A bridge crane anti-sway control method, device, medium and equipment

Abstract

The present invention discloses a method, device, medium and equipment for anti-sway control of a bridge crane, and the method includes: generating a hoisting strategy corresponding to a target hoisting process; obtaining training data of a target operator controlling a large vehicle and / or a small vehicle to complete a simulated hoisting process according to the hoisting strategy; analyzing the training data to generate an anti-sway method for each target motion state of the large and small vehicles; during actual hoisting, using the corresponding anti-sway method according to the current operating state of the large and small vehicles. The present invention performs overall path planning and large and small vehicle motion state planning for the hoisting process, thereby confirming a hoisting strategy that is suitable for the site environment, and then during the hoisting process, combining electronic anti-sway and manual anti-sway according to the operator's operating habits and operating proficiency, which not only improves the hoisting efficiency, but also improves the safe operation of the bridge crane, so that the load only shakes slightly whether the bridge crane is started, stopped, accelerated or decelerated, thereby improving the safety of the hoisting process.

Description

Technical Field

[0001] The invention relates to the field of bridge cranes, and in particular to a bridge crane anti-sway control method, device, medium and equipment. Background Art

[0002] A bridge crane is a lifting equipment that is horizontally mounted above a workshop, warehouse, or material yard to lift materials. In the construction of a hydropower station, it undertakes the important responsibility of lifting the rotor of a turbine generator to the stator pit. The turbine generator rotor of a large hydropower station usually has a large geometric size and tonnage, and the bridge crane's hoist and trolley are connected by a flexible wire rope. During the lifting process, when there is a lack of synchronization between the load and the trolley or when there is external interference, the heavy object is prone to swing, which poses a great safety hazard to the hanging personnel, surrounding workers, or other objects. The existing technology for eliminating the swing of the hoist during the lifting process of a bridge crane often relies on the operator's operating experience, and controls the large and small trolleys for multiple acceleration and deceleration by means of "following the car" and "stable hook", so as to finally eliminate the swing of the hoisted goods. However, this method completely relies on the operator's personal operating experience, which not only has high requirements on the operator, but also may increase the trolley's operating load by moving the trolley too frequently during the lifting process, or cause the hoist to produce new swings, so the lifting efficiency is low, and it is difficult to meet the high lifting requirements. Summary of the invention

[0003] The present invention provides a bridge crane anti-sway control method, device, medium and equipment, which solve the above-mentioned technical problems.

[0004] A first aspect of an embodiment of the present invention provides a bridge crane anti-sway control method, comprising the following steps:

[0005] Step 1, generating a lifting strategy corresponding to a target lifting process, wherein the lifting strategy includes at least one target motion state corresponding to a trolley and / or a small trolley of a bridge crane during the target lifting process;

[0006] Step 2, obtaining training data of the target operator controlling the trolley and / or the small vehicle to complete the simulated lifting process according to each target motion state;

[0007] Step 3, analyzing the training data to generate a target anti-sway method for the target operator for each target motion state of the large vehicle and / or small vehicle, wherein the target anti-sway method includes manual anti-sway and electronic anti-sway;

[0008] Step 4, when the target operator performs actual lifting according to the lifting strategy, the current operating status of the bridge crane trolley and / or car is obtained, and the corresponding target anti-sway method is used to perform anti-sway control according to the current operating status.

[0009] A second aspect of an embodiment of the present invention provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the above anti-sway control method for a bridge crane is implemented.

[0010] A third aspect of an embodiment of the present invention provides an anti-sway control device for a bridge crane, comprising a computer-readable storage medium and a processor, wherein the processor implements the steps of the above anti-sway control method for a bridge crane when executing a computer program on the computer-readable storage medium.

[0011] A fourth aspect of an embodiment of the present invention provides an anti-sway control device for a bridge crane, comprising a strategy generation module, a data acquisition module, an analysis module and a control module.

[0012] The strategy generation module is used to generate a lifting strategy corresponding to a target lifting process, wherein the lifting strategy includes at least one target motion state corresponding to a trolley and / or a small trolley of a bridge crane during the target lifting process;

[0013] The data acquisition module is used to acquire training data of the target operator controlling the large vehicle and / or small vehicle to complete the simulated lifting process according to each target motion state;

[0014] The analysis module is used to analyze the training data to generate a target anti-sway method for the target operator for each target motion state of the large vehicle and / or small vehicle, wherein the target anti-sway method includes manual anti-sway and electronic anti-sway;

[0015] The control module is used to obtain the current operating status of the bridge crane trolley and / or car when the target operator performs actual lifting according to the lifting strategy, and adopt the corresponding target anti-sway method to perform anti-sway control according to the current operating status.

[0016] The present invention provides a bridge crane anti-sway control method, device, medium and equipment. First, the overall path planning and large and small car motion state planning are carried out for the turbine generator rotor hoisting process, so as to confirm the hoisting strategy adapted to the site environment. Then, during the hoisting process, the electronic anti-sway and manual anti-sway are combined according to the operator's operating habits and operating proficiency. For the hoisting control process with higher operator proficiency, manual anti-sway is still used, and for the hoisting control process with greater difficulty or prone to heavy object sway, electronic anti-sway is used. This not only improves the hoisting efficiency, but also improves the safe operation of the bridge crane, so that no matter the bridge crane is started, stopped, accelerated or decelerated, the load only shakes slightly, thereby improving the safety of the hoisting process.

[0017] In order to make the above-mentioned objects, features and advantages of the invention more obvious and easy to understand, the preferred embodiments of the present invention are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 It is a flow chart of the anti-sway control method for a bridge crane provided in Example 1;

[0020] Figure 2 is a schematic structural diagram of an anti-sway control device for a bridge crane provided in Example 2;

[0021] Figure 3 This is a schematic diagram of the structure of the anti-sway control device for a bridge crane provided in Example 3. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0023] It should be noted that, if there is no conflict, the various features in the embodiments of the present invention can be combined with each other, all within the scope of protection of the present invention. In addition, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a different order from the module division in the device or the flow chart. Furthermore, the words "first", "second", "third", etc. used in the present invention do not limit the data and execution order, but only distinguish the same items or similar items with basically the same functions and effects.

[0024] Figure 1 1 is a flow chart of a bridge crane anti-sway control method provided in Example 1. Figure 1 As shown, the following steps are included:

[0025] Step 1: Generate a lifting strategy corresponding to a target lifting process, wherein the lifting strategy includes at least one target motion state corresponding to a trolley and / or a small trolley of a bridge crane during the target lifting process.

[0026] The target lifting process is a complete lifting process of moving a heavy object, such as a turbine generator rotor, from a lifting position to a target position. This lifting process includes, after lifting the heavy object, controlling the trolley of the bridge crane to move horizontally along the rails laid on the upper walls on both sides, and also includes controlling the trolley of the bridge crane to move longitudinally relative to the trolley on the trolley. Regardless of the trolley or the trolley, there are multiple motion states from start to stop, such as starting and accelerating to a first predetermined speed and then maintaining a uniform motion, and then decelerating to a second predetermined speed until the motion stops; or it can be gradually increased by multiple different accelerations, and then moving at a uniform speed in stages at different driving speeds, etc. Specifically, it can be planned according to the lifting site, such as the spatial structure of the factory building, the walking track of the bridge crane trolley, the positioning of the hook, and combined with historical lifting data, so that the overall lifting process has the shortest lifting time, the load swing amplitude throughout the whole process and / or the number of trolley speed changes are as small as possible, etc.

[0027] Step 2, obtaining training data of the target operator controlling the trolley and / or the small car to complete the simulated lifting process according to each target motion state. The training data here includes the historical operation data of the target operator using a preset training platform to simulate the target motion state of the trolley and the small car for the same or similar load and in a similar lifting environment (mainly the virtual lifting environment in the preset training platform) to complete the target lifting process, as well as the swaying data of the load under each target motion state of the large and small cars. Specifically, the target operator can simulate the target lifting process on the training platform, and in the simulation process, manually control the large and small cars to sequentially realize the corresponding target motion states in the order of the lifting strategy, thereby completing the overall load lifting process.

[0028] Step 3, analyze the training data to generate the target anti-sway method for each target motion state of the trolley and / or the trolley of the target operator, and the target anti-sway method includes manual anti-sway and electronic anti-sway. Here, manual anti-sway means that the operator uses the following car and other stable hook methods based on his own operating experience to eliminate the sway of the load, while electronic anti-sway is to collect the swing angle of the load through various sensors, and then adjust the speed and acceleration of the trolley in real time according to the pre-established mathematical model of the acceleration of the trolley and the load swing angle, so as to reduce or offset the swing kinetic energy of the spreader and eliminate the load swing. Specifically, an open-loop control method or a closed-loop control method can be used. The detailed control process can refer to the existing technical documents and will not be described in detail here. Whether electronic anti-sway or manual anti-sway is used for each target motion state is mainly evaluated based on the operating proficiency of the target operator in the motion state of the trolley reflected in the training data. For example, when the operating proficiency of the target operator is high, it is manifested in a short response time to the manual operation instruction, a small number of load swings, a small amplitude, and a low number of trolley speed adjustments, etc., and manual anti-sway can be used at this time. For those with greater difficulty in operation, that is, when there is a large swing amplitude or the number of following operations is large after a large swing, electronic anti-sway can be used.

[0029] Step 4, when the target operator performs actual lifting according to the lifting strategy, the current operating status of the bridge crane trolley and / or car is obtained, and the corresponding target anti-sway method is used to perform anti-sway control according to the current operating status.

[0030] The above embodiment provides a bridge crane anti-sway control method. First, the overall path planning and large and small car motion state planning are performed for the heavy object lifting process, such as the lifting process of the turbine generator rotor, so as to confirm the lifting strategy suitable for the site environment. Then, during the lifting process, electronic anti-sway and manual anti-sway are combined according to the operator's operating habits and operating proficiency. For the lifting control process with higher operator proficiency, manual anti-sway is still used, and for the lifting control process that is more difficult or easily causes the heavy object to sway, electronic anti-sway is used. This not only improves the lifting efficiency, but also improves the safe operation of the bridge crane, so that no matter the bridge crane is started, stopped, accelerated or decelerated, the load only shakes slightly, thereby improving the safety of the lifting process.

[0031] The above steps are described in detail below through a number of specific embodiments.

[0032] In a preferred embodiment, the step 1 generates a hoisting strategy corresponding to the target hoisting process, which specifically includes the following steps:

[0033] S101, obtaining the environment information, load information, hoisting safety information and parameter information of the bridge crane corresponding to the target hoisting process. The environment information includes the hoisting height, the driving route and driving distance between the lifting point and the target position, etc. The load information includes the type, size and weight of the load; the parameter information of the bridge crane includes the length of the wire rope between the trolley and the load, the maximum acceleration, maximum speed and maximum load swing angle of the trolley and the trolley; the hoisting safety information includes the maximum swing angle allowed for the load during the hoisting process, etc.

[0034] S102, simulating a target driving trajectory corresponding to the target lifting process according to the environmental information and the load information, wherein the target driving trajectory includes a large vehicle driving trajectory and / or a small vehicle driving trajectory.

[0035] S103, establishing a crane dynamics model, and generating load sway data corresponding to different motion states of the trolley and / or the carriage under the target driving trajectory according to the crane dynamics model and the load information, wherein the motion states include a starting state of the trolley and / or the carriage, a uniform motion state, an accelerated motion state corresponding to different preset accelerations, a decelerated motion state corresponding to different preset accelerations, and a parking state;

[0036] S104, generating a hoisting strategy corresponding to the target hoisting process according to the hoisting safety information, the parameter information of the bridge crane and the load swing data, so that the overall hoisting process not only conforms to the environmental structure of the factory building, but also has the shortest hoisting time, the smallest load swing amplitude throughout the process and / or the least number of speed changes of the large and small vehicles, etc. The hoisting strategy is a plurality of continuous target motion states corresponding to the large and / or small vehicles of the bridge crane during the target hoisting process, for example, after the small vehicle is started, a plurality of different accelerations are used to gradually increase the running speed, and after each acceleration, a uniform motion is maintained at the corresponding driving speed for a preset time, etc.

[0037] Specifically, first, a mapping relationship table is established according to the load swing data corresponding to different motion states of the trolley and / or the trolley under the target driving trajectory in step S103, so that by querying the mapping relationship table, it can be obtained, for example, under the target driving trajectory, when the trolley adopts different motion parameters, that is, when it adopts different driving speeds and travels at a constant speed, or when it accelerates at different accelerations, the simulated swing amplitude corresponding to the load. Then, according to the hoisting safety information and the parameter information of the bridge crane, the speed range, acceleration range and maximum load swing angle of the crane trolley and the trolley are obtained as the first constraint condition, so as to screen the optional motion states (i.e., motion parameters, etc.) of the trolley and / or the trolley in the above mapping relationship table to obtain the alternative data. Finally, the hoisting strategy is obtained with the number of speed changes of the trolley and the trolley, the average swing amplitude of the load and / or the total hoisting time as the second constraint condition. Exemplarily, multiple control schemes can be established from the above-mentioned alternative data. In each control scheme, the large vehicle and / or small vehicle adopts different motion states (i.e., different motion parameters) at each stage under the target driving trajectory. Then, the average load swing amplitude corresponding to each control scheme is calculated, and the control scheme with the smallest average load swing amplitude is used as the target control scheme, i.e., the lifting strategy of this embodiment.

[0038] In a preferred embodiment, the motion state to be optimized of the large and small vehicles in the lifting strategy can also be obtained based on multiple groups of training data of the target operator. The motion state to be optimized is a motion state in the target motion state where multiple manual anti-sway operations cannot meet the preset anti-sway conditions, so it is necessary to repeat steps S101-S104 and delete the above-mentioned motion state to be optimized in the alternative data, so as to update and correct the lifting strategy.

[0039] In a preferred embodiment, when training data is lacking, historical data of the target operator completing similar lifting processes is obtained, the historical data is classified and sorted, and the classification and sorting results are updated as the training data; the historical data includes the historical operation data of the target operator and the actual swing data of the load in each motion state of the large and small vehicles, thereby expanding the application scenarios of the anti-sway control method of the present invention.

[0040] In a preferred embodiment, the step 3 analyzes the training data to generate a target anti-sway method for the target operator for each target motion state of the large vehicle and / or small vehicle, specifically comprising the following steps:

[0041] S301, obtaining evaluation parameters corresponding to each target motion state of the large and / or small vehicle. In a specific embodiment, different target motion states can be set with different targeted evaluation parameters. For example, the uniform motion state uses the load swing angle as the evaluation parameter, and the acceleration and deceleration state uses the number of speed adjustments of the large and small vehicles as the evaluation parameter.

[0042] S302, extracting corresponding evaluation parameter values ​​from the training data, and using a preset scoring method to calculate and generate an operation score of the target operator for each target motion state of the large vehicle and / or small vehicle, such as obtaining a score corresponding to the evaluation parameter value according to the range of the evaluation parameter value, and combining different weight values ​​of different evaluation parameters to obtain a comprehensive operation score for each target motion state.

[0043] S303: When the operation score is greater than the reference value corresponding to the target motion state, a manual anti-shake mode is adopted; otherwise, an electronic anti-shake mode is adopted.

[0044] In a preferred embodiment, the target anti-sway method for a specific target motion state can be optimized by combining the difficulty of manual operation in the on-site environment and the training data of multiple operators to further improve the effect of the anti-sway control method.

[0045] In a preferred embodiment, the anti-sway control method for a bridge crane further includes a first anti-sway switching step, specifically:

[0046] The first switching parameter is collected, and the first switching parameter includes one or more of the number of times the load swing angle exceeds the corresponding value in the current operating state of the bridge crane, the acceleration of the trolley or the trolley within a preset time range, the number of speed changes, the speed change amplitude, and the acceleration change amplitude. In a specific embodiment, the load swing angle can be collected by using an angle sensor to detect the inclined angle of the wire rope, using machine vision technology to collect rope length images and analyze the inclination angle of the wire rope, collecting hook images and calculating the position of the hook center and the angle away from the lifting center, etc., which will not be described in detail here.

[0047] Then, it is determined whether the first switching parameter satisfies the corresponding first switching condition. If so, the manual anti-sway mode is switched to the electronic anti-sway mode. If not, the current anti-sway mode is kept unchanged. The first switching condition is: the number of times the load swing angle exceeds the corresponding value in the current operating state of the bridge crane, the acceleration of the trolley or the car within the preset time range, the number of speed changes, the speed change amplitude, and the acceleration change amplitude are all less than the corresponding preset threshold value.

[0048] In a preferred embodiment, the anti-sway control method for a bridge crane further includes a second anti-sway switching step, specifically:

[0049] Collecting a second switching parameter, wherein the second switching parameter includes one or more of a real-time swing angle of a current load, a number of times that the load swing angle exceeds a corresponding value in a current operating state, and a command interval duration;

[0050] It is determined whether the second switching parameter satisfies the corresponding second switching condition. If so, the electronic anti-sway mode is switched to the manual anti-sway mode. If not, the current anti-sway mode is kept unchanged.

[0051] By adopting the above technical solution, in the actual control process, the manual anti-sway can be switched to the electronic anti-sway according to the actual operation state of the target operator. For example, if the target operator is in a bad state, multiple operations have not achieved the target effect, or the target operator has an emergency, the manual anti-sway can be switched to the electronic anti-sway. Similarly, the electronic anti-sway can be switched to the manual anti-sway according to the actual situation, thereby further improving the actual application effect of the anti-sway control method.

[0052] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0053] An embodiment of the present invention further provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the above-mentioned anti-sway control method for the bridge crane is implemented.

[0054] Figure 2 Schematic diagram of the structure of the anti-sway control device for a bridge crane provided in Example 2. Figure 2 As shown, it includes a strategy generation module 100, a data acquisition module 200, an analysis module 300 and a control module 400.

[0055] The strategy generation module 100 is used to generate a hoisting strategy corresponding to a target hoisting process, wherein the hoisting strategy includes at least one target motion state corresponding to a trolley and / or a small trolley of a bridge crane during the target hoisting process;

[0056] The data acquisition module 200 is used to acquire training data of the target operator controlling the large vehicle and / or small vehicle to complete the simulated lifting process according to each target motion state;

[0057] The analysis module 300 is used to analyze the training data to generate a target anti-sway method for the target operator for each target motion state of the large vehicle and / or small vehicle, wherein the target anti-sway method includes manual anti-sway and electronic anti-sway;

[0058] The control module 400 is used to obtain the current operating status of the bridge crane trolley and / or car when the target operator performs actual lifting according to the lifting strategy, and adopt the corresponding target anti-sway method to perform anti-sway control according to the current operating status.

[0059] In a preferred embodiment, the strategy generation module 100 specifically includes:

[0060] A first acquisition unit is used to acquire environmental information, load information, hoisting safety information and parameter information of the bridge crane corresponding to the target hoisting process;

[0061] A first simulation unit, configured to simulate a target driving trajectory corresponding to the target lifting process according to the environmental information and the load information, wherein the target driving trajectory includes a large vehicle driving trajectory and / or a small vehicle driving trajectory;

[0062] A second simulation unit is used to establish a crane dynamics model, and generate load swing data corresponding to different motion states of the trolley and / or the car under the target driving trajectory based on the crane dynamics model and the load information, wherein the motion states include a starting state of the trolley and / or the car, a uniform motion state, an acceleration motion state corresponding to different preset accelerations, a deceleration motion state corresponding to different preset accelerations, and a parking state;

[0063] A generating unit is used to generate a lifting strategy corresponding to a target lifting process according to the lifting safety information, the parameter information of the bridge crane and the load swing data, wherein the lifting strategy is a plurality of continuous target motion states corresponding to the bridge crane trolley and / or car respectively during the target lifting process.

[0064] In a preferred embodiment, the analysis module 300 specifically includes:

[0065] A second acquisition unit is used to acquire the evaluation parameters corresponding to each target motion state of the large vehicle and / or the small vehicle;

[0066] A calculation unit, used for extracting corresponding evaluation parameter values ​​from the training data, and calculating and generating an operation score of the target operator for each target motion state of the large vehicle and / or small vehicle by using a preset scoring method;

[0067] The judgment unit is used to adopt the manual anti-sway mode when the operation score is greater than the reference value corresponding to the target motion state, otherwise adopt the electronic anti-sway mode.

[0068] In a preferred embodiment, the anti-sway control device for the bridge crane further includes a first anti-sway switching module, which is specifically used to collect a first switching parameter, determine whether the first switching parameter satisfies the corresponding first switching condition, and if so, switch the manual anti-sway mode to the electronic anti-sway mode, and if not, keep the current anti-sway mode unchanged. The first switching parameter includes one or more of the number of times the load swing angle exceeds the corresponding value in the current operating state of the bridge crane, the acceleration of the trolley or the car within a preset time range, the number of speed changes, the speed change amplitude, and the acceleration change amplitude.

[0069] In a preferred embodiment, the anti-sway control device for the bridge crane further includes a second anti-sway switching module, which is specifically used to collect a second switching parameter, determine whether the second switching parameter satisfies the corresponding second switching condition, and if so, switch the electronic anti-sway mode to the manual anti-sway mode, and if not, keep the current anti-sway mode unchanged. The second switching parameter includes one or more of the real-time swing angle of the current load, the number of times the load swing angle exceeds the corresponding value in the current operating state, and the instruction interval duration.

[0070] Figure 3 Schematic diagram of the structure of the anti-sway control device for a bridge crane provided in Example 3 of the present invention. Figure 3 As shown, the anti-sway control device 8 of the bridge crane of this embodiment includes: a processor 80, a readable storage medium 81, and a computer program 82 stored in the readable storage medium 81 and executable on the processor 80. When the processor 80 executes the computer program 82, the steps in the above-mentioned various method embodiments are implemented, such as Figure 1 Alternatively, when the processor 80 executes the computer program 82, the functions of each module in the above-mentioned device embodiments are realized, for example Figure 3 The functions of modules 100 to 400 are shown.

[0071] Exemplarily, the computer program 82 may be divided into one or more modules, which are stored in the readable storage medium 81 and executed by the processor 80 to implement the present invention. The one or more modules may be a series of computer program instruction segments capable of implementing specific functions, which are used to describe the execution process of the computer program 82 in the anti-sway control device 8 of the bridge crane.

[0072] The anti-sway control device 8 of the bridge crane may include, but is not limited to, a processor 80 and a readable storage medium 81. Those skilled in the art will understand that Figure 3 It is only an example of the anti-sway control device 8 for a bridge crane and does not constitute a limitation of the anti-sway control device 8 for a bridge crane. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the anti-sway control device for a bridge crane may also include a power management module, an operation processing module, input and output devices, a network access device, a bus, etc.

[0073] The processor 80 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0074] The readable storage medium 81 may be an internal storage unit of the anti-sway control device 8 of the bridge crane, such as a hard disk or memory of the anti-sway control device 8 of the bridge crane. The readable storage medium 81 may also be an external storage device of the anti-sway control device 8 of the bridge crane, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the anti-sway control device 8 of the bridge crane. Further, the readable storage medium 81 may also include both the internal storage unit of the anti-sway control device 8 of the bridge crane and an external storage device. The readable storage medium 81 is used to store the computer program and other programs and data required by the anti-sway control device of the bridge crane. The readable storage medium 81 may also be used to temporarily store data that has been output or is to be output.

[0075] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process of the method embodiment, which will not be repeated here.

[0076] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0077] Those of ordinary skill in the art will appreciate that the units and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0078] In the embodiments provided by the present invention, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0079] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0080] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0081] The present invention is not limited to what is described in the specification and implementation modes, and therefore additional advantages and modifications can be easily realized by those skilled in the art. Therefore, without departing from the spirit and scope of the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details, representative devices, and illustrative examples shown and described herein.

Claims

1. A method for controlling anti-sway of a bridge crane, characterized in that: The following steps are involved: Step 1, generating a hoisting strategy corresponding to the target hoisting process; Step 2, obtaining training data of the target operator controlling the trolley and / or the small vehicle to complete the simulated lifting process according to each target motion state, wherein the training data includes historical operation data of the target operator using a preset training platform to simulate the target motion state of the trolley and the small vehicle for the same or similar load and in a similar lifting environment to complete the target lifting process, and sway data of the load in each target motion state of the trolley and the small vehicle; Step 3, analyzing the training data, generating evaluation results of the target operator's operating proficiency under the target motion state of the large and small vehicles according to the training data, and generating a target anti-sway method for the target operator for each target motion state of the large and small vehicles according to the evaluation results, wherein the target anti-sway method includes manual anti-sway and electronic anti-sway; Step 4, when the target operator performs actual lifting according to the lifting strategy, the current operating state of the bridge crane trolley and / or the trolley is obtained, and the corresponding target anti-sway method is used to perform anti-sway control according to the current operating state; The generating of the hoisting strategy corresponding to the target hoisting process specifically comprises the following steps: Obtaining environmental information, load information, hoisting safety information and parameter information of the bridge crane corresponding to the target hoisting process; Simulating a target driving trajectory corresponding to the target lifting process according to the environmental information and the load information, wherein the target driving trajectory includes a large vehicle driving trajectory and / or a small vehicle driving trajectory; Establishing a crane dynamics model, and generating load swing data corresponding to different motion states of the trolley and / or the carriage under the target driving trajectory according to the crane dynamics model and the load information; A lifting strategy corresponding to a target lifting process is generated according to the lifting safety information, the parameter information of the bridge crane and the load swing data. The lifting strategy is a plurality of continuous target motion states corresponding to the bridge crane trolley and / or car respectively during the target lifting process.

2. The anti-sway control method for a bridge crane according to claim 1, characterized in that: The motion state includes a starting state of the vehicle and / or the car, a uniform motion state, an accelerated motion state corresponding to different preset accelerations, a decelerated motion state corresponding to different preset accelerations, and a parking state.

3. The anti-sway control method for a bridge crane according to claim 1, characterized in that: When training data is lacking, historical data of the target operator completing similar lifting processes is obtained, the historical data is classified and sorted, and the classification results are updated as the training data; the historical data includes the historical operation data of the target operator and the actual swing data of the load in each motion state of the large and small vehicles.

4. The anti-sway control method for a bridge crane according to any one of claims 1 to 3, characterized in that: The analysis of the training data to generate the target anti-sway method for the target operator for each target motion state of the large vehicle and / or small vehicle is specifically as follows: Obtain evaluation parameters corresponding to each target motion state of the large vehicle and / or small vehicle; Extracting corresponding evaluation parameter values ​​from the training data, and using a preset scoring method to calculate and generate an operation score of the target operator for each target motion state of the large vehicle and / or small vehicle; When the operation score is greater than a reference value corresponding to the target motion state, the manual anti-shake mode is adopted, otherwise the electronic anti-shake mode is adopted.

5. The anti-sway control method for a bridge crane according to claim 4, characterized in that: It also includes a first anti-sway switching step, specifically: Collecting a first switching parameter, wherein the first switching parameter includes one or more of the number of times the load swing angle exceeds a corresponding value in the current operating state of the bridge crane, the acceleration of the trolley or the trolley within a preset time range, the number of speed changes, the speed change amplitude, and the acceleration change amplitude; It is determined whether the first switching parameter satisfies the corresponding first switching condition. If so, the manual anti-sway mode is switched to the electronic anti-sway mode. If not, the current anti-sway mode is kept unchanged.

6. The anti-sway control method for a bridge crane according to claim 4, characterized in that: It also includes a second anti-sway switching step, specifically: Collecting a second switching parameter, wherein the second switching parameter includes one or more of a real-time swing angle of a current load, a number of times that the load swing angle exceeds a corresponding value in a current operating state, and a command interval duration; It is determined whether the second switching parameter satisfies the corresponding second switching condition. If so, the electronic anti-sway mode is switched to the manual anti-sway mode. If not, the current anti-sway mode is kept unchanged.

7. A bridge crane anti-sway control device, based on the bridge crane anti-sway control method according to any one of claims 1 to 6, characterized in that: It includes strategy generation module, data acquisition module, analysis module and control module. The strategy generation module is used to generate a hoisting strategy corresponding to the target hoisting process; The data acquisition module is used to acquire training data of the target operator controlling the large vehicle and / or small vehicle to complete the simulated lifting process according to each target motion state; The analysis module is used to analyze the training data, generate an evaluation result of the target operator's operating proficiency under the target motion state of the large and small vehicles according to the training data, and generate a target anti-sway method for the target operator for each target motion state of the large and small vehicles according to the evaluation result, wherein the target anti-sway method includes manual anti-sway and electronic anti-sway; The control module is used to obtain the current operating state of the trolley and / or the carriage of the bridge crane when the target operator performs actual lifting according to the lifting strategy, and to perform anti-sway control using a corresponding target anti-sway method according to the current operating state; The strategy generation module specifically includes: A first acquisition unit, used to acquire environmental information, load information, hoisting safety information and parameter information of the bridge crane corresponding to the target hoisting process; A first simulation unit, configured to simulate a target driving trajectory corresponding to the target lifting process according to the environmental information and the load information, wherein the target driving trajectory includes a large vehicle driving trajectory and / or a small vehicle driving trajectory; A second simulation unit is used to establish a crane dynamics model, and generate load swing data corresponding to different motion states of the trolley and / or the carriage under the target driving trajectory based on the crane dynamics model and the load information; A generating unit is used to generate a lifting strategy corresponding to a target lifting process according to the lifting safety information, the parameter information of the bridge crane and the load swing data, wherein the lifting strategy is a plurality of continuous target motion states corresponding to the bridge crane trolley and / or car respectively during the target lifting process.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the anti-sway control method for a bridge crane as described in any one of claims 1 to 6 above is implemented.

9. A bridge crane anti-sway control device, comprising a computer-readable storage medium and a processor, characterized in that: When the processor executes the computer program on the computer-readable storage medium, the processor implements the steps of the anti-sway control method for the bridge crane according to any one of claims 1 to 6.

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