not touch the top or bottom, that is, the lifting speed limit data, can be known.

[0053] Step 220: Receive control data to obtain corresponding lifting control speed.

[0054] In this step, the control data input by the operator includes the spreader control data for controlling the lifting of the spreader, and the lifting control speed for controlling the lifting of the spreader can be obtained according to the control data.

[0055] Step 230: When the lifting device is in lifting operation, determine whether the lifting control speed is less than the lifting speed limit data.

[0056] If the judgment result of step 230 is no, step 240 is executed to control the lifting device to perform lifting movement according to the lifting speed limit data.

[0057] If the judgment result of step 230 is yes, step 250 is executed to control the lifting device to perform lifting movement at the lifting control speed.

[0058] In this embodiment, since there will be no problem of the spreader swinging due to the spreader lifting during the spreader lifting process, it is sufficient to limit the lifting control speed within the lifting speed limit data to ensure that the spreader does not touch the top or bottom.

[0059] Figure 3 FIG. 1 is a schematic diagram of the method steps of a quay crane soft docking control method provided by another embodiment of the present application. In one embodiment, the trajectory planning data includes the planned speed, the planned acceleration, and the planned acceleration derivative. Figure 3 As shown, after step 140, the quay crane soft docking control method further includes:

[0060] Step 270: Filter the trajectory planning data.

[0061] In this step, data filtering may include a variety of filtering methods, such as smoothing, mean filtering, median filtering, etc., which can reduce noise and interference in trajectory planning data and improve the reliability of trajectory planning data.

[0062] Step 280: Smoothing the planned speed to obtain a speed feedforward control value.

[0063] In this step, the smoothed planned speed data has better consistency and smoothness, and better speed feedforward control data is obtained.

[0064] Step 290: Integrate the planned speed to obtain position planning data.

[0065] Figure 4 FIG. 1 is a schematic diagram of the method steps of a quay crane soft docking control method provided by another embodiment of the present application. Specifically, Figure 4 As shown, step 140 includes:

[0066] Step 141: Calculate trajectory planning data according to the trolley control data, the sling control data, the rope length between the trolley and the sling, the maximum operating speed of the trolley, the maximum operating acceleration of the trolley, the maximum operating deceleration of the trolley, the maximum lifting speed of the sling, the maximum lifting acceleration of the sling, the maximum lifting deceleration of the sling and the system kinematic model.

[0067] In this step, multiple data are imported into the system kinematic model, and the spreader swing data, i.e., trajectory planning data, calculated by the input trolley control data and spreader control data under the current rope length state and other parameters can be obtained. The trajectory planning data includes the planned speed, planned acceleration, and planned acceleration derivative data.

[0068] Figure 5 FIG. 1 is a schematic diagram of the method steps of a quay crane soft docking control method provided by another embodiment of the present application. Figure 5As shown, step 150 includes:

[0069] Step 151: Calculate the difference between the planned speed and the monitored speed in the equipment status data at each planned position corresponding to the position planning data to obtain the speed correction amount.

[0070] Feedback control calculation is performed in this step. The monitored speed is the speed of the trolley in the monitored equipment status data. The speed correction amount is obtained by subtracting the planned speed from the monitored speed.

[0071] Step 160 includes:

[0072] Step 161: Superimpose the speed deviation correction amount and the speed feedforward control amount to obtain speed control data at the corresponding position.

[0073] Figure 6 FIG. 1 is a schematic diagram of the method steps of a quay crane soft docking control method provided by another embodiment of the present application. Specifically, Figure 6 As shown, step 161 includes:

[0074] Step 1611: Determine whether the monitoring speed is greater than the planned speed.

[0075] If the judgment result of step 1611 is yes, step 1612 is executed to subtract the speed correction amount from the speed feedforward control amount to obtain the speed control data.

[0076] If the judgment result of step 1611 is no, step 1613 is executed to add the speed feedforward control amount and the speed correction amount to obtain the speed control data.

[0077] In this embodiment, when the actual detected monitoring speed is greater than the planned speed, it means that the actual speed is too fast. The actual speed is greater than the calculated planned speed, which may cause the swing amplitude of the spreader to be too large. At this time, the speed needs to be slowed down, and the speed feedforward control amount minus the speed correction amount is obtained to obtain the speed control data. When the actual detected monitoring speed is less than the planned speed, it means that the actual speed is slow. The actual speed is less than the calculated planned speed, which may cause the inertia of the spreader to cause the swing amplitude in the next single pendulum motion to be uncontrolled. At this time, the speed needs to be increased, and the speed feedforward control amount plus the speed correction amount is obtained to obtain the speed control data. Thus, the swing of the spreader is controlled within a reasonable range.

[0078] Fig. 9 This is a diagram showing the variation of the spreader position over time in a simulation example of the present application. Fig.10 This is a graph showing the variation of the swing amplitude of the hanger over time in a simulation example of this application. Fig. 9 As shown, in one embodiment of the present application, before 20 seconds, the trolley runs at a relatively fast speed, and after 20 seconds, the speed of the trolley gradually decreases to perform a soft stop. Fig.10As shown in the figure, the swing amplitude of the spreader is relatively large before 20 seconds, and the swing amplitude of the spreader is greatly reduced after 20 seconds, achieving soft leaning against the box.

[0079] like Fig.11 As shown in the figure, the head and tail of the trolley control data are sloped and the speed feedforward control quantity is calculated. For example, if there is a container obstacle in the forward running direction of the trolley, the trolley handle is always in the full speed given state. When the trolley is running forward, at 25s, the swing of the control spreader is within a small range and begins to enter the soft leaning state. If there is no container obstacle in the backward running direction of the trolley, the trolley runs backward at full speed.

[0080] Figure 7 Shown is a schematic diagram of the method steps of a quay crane soft docking control method provided by another embodiment of the present application. Fig.11 FIG. 1 is a schematic diagram of the forward and backward running speeds of the trolley obtained according to the trolley control data and the speed feedforward control quantity in a simulation example. In one embodiment, the control data includes the trolley control data and the spreader control data, such as Figure 7 The method also includes:

[0081] Step 300: Perform ramp processing on the vehicle control data. And / or

[0082] Step 310: Perform ramp processing on the spreader control data.

[0083] In this embodiment, the speed control parameters of the trolley and the spreader are ramped to buffer the speed control and avoid excessive acceleration and deceleration of the trolley and the spreader. Fig.11 , the ramp can be set at the beginning or end of the speed control parameter.

[0084] Figure 8 FIG. 1 is a schematic diagram of the method steps of a quay crane soft docking control method provided by another embodiment of the present application. Figure 8 As shown, the quay crane soft docking control method also includes:

[0085] Step 320: Set the minimum operating speed.

[0086] Step 330: When the vehicle is running, if the speed corresponding to the speed control data is less than the minimum running speed, the vehicle is controlled to run at the minimum running speed.

[0087] Step 340: Set the minimum lifting speed.

[0088] Step 350: When the spreader is in lifting operation, if the speed corresponding to the lifting control speed is less than the minimum lifting speed, the trolley is controlled to perform lifting movement at the minimum lifting speed.

[0089] In this embodiment, a minimum speed limit is imposed on the operation of the trolley, and a minimum speed limit is imposed on the lifting and lowering of the spreader, so as to prevent the trolley and the spreader from running too slowly.

[0090] An exemplary quay crane soft docking control system is as follows:

[0091] Fig.12 The present application also provides a quay crane soft docking control system. In one embodiment, as Fig.12 The system includes: a data acquisition module 1201, a feedback control module 1202 and a speed control module 1203.

[0092] The data acquisition module 1201 is configured to: acquire equipment status data and operation site data of the quay crane;

[0093] The feedback control module 1202 is communicatively connected with the data acquisition module 1201, and the feedback control module 1202 is configured as follows: calculating the extreme running positions in the front-rear direction of the trolley according to the equipment status data and the work site data; taking the extreme running positions in the front-rear direction of the trolley as the running end points of the trolley running trajectory, retrieving the sling swing data from the equipment status data, and simulating and calculating the speed limit data of the trolley when the sling swing amplitude is maintained at a preset amplitude; calculating the trajectory planning data of the sling according to the control data, the equipment status data and the system kinematic model; obtaining the feedback control amount of the sling according to the difference between the trajectory planning data and the trajectory monitoring information in the equipment status data; and superimposing the feedback control amount and the trajectory planning data to obtain the speed control data.

[0094] The speed control module 1203 is communicatively connected with the feedback control module 1202, and the speed control module 1203 is configured as follows: when the trolley is running, if the speed corresponding to the speed control data is greater than or equal to the speed limit data, the trolley is controlled to run with the speed limit data; and when the trolley is running, if the speed corresponding to the speed control data is less than the speed limit data, the trolley is controlled to run with the speed control data.

[0095] Fig.13 The figure is a flow chart of the vehicle speed control according to an embodiment. Fig.14 Figure 1 is a schematic diagram of the specific process in the anti-sway control module. Fig.13 As shown, the feedback control module 1202 includes a trolley limit position calculation module and an anti-sway control module. The equipment status data and the work site data are input into the trolley limit position calculation module to obtain the trolley front stop position and the trolley rear stop position, that is, the trolley front and rear running limit positions are obtained and input into the anti-sway control module. The sling swing data is then input into the anti-sway control module to obtain the speed limit data. Fig.14As shown, the manual anti-sway speed calculation module includes a slope processing module, an online trajectory planning calculation module, a data processing module, a feedback calculation module, and a trolley speed limit module. The slope processing module performs slope processing on the control data. The slope-processed control data, rope length, trolley motion parameters (including the maximum operating speed of the trolley, the maximum operating acceleration of the trolley, and the maximum operating deceleration of the trolley), and the sling motion parameters (including the maximum lifting speed of the sling, the maximum lifting acceleration of the sling, and the maximum lifting deceleration of the sling) are imported into the line trajectory planning calculation module pre-stored with the system kinematic model to calculate the trajectory planning data. The data processing module performs data filtering on the trajectory planning data to obtain the speed feedforward control amount. After the planning speed is integrated, the position planning data is obtained, and then the planning speed in the trajectory planning data is input into the feedback calculation module. Based on the position planning data, the planning speed and the sling state are feedback calculated to obtain the speed correction amount, and then the speed control data is obtained according to the speed correction amount and the speed feedforward control amount. The trolley speed limit module is used to limit the speed control data between the maximum speed and the minimum speed, and finally outputs the speed control data to the speed control module. The speed control module combines the speed limit data and the speed control data to output the final speed data for controlling the car.

[0096] Fig.15 FIG. 1 is a flow chart of a lifting control system for a lifting device according to an embodiment of the present invention. Fig.15 As shown, the feedback control module 1202 also includes a spreader limit position calculation module, a lifting speed limit calculation module, a slope processing module, and a lifting speed limit module. The spreader calculation position calculation module calculates the spreader limit lifting position according to the equipment status data and the work site data, and then inputs it into the lifting speed limit calculation module. The lifting speed limit module uses the spreader limit lifting position as the lifting end point of the spreader, and calculates the lifting speed limit data of the spreader in combination with the equipment status data. After the control data is processed by the slope, it is compared with the lifting speed limit data in the lifting speed limit module, and finally the lifting speed is output.

[0097] The present application also provides a quay crane, comprising the aforementioned quay crane soft docking control system.

[0098] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0099] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0100] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0101] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features of the present invention.

[0102] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for controlling a quay crane to dock softly, characterized in that: include: Obtain equipment status data and operation site data of the quay crane; Calculate the front and rear running limit positions of the trolley according to the equipment status data and the work site data; Taking the front-rear running limit position of the trolley as the running end point of the trolley running track, retrieving the spreader swing data from the equipment status data, and simulating and calculating the speed limit data of the trolley when the spreader swing amplitude is maintained at a preset amplitude; Calculating trajectory planning data of the spreader according to the control data, the equipment status data and the system kinematic model; Obtaining a feedback control amount of the spreader according to a difference between the trajectory planning data and the trajectory monitoring information in the equipment status data; Superimposing the feedback control amount and the trajectory planning data to obtain speed control data; When the trolley is running, if the speed corresponding to the speed control data is greater than or equal to the speed limit data, the trolley is controlled to run according to the speed limit data; as well as When the trolley is running, if the speed corresponding to the speed control data is less than the speed limit data, the trolley is controlled to run according to the speed control data.

2. The method for controlling the soft docking of a quay crane according to claim 1, characterized in that: Also includes: Calculating the limit lifting position of the spreader according to the equipment status data and the work site data; Taking the lifting limit position of the spreader as the lifting end point of the spreader, and combining the equipment status data to calculate the lifting speed limit data of the spreader; Receive control data to obtain corresponding lifting control speed; When the spreader is in lifting operation, if the lifting control speed is greater than or equal to the lifting speed limit data, the spreader is controlled to perform lifting movement according to the lifting speed limit data; as well as When the spreader is in lifting operation, if the lifting control speed is less than the lifting speed limit data, the spreader is controlled to perform lifting movement at the lifting control speed.

3. The method for controlling the soft docking of a quay crane according to claim 1, characterized in that: The trajectory planning data includes a planned speed, a planned acceleration, and a planned acceleration derivative; After calculating the trajectory planning data of the spreader according to the control data, the equipment status data and the system kinematic model, the quay crane soft docking control method further includes: Performing data filtering on the trajectory planning data; Smoothing the planned speed to obtain a speed feedforward control amount; and The planning speed is integrated to obtain the position planning data.

4. The control method for soft docking of a quay crane according to claim 3 is characterized in that: The calculating of the trajectory planning data of the spreader according to the control data, the equipment status data and the system kinematic model comprises: The trajectory planning data is calculated according to the trolley control data, the sling control data, the rope length between the trolley and the sling, the maximum operating speed of the trolley, the maximum operating acceleration of the trolley, the maximum operating deceleration of the trolley, the maximum lifting speed of the sling, the maximum lifting acceleration of the sling, the maximum lifting deceleration of the sling and the system kinematic model.

5. The control method for soft docking of a quay crane according to claim 3, characterized in that: The step of obtaining the feedback control amount of the spreader according to the difference between the trajectory planning data and the trajectory monitoring information in the equipment status data comprises: Calculating the difference between the planned speed and the monitored speed in the equipment status data at each planned position corresponding to the position planning data to obtain the speed correction amount; The superposition of the feedback control amount and the trajectory planning data to obtain the speed control data comprises: The speed deviation correction amount and the speed feedforward control amount are superimposed to obtain the speed control data at the corresponding position.

6. The control method for soft docking of a quay crane according to claim 5, characterized in that: The superposition of the speed deviation correction amount and the speed feedforward control amount to obtain the speed control data at the corresponding position includes: If the monitored speed is greater than the planned speed, subtracting the speed correction amount from the speed feedforward control amount to obtain the speed control data; and If the monitored speed is less than the planned speed, the speed feedforward control amount and the speed correction amount are added to obtain the speed control data.

7. The control method for soft docking of a quay crane according to claim 2, characterized in that: The control data includes trolley control data and spreader control data; wherein the method further includes: performing ramp processing on the trolley control data; and / or The spreader control data is subjected to ramp processing.

8. The control method for soft docking of a quay crane according to claim 2, characterized in that: Also includes: Set the minimum operating speed; When the trolley is running, if the speed corresponding to the speed control data is less than the minimum running speed, the trolley is controlled to run at the minimum running speed; Set the minimum lifting speed; as well as When the hoist is in lifting operation, if the speed corresponding to the lifting control speed is less than the minimum lifting speed, the trolley is controlled to perform lifting movement at the minimum lifting speed.

9. A quay crane soft docking control system, characterized in that: include: The data acquisition module is configured to: acquire equipment status data and operation site data of the quay crane; A feedback control module is connected to the data acquisition module for communication, and the feedback control module is configured to calculate the front and rear direction running limit position of the trolley according to the equipment status data and the work site data; Taking the front-rear running limit position of the trolley as the running end point of the trolley running track, retrieving the spreader swing data from the equipment status data, and simulating and calculating the speed limit data of the trolley when the spreader swing amplitude is maintained at a preset amplitude; Calculating the trajectory planning data of the spreader according to the control data, the equipment status data and the system kinematic model; obtaining the feedback control amount of the spreader according to the difference between the trajectory planning data and the trajectory monitoring information in the equipment status data; Superimposing the feedback control amount and the trajectory planning data to obtain speed control data; A speed control module is communicatively connected to the feedback control module, and the speed control module is configured as follows: when the trolley is running, if the speed corresponding to the speed control data is greater than or equal to the speed limit data, the trolley is controlled to run according to the speed limit data; and when the trolley is running, if the speed corresponding to the speed control data is less than the speed limit data, the trolley is controlled to run according to the speed control data.

10. A quay crane, characterized in that: Including the quay crane soft docking control system as described in claim 9 above.

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