Quay crane soft docking control method and system, quay crane

Abstract

The present application relates to the field of lifting control technology, and specifically to a quay crane soft docking control method and system, and a quay crane. The present application calculates speed limit data based on the spreader swing data to prevent the spreader from swinging too much when the trolley runs to the obstacle position. Then, by calculating the trajectory planning data, feedback control calculation is performed by comparing the trajectory planning data and the trajectory monitoring information, and 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 spreader swing amplitude, control the spreader swing within a reasonable range, and achieve soft docking.

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] Quay cranes are key equipment in 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 driving the automation process of container handling in global ports. Automated quay cranes are able to receive and execute instructions from upper-level systems, thereby automatically completing most of the operating processes, and operators only need to intervene when the equipment cannot handle it automatically. Since the length of the wire rope between the spreader and the trolley of the automated quay crane can exceed 30 meters during operation, the trolley frame will cause the spreader to swing significantly when it moves. How to control the movement speed of the trolley when the quay crane is working to reduce the swing amplitude of the spreader so as to achieve 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 quay crane soft docking control method, comprising: obtaining equipment status data and work site data of the quay crane; calculating the front-to-rear operating limit position of the trolley based on the equipment status data and the work site data; taking the front-to-rear operating limit position of the trolley as the operating end point of the trolley's operating trajectory, retrieving the sling swing data from the equipment status data, and simulating and calculating the trolley's speed limit data when the sling swing amplitude is maintained at a preset amplitude; calculating the sling's trajectory planning data based on the control data, equipment status data and the system kinematic model; obtaining the sling's feedback control amount based on 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; when the trolley is running, if the speed corresponding to the speed control data is greater than or equal to the speed limit data, controlling the trolley 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, controlling the trolley to run according to the speed control data.

[0005] In combination with the first aspect, in a possible implementation, it also includes: calculating the ultimate lifting position of the spreader based on the equipment status data and the work site data; taking the ultimate 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 running, if the lifting control speed is greater than or equal to the lifting speed limit data, the spreader is controlled to perform lifting and lowering movement according to the lifting speed limit data; and when the spreader is lifting and running, if the lifting control speed is less than the lifting speed limit data, the spreader is controlled to perform lifting and lowering movement according to the lifting control speed.

[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 spreader is calculated based on the control data, the equipment status data, and the system kinematic model, the quay crane soft docking control method further includes: filtering the trajectory planning data; smoothing the planned speed to obtain a speed feedforward control quantity; 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 sling based on the difference between the trajectory planning data and the trajectory monitoring information in 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 manipulation 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 lowering, 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 the equipment status data and work site data of the quay crane; a feedback control module, which is in communication 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, communicating with the feedback control module, 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 speed limit data based on the spreader swing data to prevent the spreader from swinging too much. It then calculates trajectory planning data, performs feedback control calculations by comparing the trajectory planning data with trajectory monitoring information, and superimposes the feedback control amount and trajectory planning data 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 spreader swing amplitude, control the spreader swing within a reasonable range, and achieve soft support. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] 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.

[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] Figure 9 This is a diagram showing the change of the spreader position over time in a simulation example of this application.

[0024] Figure 10 FIG. 1 is a diagram showing the variation of the swing amplitude of the spreader over time in a simulation example of the present application.

[0025] Figure 11 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] Figure 12 A schematic diagram of the system structure of a quay crane soft docking control system provided in one embodiment.

[0027] Figure 13 This is a flowchart of the vehicle speed control according to an embodiment.

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

[0029] Figure 15 The figure is a flow chart of the control of lifting the spreader according to an embodiment. DETAILED DESCRIPTION

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

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

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

[0033] In this step, multiple sensors are installed on the quay crane and in the work area. These sensors detect and acquire equipment status data and work area data. Equipment status data includes the real-time operating conditions of the quay crane's various mechanisms and equipment parameters. Work area data includes the location of containers within the quay crane's operating area, where the quay crane grabs containers for lifting and handling operations.

[0034] Step 120: Calculate the front and rear operating limit positions of the trolley based on 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 trolley's front-to-back running limit position as the running end point of the trolley's running trajectory, retrieve the spreader swing data from the equipment status data, and simulate and calculate the trolley's speed limit data when the spreader swing amplitude is maintained at a preset amplitude.

[0037] In this step, the sling is in a pendulum swing state when the trolley is running, and the sling swing data caused by the environmental conditions is monitored. The sling swing data includes parameters such as the sling swing angle and the sling swing angular velocity. The trolley's front and rear running limit positions are used as the running endpoints, and the simulation calculation is performed using a 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 decelerating to approach the container. The calculation is performed based on the sling swing data: if the sling 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 constant 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 based on the control data, the equipment status data and the system kinematic model.

[0039] In this step, the operator input includes the trolley control data for the trolley's operation. By pre-establishing a system kinematic model for the container crane, the operator input data and equipment status data are imported into the system kinematic model to calculate the spreader's trajectory, generating trajectory planning data.

[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 amount 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 speed limit data based on the spreader sway data to prevent excessive spreader sway. It then calculates trajectory planning data. Feedback control is performed by comparing this data with trajectory monitoring information. The feedback control variable and trajectory planning data are superimposed to generate the corresponding speed control data output by the control mechanism. When the speed control data is less than the speed limit, the trolley is controlled using the speed control data. This further reduces spreader sway, keeping it within a reasonable range and achieving a soft landing.

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

[0049] Step 200: Calculate the ultimate lifting position of the spreader based on the equipment status data and the work site data.

[0050] In this step, the lifting parameter data of the spreader 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 spreader can be obtained from the work site data, and the extreme position of the spreader in the lifting direction can be determined by multiple data including the above parameters, that is, the extreme lifting position of the spreader can be obtained.

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

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

[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 spreader is in lifting operation, determine whether the lifting control speed is less than the lifting speed limit data.

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

[0057] If the determination result of step 230 is yes, step 250 is executed to control the spreader to perform lifting motion at the lifting control speed.

[0058] In this embodiment, since the spreader will not swing during the lifting process, it is sufficient to limit the lifting control speed to the lifting speed limit data to ensure that the spreader does not touch the top or bottom.

[0059] Figure 3 The figure shows a schematic diagram of the steps of a method for controlling a quay crane soft docking 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 the trajectory planning data and improve the reliability of the 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 showing the steps of a method for controlling a quay crane soft docking provided by another embodiment of the present application. Specifically, Figure 4 As shown, step 140 includes:

[0066] Step 141: Calculate trajectory planning data based on the trolley control data, the spreader control data, the rope length between the trolley and the spreader, the trolley's maximum operating speed, the trolley's maximum operating acceleration, the trolley's maximum operating deceleration, the spreader's maximum lifting speed, the spreader's maximum lifting acceleration, the spreader's maximum lifting deceleration, and the system kinematic model.

[0067] In this step, multiple data points are imported into the system kinematic model. This provides the spreader swing data, calculated from the input trolley and spreader control data, under the current rope length and other parameters. This trajectory planning data includes the planned velocity, planned acceleration, and planned acceleration derivatives.

[0068] Figure 5 FIG. 1 is a schematic diagram showing the steps of a method for controlling a quay crane soft docking provided by another embodiment of the present application. In one embodiment, as 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 equipment status data obtained by monitoring. 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 showing the steps of a method for controlling a quay crane soft docking 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 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 speed control data.

[0077] In this embodiment, when the actual detected monitoring speed is greater than the planned speed, it indicates that the actual speed is too fast. This may cause the spreader to swing too much, requiring a reduction in speed. The speed control data is obtained by subtracting the speed correction amount from the speed feedforward control amount. When the actual detected monitoring speed is less than the planned speed, it indicates that the actual speed is too slow. This may cause the spreader's inertia to cause uncontrolled swing amplitude during the next simple pendulum motion, requiring a reduction in speed. The speed control data is obtained by adding the speed correction amount to the speed feedforward control amount. This controls the spreader's swing within a reasonable range.

[0078] Figure 9 This is a diagram showing the change of the spreader position over time in a simulation example of this application. Figure 10 This is a graph showing the variation of the swing amplitude of the spreader over time in a simulation example of this application. Figure 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. Figure 10As shown in the figure, the swing amplitude of the spreader is large before 20 seconds, and the swing amplitude of the spreader is greatly reduced after 20 seconds, achieving soft support.

[0079] like Figure 11 As shown in the figure, ramp processing is performed on the beginning and end of the trolley control data to calculate the speed feedforward control variable. For example, if there is a container obstacle in the trolley's forward direction, the trolley handle is always in the full speed setting state. After 25 seconds of forward movement, the spreader swing is controlled within a small range and begins to enter the soft container leaning state. If there is no container obstacle in the trolley's backward direction, 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. Figure 11 Schematic diagram of the forward and backward running speed of the trolley obtained based on 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 further 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. Figure 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 showing the steps of a method for controlling a quay crane soft docking provided by another embodiment of the present application. In one embodiment, as 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 operating speed, the vehicle is controlled to run at the minimum operating 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 to prevent the trolley and the spreader from running too slowly.

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

[0091] Figure 12 The present application also provides a quay crane soft docking control system. In one embodiment, as shown in FIG. Figure 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 to the data acquisition module 1201. The feedback control module 1202 is configured as follows: calculating the extreme running positions of the trolley in the front-rear direction according to the equipment status data and the work site data; taking the extreme running positions of the trolley in the front-rear direction as the running end points of the trolley running trajectory, retrieving the sling swing data from the equipment status data, and simulating the calculation of the trolley speed limit data 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 to the feedback control module 1202. 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] Figure 13 This is a flowchart of the vehicle speed control according to an embodiment. Figure 14 This is a schematic diagram of the specific process in the anti-sway control module. Figure 13 As shown, the feedback control module 1202 includes a trolley limit position calculation module and an anti-sway control module. By inputting the equipment status data and the work site data into the trolley limit position calculation module, the trolley front stop position and the trolley rear stop position can be obtained, that is, the trolley front and rear running limit positions are obtained and input into the anti-sway control module. The spreader swing data is then input into the anti-sway control module to obtain the speed limit data. Figure 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 control data, rope length, trolley motion parameters (including the maximum operating speed of the trolley, the maximum operating acceleration of the trolley, 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) after slope processing are imported into the line trajectory planning calculation module with a pre-stored 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 quantity. After the planning speed is integrated, the position planning data is obtained, and 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] Figure 15 FIG. 1 is a flow chart of a lifting control system for a sling according to an embodiment of the present invention. Figure 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 position calculation module calculates the spreader's limit position based on equipment status data and worksite data, and then inputs this information into the lifting speed limit calculation module. The lifting speed limit module uses the spreader's limit position as the spreader's lifting endpoint and calculates the lift speed limit data based on the equipment status data. After slope processing, the control data is compared with the lift speed limit data in the lifting speed limit module, and the lifting speed is ultimately 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 have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this application are merely illustrative and not restrictive, and it should not be assumed that these advantages, strengths, and effects are required of each embodiment of this application. In addition, the specific details disclosed above are merely illustrative and facilitating understanding, and are not restrictive. The above details do not limit this application to necessarily being implemented using the above specific details.

[0099] The block diagrams of the devices, devices, equipment, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "include," "comprise," "have," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[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, and 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 be applied in the widest sense 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 replacements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A quay crane soft docking control method, characterized in that: include: Obtain equipment status data and operation site data of the quay crane; Calculating the front-to-back operating limit position of the trolley according to the equipment status data and the work site data; Taking the extreme position of the trolley in the front-to-back direction as the end point of the trolley's running trajectory, retrieving the spreader swing data from the equipment status data, and simulating and calculating the trolley's speed limit data when the spreader swing amplitude is maintained at a preset amplitude; Calculating trajectory planning data of the spreader based on 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 quay crane soft docking control method according to claim 1, characterized in that: Also includes: Calculating the ultimate lifting position of the spreader according to the equipment status data and the work site data; Taking the spreader's extreme lifting position as the spreader's lifting endpoint, and combining the equipment status data to calculate the spreader's lifting speed limit data; 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 quay crane soft docking control method according to claim 1, characterized in that: The trajectory planning data includes a planned velocity, 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 value; and The planning speed is integrated to obtain the position planning data.

4. The quay crane soft docking control method according to claim 3 is characterized in that: Calculating the trajectory planning data of the spreader according to the control data, the equipment status data and the system kinematic model includes: The trajectory planning data is calculated 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.

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

6. The quay crane soft docking control method 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 quay crane soft docking control method 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 quay crane soft docking control method 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 lower 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 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.

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 in communication with the data acquisition module, and the feedback control module is configured to calculate the front-to-back running limit position of the trolley according to the equipment status data and the work site data; Taking the extreme position of the trolley in the front-to-back direction as the end point of the trolley's running trajectory, retrieving the spreader swing data from the equipment status data, and simulating and calculating the trolley's speed limit data when the spreader swing amplitude is maintained at a preset amplitude; Calculating trajectory planning data for the spreader based on the control data, the device status data, and a system kinematic model; and obtaining a feedback control variable for the spreader based on a difference between the trajectory planning data and trajectory monitoring information in the device 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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