Motion track planning method, device and equipment of quay crane lifting appliance and medium

Abstract

The invention relates to the field of port container wharf automation equipment systems, in particular to a movement track planning method, device, equipment and medium for a quay crane sling, and the method comprises the following steps: acquiring initial state information and termination state information of the quay crane sling, and a first movement constraint condition of a quay crane trolley corresponding to the quay crane sling; constructing a second motion constraint condition of the quay crane sling based on the first motion constraint condition; performing iterative solution on a preset motion trajectory model based on the initial state information, the termination state information and the second motion constraint condition to obtain a trajectory planning result of the quay crane sling; wherein the motion trail model is obtained based on high-order polynomial construction. According to the motion track planning method of the quay crane lifting appliance, the track planning accuracy of the quay crane lifting appliance can be improved, so that the operation efficiency of the quay crane lifting appliance is improved.

Description

Technical Field

[0001] The present invention relates to the field of automated equipment systems for port container terminals, and in particular to a motion trajectory planning method, device, equipment and medium for a quay crane hoist. Background Art

[0002] The container shore crane (abbreviated as quay crane) is the most widely used container crane along the coast of the container terminal. Its main function is to load, unload and transport standard containers between the sea side and the land side, that is, to stack the operating containers on the land side transport vehicle to the designated position of the sea side container ship according to the rules formulated by the terminal, or to load the operating containers of the sea side container ship onto the land side transport vehicle, thereby completing the container transportation between the sea side and the land side.

[0003] With the rapid increase in the throughput of container terminals, the continuous increase in container transport ships, the continuous increase in labor costs, and the continuous enhancement of environmental protection concepts, container terminals have increasingly higher requirements for the automation of quay cranes. Automated quay cranes have become one of the key technical equipment for realizing unmanned container terminals, and their automation level directly affects the operating efficiency of automated terminals.

[0004] In the process of automatic container transportation at container terminals, the operation of the automated quay crane spreader mainly includes automatic container grabbing, automatic operation and automatic container placement. During the automatic operation of the quay crane spreader, it is necessary to plan the movement trajectory of the quay crane spreader, and then control the actuator of the quay crane spreader so that the quay crane spreader can track the predetermined trajectory. Generally speaking, the trajectory planning of the quay crane spreader needs to consider multiple factors, including the load of the quay crane, the limitation of the working space, the execution capability of the actuator of the spreader movement, etc. The trajectory planning of the quay crane spreader directly affects the safety and efficiency of the quay crane operation. Therefore, how to plan the movement trajectory of the quay crane spreader is one of the key technologies for the automated operation of the quay crane.

[0005] Usually, the motion trajectory planning method of the quay crane crane is to plan the motion curve of the quay crane crane based on the preset starting point coordinates, end point coordinates and constraints. It mainly plans a safe (collision-free), smooth (anti-sway) and fast (high efficiency) crane motion trajectory by controlling the motion of the quay crane trolley and the hoist, and combining the characteristics and constraints of the electromechanical actuators, as well as the limitations of the external obstacle contours. This method is mainly based on simple path planning, expressing the motion path of the quay crane crane with simple straight lines, multiple curves and various corresponding transformations. This type of method has problems such as complex trajectory expressions, large amount of calculations and low accuracy, which makes it difficult for the quay crane crane to track the planned path, thereby affecting the operating efficiency of the quay crane crane. Summary of the invention

[0006] In view of the above problems in the prior art, the object of the present invention is to provide a motion trajectory planning method, device, equipment and medium for a quay crane hoist, which can improve the accuracy of trajectory planning of the quay crane hoist, thereby improving the operating efficiency of the quay crane hoist.

[0007] In order to solve the above problems, the present invention provides a motion trajectory planning method for a quay crane spreader, comprising:

[0008] Obtaining initial state information and final state information of the quay crane spreader, and a first motion constraint condition of the quay crane trolley corresponding to the quay crane spreader;

[0009] Constructing a second motion constraint condition for the quay crane spreader based on the first motion constraint condition;

[0010] The preset motion trajectory model is iteratively solved based on the initial state information, the final state information and the second motion constraint condition to obtain the trajectory planning result of the quay crane spreader;

[0011] Among them, the motion trajectory model is constructed based on high-order polynomials.

[0012] Furthermore, the initial state information includes one or more of an initial position, an initial velocity, an initial swing angle, an initial swing angular velocity, and an initial swing angular acceleration; the termination state information includes one or more of a termination position, a termination velocity, a termination swing angle, a termination swing angular velocity, and a termination swing angular acceleration.

[0013] Further, the first motion constraint condition includes a first position constraint condition, a first velocity constraint condition and a first acceleration constraint condition;

[0014] The second motion constraint condition of the quay crane spreader is constructed based on the first motion constraint condition, including:

[0015] Determine the positional relationship between the quay crane trolley and the quay crane spreader;

[0016] According to the position relationship and the first position constraint condition, the first speed constraint condition and the first acceleration constraint condition, the second position constraint condition, the second speed constraint condition and the second acceleration constraint condition of the quay crane spreader are respectively constructed.

[0017] Furthermore, the method further comprises:

[0018] The motion trajectory model is constructed based on high-order polynomials. The motion trajectory model is:

[0019]

[0020] Among them, x s (t) is the position of the gantry crane at time t, n is the order of the polynomial, a i(i=0, 1, ..., n) are coefficients of the polynomial, and T is the trajectory running time.

[0021] Furthermore, the preset motion trajectory model is iteratively solved based on the initial state information, the final state information and the second motion constraint condition to obtain the trajectory planning result of the quay crane spreader, including:

[0022] Based on the initial state information and the final state information, the initial constraint conditions and the final constraint conditions of the quay crane spreader are constructed;

[0023] Determine the trajectory running time;

[0024] The motion trajectory model is solved according to the initial constraint conditions, the termination constraint conditions and the trajectory running time to obtain the motion trajectory of the quay crane crane.

[0025] Determining whether the motion trajectory satisfies the second motion constraint condition;

[0026] If it is satisfied, the motion trajectory is taken as the trajectory planning result of the quay crane crane;

[0027] If not, the trajectory running time is updated, and the motion trajectory model is re-solved based on the updated trajectory running time until the solved motion trajectory satisfies the second motion constraint condition.

[0028] Another aspect of the present invention provides a motion trajectory planning method for a quay crane spreader, comprising:

[0029] Obtain the initial state information and final state information of the quay crane spreader, as well as the obstacle information near the quay crane spreader;

[0030] Based on the initial state information, the final state information and the obstacle information, the motion trajectory of the quay crane spreader is segmented to obtain at least one sub-trajectory;

[0031] By using the motion trajectory planning method of the quay crane hoist as described above, trajectory planning is performed on part or all of the sub-trajectories to obtain the overall trajectory planning result of the quay crane hoist.

[0032] Another aspect of the present invention provides a motion trajectory planning device for a quay crane spreader, comprising:

[0033] A first acquisition module is used to acquire initial state information and final state information of the quay crane spreader, and a first motion constraint condition of the quay crane trolley corresponding to the quay crane spreader;

[0034] A construction module, used for constructing a second motion constraint condition of the quay crane spreader based on the first motion constraint condition;

[0035] The first planning module is used to iteratively solve the preset motion trajectory model based on the initial state information, the terminal state information and the second motion constraint condition to obtain the trajectory planning result of the quay crane spreader;

[0036] Among them, the motion trajectory model is constructed based on high-order polynomials.

[0037] Another aspect of the present invention provides a motion trajectory planning device for a quay crane spreader, comprising:

[0038] The second acquisition module is used to acquire the initial state information and the final state information of the quay crane spreader, and the obstacle information near the quay crane spreader;

[0039] A segmentation module is used to segment the motion trajectory of the quay crane spreader based on the initial state information, the final state information and the obstacle information to obtain at least one sub-trajectory;

[0040] The second planning module is used to perform trajectory planning on part or all of the sub-trajectories using the motion trajectory planning method of the quay crane hoist as described above, so as to obtain the overall trajectory planning result of the quay crane hoist.

[0041] On the other hand, the present invention provides an electronic device, including a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the motion trajectory planning method of the quay crane crane as described above.

[0042] On the other hand, the present invention provides a computer-readable storage medium, which stores at least one instruction or at least one program. The at least one instruction or the at least one program is loaded and executed by a processor to implement the motion trajectory planning method of the quay crane crane as described above.

[0043] Another aspect of the present invention provides a computer program product, comprising a computer program / instruction, which, when executed by a processor, implements the motion trajectory planning method for a quay crane crane as described above.

[0044] Due to the above technical solution, the present invention has the following beneficial effects:

[0045] According to the motion trajectory planning method of the quay crane crane according to the embodiment of the present invention, the motion trajectory of the quay crane crane is expressed in the form of a high-order polynomial by utilizing the characteristics of clear structure and simple operation of the polynomial, and the coefficients of each term of the high-order polynomial are calculated in combination with the constraints of the quay crane crane at the initial position, the terminal position and the operation control, so as to plan the motion trajectory of the quay crane crane. This not only improves the accuracy of the trajectory planning of the quay crane crane, but also because it takes into account the dynamics and kinematic characteristics of the quay crane crane, the quay crane crane can well track the planned motion trajectory, thereby greatly improving the operating efficiency of the quay crane crane. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for use in the embodiments or prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

[0047] Figure 1 It is a structural schematic diagram of a quay crane spreader motion system provided by an embodiment of the present invention;

[0048] Figure 2 is a flow chart of a motion trajectory planning method for a quay crane spreader provided by an embodiment of the present invention;

[0049] Figure 3a is a flow chart of a motion trajectory planning method for a quay crane spreader provided by another embodiment of the present invention;

[0050] Figure 3b is a flow chart of a motion trajectory planning method for a quay crane spreader provided by another embodiment of the present invention;

[0051] Figure 4 is a flow chart of a motion trajectory planning method for a quay crane spreader provided by another embodiment of the present invention;

[0052] Figure 5 is a flow chart of trajectory planning for a first sub-trajectory provided by an embodiment of the present invention;

[0053] Figure 6 is a flow chart of trajectory planning for the third sub-trajectory provided by an embodiment of the present invention;

[0054] Figure 7a It is a schematic diagram of the horizontal coordinate trajectory, velocity curve and acceleration curve of a quay crane vehicle provided by an embodiment of the present invention;

[0055] Figure 7bis a schematic diagram of a horizontal coordinate trajectory, a velocity curve and an acceleration curve of a quay crane vehicle provided by another embodiment of the present invention;

[0056] Figure 8 It is a structural schematic diagram of a motion trajectory planning device for a quay crane spreader provided by an embodiment of the present invention;

[0057] Fig. 9 is a structural schematic diagram of a motion trajectory planning device for a quay crane spreader provided by another embodiment of the present invention;

[0058] Fig.10 is a block diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0059] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0060] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, device, product or equipment that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0061] In order to make the purpose, technical solution and advantages disclosed in the embodiments of the present invention more clearly understood, the embodiments of the present invention are 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 embodiments of the present invention and are not used to limit the embodiments of the present invention.

[0062] Reference Manual Attached Figure 1 , which shows a schematic diagram of the structure of a quay crane hoisting device motion system provided by an embodiment of the present invention. Figure 1As shown, the quay crane hoist motion system may include a quay crane trolley track 110, a quay crane trolley 120, a wire rope 130, a quay crane hoist 140 and an obstacle 150 on the ground. The quay crane trolley track 110 is at the same level, the quay crane trolley 120 can run on the quay crane trolley track 110, one end of the wire rope 130 is connected to the bottom of the quay crane trolley 120, and the other end is connected to the center of the quay crane hoist 140.

[0063] In practical applications, the length of the wire rope 130 can be recorded as l, and the angle with the vertical direction (i.e., the swing angle of the quay crane hoist 140) can be recorded as θ. It is also possible to define the rectangular coordinate system OXY of the quay crane hoist motion system with a certain point O on the quay crane trolley track as the origin, the rightward movement direction of the quay crane trolley as the OX axis, and the vertical downward direction perpendicular to the OX axis as the OY axis. The horizontal and vertical coordinates of the quay crane trolley 120 (i.e., the horizontal and vertical coordinates of the bottom center point of the quay crane trolley 120) can be recorded as x and y, respectively. c and c =0; the horizontal and vertical coordinates of the quay crane spreader 140 (i.e., the horizontal and vertical coordinates of the center point of the quay crane spreader 140) can be recorded as x s and s .

[0064] It should be noted that Figure 1 This is just an example. In actual application, the quay crane spreader motion system may also include more or less content.

[0065] Embodiment 1

[0066] Reference Manual Attached Figure 2 , which shows the process of a motion trajectory planning method for a quay crane crane provided by an embodiment of the present invention, which can be applied to Figure 1 In the quay crane crane movement system. Figure 2 As shown, the method may include the following steps:

[0067] S210: Acquire the initial state information and the final state information of the quay crane spreader, and the first motion constraint condition of the quay crane trolley corresponding to the quay crane spreader.

[0068] In an embodiment of the present invention, when performing trajectory planning, the initial state information and the terminal state information of the quay crane crane can be obtained first, and the initial state information can include one or more of the initial position, initial speed, initial swing angle, initial swing angular velocity and initial swing angular acceleration, and the terminal state information can include one or more of the terminal position, terminal speed, terminal swing angle, terminal swing angular velocity and terminal swing angular acceleration.

[0069] Specifically, the coordinates (x s0 ,ys0 ), and the coordinates of the end position (x se ,y se ). You can also set the initial speed of the quay crane to 0, the initial swing angle to 0, the initial swing angular velocity to 0, the initial swing angular acceleration to α0, and the final speed to 0, the final swing angle to 0, the final swing angular velocity to 0, and the final swing angular acceleration to α e Wait for status information.

[0070] It should be noted that, in the embodiment of the present invention, only the movement of the quay crane spreader in the X-axis direction is considered, that is, the ordinate of the initial position of the quay crane spreader is the same as the ordinate of the final position (i.e., y s0 =y se ), and the longitudinal coordinate of the quay crane spreader remains unchanged during the movement. In the embodiment of the present invention, only the movement trajectory in the X-axis direction is planned.

[0071] In an embodiment of the present invention, when performing trajectory planning, the first motion constraint condition of the quay crane trolley corresponding to the quay crane hoist can also be determined. The first motion constraint condition may include but is not limited to a first position constraint condition, a first speed constraint condition and a first acceleration constraint condition.

[0072] Specifically, the operating range X including but not limited to the quay crane vehicle can be obtained. c , the absolute value of the maximum velocity v cmax , the maximum absolute value of acceleration a cmax and other motion constraints.

[0073] S220: Constructing a second motion constraint condition for the quay crane crane based on the first motion constraint condition.

[0074] In the embodiment of the present invention, the second motion constraint condition of the quay crane hoist can be determined according to the first motion constraint condition of the quay crane trolley and the positional relationship between the quay crane trolley and the quay crane hoist.

[0075] In some embodiments, constructing a second motion constraint of the quay crane hoist based on the first motion constraint may include: determining the position relationship between the quay crane trolley and the quay crane hoist; and constructing a second position constraint, a second speed constraint and a second acceleration constraint of the quay crane hoist according to the position relationship and the first position constraint, the first speed constraint and the first acceleration constraint.

[0076] Specifically, the coordinates (x c ,y c ) and the coordinates of the gantry crane in the rectangular coordinate system OXY (x s ,y s ) between x s =xc +l sinθ and y s =y c +l cosθ=l cosθ. Based on this, we can determine:

[0077]

[0078] Among them, l is the length of the wire rope connecting the quay crane trolley and the quay crane hoist, and θ is the angle between the wire rope and the vertical direction (i.e. the swing angle of the quay crane hoist).

[0079] Then we can get:

[0080]

[0081] Where g is the gravitational acceleration constant.

[0082] Because during the movement of the quay crane crane, θ and Usually small, so sinθ≈θ, coSθ≈1, sin 2 θ≈θ 2 ≈0, So we can get when When Right now

[0083] Specifically, after the position relationship is determined, the second motion constraint of the quay crane crane can be determined according to the first motion constraint of the quay crane crane. For example, assuming that the first motion constraint includes the operating range X of the quay crane crane crane c , the absolute value of the maximum velocity v cmax , the maximum absolute value of acceleration a cmax The second motion constraint condition of the quay crane can be determined as follows:

[0084]

[0085] Among them, x s is the horizontal coordinate of the quay crane crane, g is the gravitational acceleration constant,

[0086] It can be understood that in the embodiment of the present invention, a kinematic model of a quay crane hoist based on a simple pendulum is established, and the operating control conditions of the quay crane hoist are determined by the operating control conditions of the quay crane trolley. The motion trajectory is planned in combination with the kinematic model and operating control conditions of the quay crane hoist, so that the quay crane hoist can well track the planned motion trajectory.

[0087] S230: Iteratively solve a preset motion trajectory model based on the initial state information, the final state information and the second motion constraint condition to obtain a trajectory planning result of the quay crane crane; wherein the motion trajectory model is constructed based on a high-order polynomial.

[0088] In the embodiment of the present invention, the motion trajectory model of the quay crane spreader can be first constructed based on a high-order polynomial, and then the initial state information, the terminal state information, and the preset trajectory running time are used to construct an equation group for solving the polynomial coefficients in the motion trajectory model, and then the motion trajectory that satisfies the second motion constraint condition of the quay crane spreader is solved by a cyclic iteration. During the iteration process, the motion trajectory of the quay crane spreader obtained by solving can be adjusted by adjusting the trajectory running time.

[0089] In some embodiments, the method may further include: constructing a motion trajectory model based on a high-order polynomial, the motion trajectory model being as shown in the following formula (2):

[0090]

[0091] Among them, x s (t) is the position of the gantry crane at time t, n is the order of the polynomial, a i (i=0, 1, ..., n) are coefficients of the polynomial, and T is the trajectory running time.

[0092] The order of the polynomial can be predetermined according to actual needs, for example, it can be determined to be ninth order, that is, the horizontal coordinate x of the motion trajectory of the quay crane crane is s Take a ninth-order polynomial of time t This embodiment of the present invention does not impose any specific limitation on this.

[0093] It can be understood that the embodiment of the present invention utilizes the characteristics of clear structure and simple operation of polynomials to express the motion trajectory of the quay crane hoist using a high-order polynomial. The trajectory expression is simple and the calculation amount is small, which can improve the efficiency of trajectory planning and thus improve the operating efficiency of the entire quay crane hoist motion system.

[0094] In some embodiments, the Figure 3a , based on the initial state information, the final state information and the second motion constraint condition, the preset motion trajectory model is iteratively solved to obtain the trajectory planning result of the quay crane spreader, which may include:

[0095] S231: Based on the initial state information and the final state information, construct the initial constraint conditions and the final constraint conditions of the quay crane spreader.

[0096] In the embodiment of the present invention, the initial constraint condition of the motion trajectory model can be constructed based on the initial state information of the quay crane spreader, and the termination constraint condition of the motion trajectory model can be constructed based on the termination state information of the quay crane spreader. The number of equations in the initial constraint condition and the termination constraint condition can be determined according to the order of the motion trajectory model. For example, when the motion trajectory model is a ninth-order polynomial, the number of equations in the initial constraint condition and the termination constraint condition can both be 5.

[0097] For example, it is assumed that the motion trajectory model is constructed based on a ninth-order polynomial. θ and Usually relatively small, as can be seen from the above analysis Therefore, the initial constraints can be constructed and and termination constraints and

[0098] Specifically, the initial constraint and the termination constraint are respectively based on the ninth-order polynomial function x s (t) can be expressed as shown in the following equations (3) and (4):

[0099]

[0100] as well as

[0101]

[0102] Where g is the gravitational acceleration constant.

[0103] S232: Determine the trajectory running time.

[0104] In the embodiment of the present invention, the initial trajectory running time can be preset according to the experience of the operator, for example, it can be set to 30 seconds, etc., and the embodiment of the present invention does not impose any specific limitation on this.

[0105] S233: Solve the motion trajectory model according to the initial constraint conditions, the termination constraint conditions and the trajectory running time to obtain the motion trajectory of the quay crane spreader.

[0106] In the embodiment of the present invention, the trajectory running time can be substituted into the initial constraint condition and the termination constraint condition shown in the above equations (3) and (4) to obtain a system of equations. By solving the system of equations, the coefficients a of the high-order polynomial in the motion trajectory model can be obtained. i (i=0, 1, ..., n), that is, the motion trajectory of the quay crane crane is obtained.

[0107] S234: Determine whether the motion trajectory satisfies the second motion constraint condition.

[0108] In the embodiment of the present invention, it is also possible to determine whether the motion trajectory obtained by the solution satisfies the second motion constraint condition, that is, to determine whether the second position constraint condition, the second speed constraint condition and the second acceleration constraint condition are satisfied.

[0109] Specifically, determine the motion trajectory x of the quay crane spreader s (t), the motion trajectory x of the quay crane crane can be directly determined. s (t) Whether the second motion constraint condition shown in equation (1) above is satisfied.

[0110] S235: If satisfied, the motion trajectory is used as the trajectory planning result of the quay crane crane.

[0111] In the embodiment of the present invention, if it is determined that the motion trajectory satisfies the second position constraint, the second speed constraint, and the second acceleration constraint, the motion trajectory obtained by solving the solution can be directly used as the trajectory planning result of the quay crane spreader.

[0112] S236: If not satisfied, the trajectory running time is updated, and the process returns to step S233 to re-solve the motion trajectory model based on the updated trajectory running time until the solved motion trajectory satisfies the second motion constraint condition.

[0113] In the embodiment of the present invention, if it is determined that the motion trajectory does not satisfy one or more of the second position constraint, the second speed constraint, or the second acceleration constraint, a loop iteration process may be entered. At this time, the trajectory running time may be adjusted, and the process returns to step S233 to solve a new motion trajectory again and determine whether the new motion trajectory satisfies the second motion constraint. The above process may be repeated until a motion trajectory that satisfies the second motion constraint is obtained.

[0114] The adjustment step of the trajectory running time can be preset according to actual needs, for example, it can be set to increase by 10 seconds, etc., and the embodiment of the present invention does not make any specific limitation to this.

[0115] It can be understood that in the embodiment of the present invention, the coefficients of each term of the high-order polynomial are calculated by combining the initial position, the terminal position and the operating control conditions of the quay crane hoist, so as to plan the motion trajectory of the quay crane hoist. This not only improves the accuracy of the trajectory planning of the quay crane hoist, but also reduces the amount of calculation, can improve the efficiency of the trajectory planning, and thus improve the operating efficiency of the entire quay crane hoist motion system.

[0116] In some embodiments, the Figure 3b , and then solve the motion trajectory x of the gantry crane s (t) can also be used to determine the motion trajectory x of the quay crane cranes (t) Whether the second motion constraint condition is satisfied is transformed into the process of judging the motion trajectory x of the trolley of the quay crane c (t) Whether the first motion constraint condition is satisfied. Specifically, in step S2341, the motion trajectory x s (t) and the position relationship between the quay crane trolley and the quay crane spreader, the motion trajectory x of the quay crane trolley is calculated c (t), in step S2342, the motion trajectory x of the quay crane trolley can be determined c (t) Whether the first motion constraint condition is satisfied. That is, the motion trajectory x of the trolley of the quay crane is determined respectively. c (t) Whether the first position constraint, the first velocity constraint, and the first acceleration constraint are satisfied. If so, the obtained motion trajectory x can be directly converted to s (t) is the trajectory planning result of the quay crane crane. If it is not satisfied, the trajectory running time is updated, and the motion trajectory model is solved again based on the updated trajectory running time until the motion trajectory x is obtained according to the solution. s (t) The calculated motion trajectory of the quay crane trolley x c (t) Until the first motion constraint is satisfied.

[0117] In summary, according to the motion trajectory planning method of the quay crane crane according to the embodiment of the present invention, the motion trajectory of the quay crane crane is expressed in the form of a high-order polynomial by utilizing the characteristics of clear structure and simple operation of the polynomial, and the coefficients of each term of the high-order polynomial are calculated in combination with the constraints of the quay crane crane at the initial position, the terminal position and the operation control, so as to plan the motion trajectory of the quay crane crane. This not only improves the accuracy of the trajectory planning of the quay crane crane, but also because it takes into account the dynamics and kinematic characteristics of the quay crane crane, the quay crane crane can track the planned motion trajectory well, thereby greatly improving the operating efficiency of the quay crane crane.

[0118] Embodiment 2

[0119] Reference Manual Attached Figure 4 , which shows the process of a motion trajectory planning method for a quay crane crane provided by another embodiment of the present invention, which can be applied to Figure 1 In the quay crane crane movement system. Figure 4 As shown, the method may include the following steps:

[0120] S410: Acquire initial state information and final state information of the quay crane spreader, and obstacle information near the quay crane spreader.

[0121] In an embodiment of the present invention, when performing trajectory planning, the initial state information and the terminal state information of the quay crane crane can be obtained first, and the initial state information can include one or more of the initial position, initial speed, initial swing angle, initial swing angular velocity and initial swing angular acceleration, and the terminal state information can include one or more of the terminal position, terminal speed, terminal swing angle, terminal swing angular velocity and terminal swing angular acceleration.

[0122] In practical applications, the coordinates of the initial position of the quay crane crane in the rectangular coordinate system OXY can be obtained (x s0 ,y s0 ), and the coordinates of the end position (x se ,y se ). It can also be determined that the initial speed of the quay crane spreader is 0, the initial swing angle is 0, the initial swing angular velocity is 0, the initial swing angular acceleration is α0, and the terminal speed is 0, the terminal swing angle is 0, the terminal swing angular velocity is 0, and the terminal swing angular acceleration is α e Wait for status information.

[0123] In the embodiment of the present invention, when performing trajectory planning, the inherent constraints of the quay crane equipment may also be determined, for example, they may include but are not limited to the constraints of the lifting of the quay crane hoist and the first motion constraints of the quay crane trolley. The constraints of the lifting of the quay crane hoist may include but are not limited to the operating range L of the lifting of the quay crane hoist, the absolute value of the maximum speed v max , the absolute value of the maximum acceleration a max The first motion constraint of the quay crane vehicle may include but is not limited to the operating range X of the quay crane vehicle. c , the absolute value of the maximum velocity v cmax , the maximum absolute value of acceleration a cmax And other constraints.

[0124] In an embodiment of the present invention, when performing trajectory planning, obstacle information near the quay crane crane that may affect the operation of the quay crane crane can also be obtained. The obstacle information may include but is not limited to obstacle height information, etc., and the embodiment of the present invention does not impose specific restrictions on this.

[0125] S420: Based on the initial state information, the final state information and the obstacle information, the motion trajectory of the quay crane spreader is segmented to obtain at least one sub-trajectory.

[0126] In an embodiment of the present invention, during the operation of the quay crane hoist, it is necessary to avoid nearby obstacles. Therefore, the motion trajectory of the quay crane hoist can be segmented according to the obstacles, and a segmented trajectory planning method can be used to plan each sub-trajectory separately, and finally the overall trajectory planning result of the quay crane hoist is obtained by merging them.

[0127] Specifically, a safe position y above the obstacle can be determined based on the obstacle information. b , according to the safety position ordinate y b and the initial position y s0 , the end position ordinate y se The motion trajectory of the quay crane crane is segmented based on the size relationship between them to obtain at least one sub-trajectory.

[0128] In some embodiments, b ≤y s0 ,y b ≤y se In the case of , the motion trajectory of the quay crane spreader can be divided into three segments. In the first segment, the horizontal coordinate x s Keep the initial position x s0 unchanged, the ordinate y s From the initial position y s0 Change to the safe position above the obstacle y b In the second sub-trajectory, the horizontal coordinate x of the gantry crane is s From the initial position x s0 Change to the end position horizontal coordinate x se , the vertical coordinate y s Maintain safe position y b In the third sub-trajectory, the horizontal coordinate x of the gantry crane is s Keep the end position x se unchanged, the ordinate y s From the safe position y b Change to the end position y se .

[0129] In some embodiments, b ≥y s0 ,y b ≤y se In the case of , the motion trajectory of the quay crane spreader can be divided into two segments. In the first segment, the horizontal coordinate x s From the initial position x s0 Change to the end position horizontal coordinate x se , the vertical coordinate y s Keep the initial position y s0 In the second sub-trajectory, the horizontal coordinate x of the gantry crane is s Keep the end position x se unchanged, the ordinate y s From the initial position y s0 Change to the end position y se .

[0130] In some embodiments, b ≤y s0 ,y b ≥y se In the case of , the motion trajectory of the quay crane spreader can be divided into two segments. In the first segment, the horizontal coordinate x s Keep the initial position x s0 unchanged, the ordinate y s From the initial position y s0 Change to the end position y se In the second sub-trajectory, the horizontal coordinate x of the gantry crane is s From the initial position x s0 Change to the end position horizontal coordinate x se , the vertical coordinate y s Keep the end position y coordinate se constant.

[0131] In some embodiments, b ≥y s0 ,y b ≥y se In the case of , the motion trajectory of the quay crane spreader can be divided into two segments. In the first segment, the horizontal coordinate x s Keep the initial position x s0 unchanged (or the y coordinate of the gantry crane s Keep the initial position y s0 unchanged), the ordinate y s From the initial position y s0 Change to the end position y se (or the horizontal axis x s From the initial position x s0 Change to the end position horizontal coordinate x se ). In the second sub-trajectory, the ordinate y of the gantry crane is s Keep the end position y coordinate se unchanged (or the horizontal coordinate x of the gantry crane s Keep the end position x se unchanged), the horizontal axis x s From the initial position x s0 Change to the end position horizontal coordinate x se (or the ordinate y s From the initial position y s0 Change to the end position y se ).

[0132] At this time, in y s0 =yse In the case of , the motion trajectory of the quay crane spreader can be planned as a trajectory without segmenting. In this trajectory, the ordinate y of the quay crane spreader is s The horizontal axis x remains unchanged. s From the initial position x s0 Change to the end position horizontal coordinate x se That's it.

[0133] S430: Using the motion trajectory planning method of the quay crane hoist in steps S210 to S230, trajectory planning is performed on part or all of the sub-trajectories to obtain an overall trajectory planning result of the quay crane hoist.

[0134] In the embodiment of the present invention, a segmented trajectory planning method can be used to plan the trajectory of each sub-trajectory separately, and finally merge them to obtain the overall trajectory planning result of the quay crane crane. Among them, some or all of the sub-trajectories can be planned using the method described in the first embodiment. Figures 2 to 3b The method provided by the illustrated embodiment is for performing trajectory planning.

[0135] It can be understood that in the embodiment of the present invention, by planning the motion trajectory of the quay crane hoist in sections, and combining the characteristics and constraints of the quay crane hoist, as well as the limitations of external obstacles, a safe, smooth and fast hoist operation trajectory can be planned, and the accuracy of the quay crane hoist trajectory planning can be further improved.

[0136] The following divides the motion trajectory of the quay crane crane into three sections, and uses Figures 2 to 3b The method provided in the illustrated embodiment is described in detail by taking trajectory planning of the second segment of the trajectory as an example.

[0137] In the embodiment of the present invention, for the first sub-trajectory, i.e., the horizontal coordinate x of the quay crane spreader s Keep the initial position x s0 unchanged, the ordinate y s From the initial position y s0 Change to the safe position above the obstacle y b , the longitudinal velocity trapezoidal mode can be used for trajectory planning.

[0138] Specifically, in conjunction with the reference manual Figure 5 , the process of trajectory planning for the first sub-trajectory may include the following steps:

[0139] S510: Obtain the coordinates of the initial position of the quay crane spreader (x s0 ,y s0 ), and the safety position ordinate y b ; Among them, the coordinates of the initial position (x s0 ,ys0 ) includes the initial position horizontal coordinate x s0 and the initial position y s0 .

[0140] S520: Determine the initial position y coordinate of the quay crane spreader s0 and the safety position y b Is the difference greater than the absolute value v of the maximum lifting speed of the quay crane crane? max The square of the maximum acceleration a max Ratio.

[0141] Specifically, we can first calculate the initial position y of the gantry crane crane according to its initial position y s0 and the safety position y b Calculate y s0 -y b The value of is based on the absolute value of the maximum lifting speed of the quay crane hoist v max and the absolute value of the maximum acceleration a max Calculated Then judge the value of y s0 -y b and The size between.

[0142] S530: If the judgment result is yes (i.e. ), then the trajectory running time T of the first sub-trajectory is calculated according to the following formula (5): s0 :

[0143]

[0144] Among them, y s0 is the initial position ordinate of the quay crane crane, y b is the vertical coordinate of the safe position, v max is the absolute value of the maximum lifting speed of the quay crane crane, a max is the absolute value of the maximum acceleration of the quay crane hoisting device. The specific calculation method can refer to the relevant content of the trajectory planning method of the longitudinal velocity trapezoidal mode, and the embodiment of the present invention will not be repeated here.

[0145] S540: Running time T according to the trajectory of the first sub-trajectory s0 The trajectory planning of the first sub-trajectory is performed to obtain the motion trajectory shown in the following equation (6):

[0146]

[0147] Among them, x s (t) is the horizontal coordinate of the gantry crane at time t, y s (t) is the ordinate of the gantry crane at time t, xs0 is the horizontal coordinate of the initial position of the quay crane crane.

[0148] Specifically, when When the trajectory running time of the first sub-trajectory is calculated, the longitudinal velocity trapezoidal mode can be used for trajectory planning to obtain the motion trajectory shown in the above formula (6). The specific trajectory planning method can refer to the relevant content of the trajectory planning method of the longitudinal velocity trapezoidal mode, and the embodiment of the present invention will not be repeated here.

[0149] S550: If the judgment result is no (i.e. ), then the trajectory running time T of the first sub-trajectory is calculated according to the following formula (7): s0 :

[0150]

[0151] Among them, y s0 is the initial position ordinate of the quay crane crane, y b is the vertical coordinate of the safe position, a max is the absolute value of the maximum acceleration of the quay crane hoisting device. The specific calculation method can refer to the relevant content of the trajectory planning method of the longitudinal velocity trapezoidal mode, and the embodiment of the present invention will not be repeated here.

[0152] S560: Running time T according to the trajectory of the first sub-trajectory s0 The trajectory planning of the first sub-trajectory is performed to obtain the motion trajectory shown in the following equation (8):

[0153] x s (t) = x s0 t∈[0,T s0 ]

[0154]

[0155] Specifically, when When the trajectory running time of the first sub-trajectory is calculated, the longitudinal velocity trapezoidal mode can be used for trajectory planning to obtain the motion trajectory shown in the above formula (8). The specific trajectory planning method can refer to the relevant content of the trajectory planning method of the longitudinal velocity trapezoidal mode, and the embodiments of the present invention will not be repeated here.

[0156] It can be understood that in the embodiment of the present invention, the longitudinal speed trapezoidal mode is used for trajectory planning of the first sub-trajectory, which can save the trajectory running time of the quay crane spreader and ensure the operating efficiency of the quay crane spreader.

[0157] In the embodiment of the present invention, for the second sub-trajectory, i.e., the horizontal coordinate x of the quay crane spreader s From the initial position x s0Change to the end position horizontal coordinate x se , the vertical coordinate y s Maintain safe position y b unchanged, you can use Figures 2 to 3b The motion trajectory planning method of the quay crane crane shown is used for trajectory planning.

[0158] It should be noted that the specific content of the trajectory planning for the second sub-trajectory in the embodiment of the present invention can be referred to Figures 2 to 3b The relevant contents of the method provided in the illustrated embodiment will not be repeated in detail in the embodiment of the present invention.

[0159] In the embodiment of the present invention, for the third sub-trajectory, i.e., the horizontal coordinate x of the quay crane spreader s Keep the end position x se unchanged, the ordinate y s From the safe position y b Change to the end position y se , the longitudinal velocity trapezoidal mode can be used for trajectory planning.

[0160] Specifically, in conjunction with the reference manual Figure 6 , the process of trajectory planning for the third sub-trajectory may include the following steps:

[0161] S610: Obtain the coordinates of the terminal position of the quay crane spreader (x se ,y se ), and the safety position ordinate y b ; Among them, the coordinates of the end position (x se ,y se ) includes the end position abscissa x se and the end position y se .

[0162] S620: Determine the y coordinate of the terminal position of the quay crane spreader se and the safety position y b Is the difference greater than the absolute value v of the maximum lifting speed of the quay crane crane? max The square of the maximum acceleration a ma The ratio of x.

[0163] Specifically, we can first calculate the terminal position y of the quay crane crane according to the ordinate y se and the safety position y b Calculate y se -y b The value of is based on the absolute value of the maximum lifting speed of the quay crane hoist v max and the absolute value of the maximum acceleration a max Calculated Then judge the value of yse -y b and The size between.

[0164] S630: If the judgment result is yes (i.e. ), then the trajectory running time T of the third sub-trajectory is calculated according to the following formula (9): se :

[0165]

[0166] Among them, y se is the ordinate of the terminal position of the gantry crane, y b is the vertical coordinate of the safe position, v ma x is the absolute value of the maximum lifting speed of the quay crane crane, a max is the absolute value of the maximum acceleration of the quay crane hoisting device. The specific calculation method can refer to the relevant content of the trajectory planning method of the longitudinal velocity trapezoidal mode, and the embodiment of the present invention will not be repeated here.

[0167] S640: Running time T according to the trajectory of the third sub-trajectory se The trajectory planning of the third sub-trajectory is performed to obtain the motion trajectory shown in the following equation (10):

[0168]

[0169] Among them, x s (t) is the horizontal coordinate of the gantry crane at time t, y s (t) is the ordinate of the gantry crane at time t, x se It is the horizontal coordinate of the terminal position of the quay crane crane.

[0170] Specifically, when When the trajectory running time of the third sub-trajectory is calculated, the longitudinal velocity trapezoidal mode can be used for trajectory planning to obtain the motion trajectory shown in the above formula (10). The specific trajectory planning method can refer to the relevant content of the trajectory planning method of the longitudinal velocity trapezoidal mode, and the embodiment of the present invention will not be repeated here.

[0171] S650: If the judgment result is no (i.e. ), then the trajectory running time T of the third sub-trajectory is calculated according to the following formula (11): se :

[0172]

[0173] Among them, y se is the ordinate of the terminal position of the gantry crane, y b is the vertical coordinate of the safe position, a maxis the absolute value of the maximum acceleration of the quay crane hoisting device. The specific calculation method can refer to the relevant content of the trajectory planning method of the longitudinal velocity trapezoidal mode, and the embodiment of the present invention will not be repeated here.

[0174] S660: Running time T according to the trajectory of the third sub-trajectory se The trajectory planning of the third sub-trajectory is performed to obtain the motion trajectory shown in the following equation (12):

[0175]

[0176] Specifically, when When the trajectory running time of the third sub-trajectory is calculated, the longitudinal velocity trapezoidal mode can be used for trajectory planning to obtain the motion trajectory shown in the above formula (12). The specific trajectory planning method can refer to the relevant content of the trajectory planning method of the longitudinal velocity trapezoidal mode, and the embodiment of the present invention will not be repeated here.

[0177] It can be understood that in the embodiment of the present invention, the longitudinal speed trapezoidal mode is also used for trajectory planning of the third sub-trajectory, which can save the trajectory running time of the quay crane spreader and ensure the operating efficiency of the quay crane spreader.

[0178] The motion trajectory planning method of the quay crane crane provided in an embodiment of the present invention is described in detail below through a specific embodiment.

[0179] In one example, the inherent constraints of the quay crane equipment may be determined first, for example, including but not limited to the operating range L = [2,50] m of the quay crane hoisting device, the absolute value of the maximum speed v max =3m / s, the absolute value of the maximum acceleration is a max =0.5m / s 2 Constraints such as the operating range of the quay crane trolley X c =[0,140]m, the absolute value of the maximum velocity v cmax =4m / s, the maximum absolute value of acceleration a cmax =0.6m / s 2 The coordinates of the initial position of the gantry crane can also be obtained (x s0 ,y s0 )=(20,44), the coordinates of the end position (x se ,y se )=(80,28), and determine the vertical coordinate y of the safe position based on the obstacle information b = 20. Set the initial sway angular acceleration α0 = 0 rad / s2 and the final sway angular acceleration α e =0rad / s2, and the second trajectory takes T=30s.

[0180] Then, the first sub-trajectory can be planned, that is, the quay crane crane is (x s0 ,y s0 ) changes to (x s0 ,y b ). Because y s0 -y b =24, Right now Therefore, the trajectory running time T of the first sub-trajectory can be calculated according to the above formula (5): s0 :

[0181]

[0182] And according to the above formula (6), the motion trajectory of the first sub-trajectory is obtained as follows:

[0183] x s (t)=20 t∈[0,14]

[0184]

[0185] Then, the second sub-trajectory can be planned, that is, the quay crane crane is (x s0 ,y b ) changes to (x se ,y b ). Assuming that the motion trajectory model is constructed based on a ninth-order polynomial, the trajectory running time T = 30s can be substituted into the initial constraint and termination constraint conditions shown in equations (3) and (4) above to obtain the following set of equations:

[0186]

[0187] and

[0188]

[0189] By solving the coefficients of the ninth-order polynomial using the above equations, we can obtain a0=20, a1=0, a2=0, a3=0, a4=0, a5=7560, a6=-25200, a7=32400, a8=-18900, a9=4200, that is, the motion trajectory of the second sub-trajectory is:

[0190]

[0191] where t∈[0,30].

[0192] At this time, you can use To obtain Figure 7a The horizontal coordinate trajectory, velocity curve and acceleration curve of the quay crane trolley are shown in Figure 1. Figure 7aAs shown in the figure, at this time, the position of the quay crane trolley is within the operating range X of the quay crane trolley. c =[0, 140]m, but the maximum speed and maximum acceleration both exceed the threshold value, and do not meet the position, speed and acceleration constraints of the quay crane trolley.

[0193] Therefore, the trajectory running time T = 30s can be adjusted to T = 40s and solved again, and we can still get a0 = 20, a1 = 0, a2 = 0, a3 = 0, a4 = 0, a5 = 7560, a6 = -25200, a7 = 32400, a8 = -18900, a9 = 4200. At this time, the motion trajectory of the second sub-trajectory is:

[0194]

[0195] where t∈[0,40].

[0196] At this time, you can use To obtain Figure 7b The horizontal coordinate trajectory, velocity curve and acceleration curve of the quay crane trolley are shown in Figure 1. Figure 7b As shown in Figure 1, the position, maximum speed and maximum acceleration of the quay crane vehicle do not exceed the threshold at this time, satisfying the position, speed and acceleration constraints of the quay crane vehicle. The motion trajectory obtained when T = 40s can be used as the final planning result of the second sub-trajectory.

[0197] Finally, the third sub-trajectory can be planned, that is, the quay crane crane is (x se ,y b ) changes to (x se ,y se ). Because y se -y b =8, Right now Therefore, the trajectory running time T of the third sub-trajectory can be calculated according to the above formula (11): se :

[0198]

[0199] And according to the above formula (12), the motion trajectory of the third sub-trajectory is obtained as follows:

[0200] x s (t)=80 t∈[0,8]

[0201]

[0202] It should be noted that other contents in the embodiments of the present invention can be referred to Figures 2 to 6 The relevant contents in the illustrated embodiments will not be described in detail in the embodiments of the present invention.

[0203] In summary, according to the motion trajectory planning method of the quay crane crane according to the embodiment of the present invention, the motion trajectory of the quay crane crane is expressed in the form of a high-order polynomial by utilizing the characteristics of clear structure and simple operation of the polynomial, and the coefficients of each term of the high-order polynomial are calculated in combination with the constraints of the quay crane crane at the initial position, the terminal position and the operation control, so as to plan the motion trajectory of the quay crane crane. This not only improves the accuracy of the trajectory planning of the quay crane crane, but also because it takes into account the dynamics and kinematic characteristics of the quay crane crane, the quay crane crane can track the planned motion trajectory well, thereby greatly improving the operating efficiency of the quay crane crane.

[0204] Reference Manual Attached Figure 8 , which shows the structure of a motion trajectory planning device 800 for a quay crane crane provided by an embodiment of the present invention. Figure 8 As shown, the apparatus 800 may include:

[0205] A first acquisition module 810 is used to acquire initial state information and final state information of the quay crane spreader, and a first motion constraint condition of the quay crane trolley corresponding to the quay crane spreader;

[0206] A construction module 820, configured to construct a second motion constraint condition of the quay crane spreader based on the first motion constraint condition;

[0207] The first planning module 830 is used to iteratively solve the preset motion trajectory model based on the initial state information, the final state information and the second motion constraint condition to obtain the trajectory planning result of the quay crane spreader;

[0208] Among them, the motion trajectory model is constructed based on high-order polynomials.

[0209] In some embodiments, the apparatus 800 may further include: a trajectory model building module, configured to build a motion trajectory model based on a high-order polynomial.

[0210] Reference Manual Attached Fig. 9 , which shows the structure of a motion trajectory planning device 900 of a quay crane crane provided by another embodiment of the present invention. Fig. 9 As shown, the apparatus 900 may include:

[0211] The second acquisition module 910 is used to acquire the initial state information and the final state information of the quay crane spreader, and the obstacle information near the quay crane spreader;

[0212] A segmentation module 920 is used to segment the motion trajectory of the quay crane spreader based on the initial state information, the final state information and the obstacle information to obtain at least one sub-trajectory;

[0213] The second planning module 930 is used to utilize Figures 2 to 3b The method provided in the illustrated embodiment performs trajectory planning on part or all of the sub-trajectories to obtain an overall trajectory planning result for the quay crane crane.

[0214] It should be noted that the device provided in the above embodiment, when implementing its functions, only uses the division of the above functional modules as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device provided in the above embodiment and the corresponding method embodiment belong to the same concept, and the specific implementation process is detailed in the corresponding method embodiment, which will not be repeated here.

[0215] An embodiment of the present invention also provides an electronic device, which includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the motion trajectory planning method of the quay crane crane provided in the above method embodiment.

[0216] The memory can be used to store software programs and modules. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs required for functions, etc.; the data storage area can store data created according to the use of the device, etc. In addition, the memory can include a high-speed random access memory and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. Accordingly, the memory can also include a memory controller to provide the processor with access to the memory.

[0217] In conjunction with the reference manual Fig.10 , which is a block diagram of an electronic device 1000 according to an embodiment of the present invention. The electronic device 1000 may include one or more processors 1002, a system control logic 1008 connected to at least one of the processors 1002, a system memory 1004 connected to the system control logic 1008, a non-volatile memory (NVM) 1006 connected to the system control logic 1008, and a network interface 1010 connected to the system control logic 1008.

[0218] The processor 1002 may include one or more single-core or multi-core processors. The processor 1002 may include any combination of general-purpose processors and special-purpose processors (e.g., graphics processors, application processors, baseband processors, etc.). In the embodiments of the present invention, the processor 1002 may be configured to execute the following Figures 2 to 7bOne or more of the various embodiments shown.

[0219] In some embodiments, system control logic 1008 may include any suitable interface controller to provide any suitable interface to at least one of processors 1002 and / or any suitable device or component in communication with system control logic 1008 .

[0220] In some embodiments, the system control logic 1008 may include one or more memory controllers to provide an interface to the system memory 1004. The system memory 1004 may be used to load and store data and / or instructions. In some embodiments, the memory 1004 of the device 1000 may include any suitable volatile memory, such as a suitable dynamic random access memory (DRAM).

[0221] NVM / memory 1006 may include one or more tangible, non-transitory computer-readable media for storing data and / or instructions. In some embodiments, NVM / memory 1006 may include any suitable non-volatile memory such as flash memory and / or any suitable non-volatile storage device, such as at least one of a HDD (Hard Disk Drive), a CD (Compact Disc) drive, and a DVD (Digital Versatile Disc) drive.

[0222] NVM / storage 1006 may include a portion of storage resources installed on a device of device 1000, or it may be accessible to the device but not necessarily a part of the device. For example, NVM / storage 1006 may be accessed over a network via network interface 1010.

[0223] In particular, system memory 1004 and NVM / storage 1006 may include, respectively, a temporary copy and a permanent copy of instructions 1020. Instructions 1020 may include instructions that, when executed by at least one of processors 1002, cause device 1000 to perform the following operations: Figures 2 to 7b Instructions of the motion trajectory planning method of the quay crane spreader are shown. In some embodiments, the instructions 1020, hardware, firmware and / or software components thereof may be additionally / alternatively placed in the system control logic 1008, the network interface 1010 and / or the processor 1002.

[0224] The network interface 1010 may include a transceiver for providing a radio interface for the device 1000, thereby communicating with any other suitable device (such as a front-end module, an antenna, etc.) through one or more networks. In some embodiments, the network interface 1010 may be integrated with other components of the device 1000. For example, the network interface 1010 may be integrated with at least one of a communication module of the processor 1002, a system memory 1004, an NVM / storage 1006, and a firmware device (not shown) having instructions, and when at least one of the processors 1002 executes the instructions, the device 1000 implements Figures 2 to 7b One or more of the various embodiments shown.

[0225] The network interface 1010 may further include any suitable hardware and / or firmware to provide a multiple-input multiple-output radio interface. For example, the network interface 1010 may be a network adapter, a wireless network adapter, a telephone modem and / or a wireless modem.

[0226] In one embodiment, at least one of the processors 1002 may be packaged together with logic for one or more controllers of the system control logic 1008 to form a system in package (SiP). In one embodiment, at least one of the processors 1002 may be integrated on the same die with logic for one or more controllers of the system control logic 1008 to form a system on chip (SoC).

[0227] The device 1000 may further include an input / output (I / O) device 1012. The I / O device 1012 may include a user interface to enable a user to interact with the device 1000; the design of the peripheral component interface enables the peripheral components to also interact with the device 1000. In some embodiments, the device 1000 further includes a sensor for determining at least one of an environmental condition and location information related to the device 1000.

[0228] In some embodiments, the user interface may include, but is not limited to, a display (e.g., an LCD display, a touch screen display, etc.), a speaker, a microphone, one or more cameras (e.g., a still image camera and / or a video camera), a flashlight (e.g., an LED flash), and a keyboard.

[0229] In some embodiments, the peripheral component interface may include, but is not limited to, a non-volatile memory port, an audio jack, and a power interface.

[0230] In some embodiments, the sensors may include, but are not limited to, gyroscope sensors, accelerometers, proximity sensors, ambient light sensors, and positioning units. The positioning unit may also be part of or interact with the network interface 1010 to communicate with components of a positioning network (e.g., global positioning system (GPS) satellites).

[0231] It is to be understood that the structure illustrated in the embodiment of the present invention does not constitute a specific limitation on the electronic device 1000. In other embodiments of the present invention, the electronic device 1000 may include more or fewer components than shown in the figure, or combine some components, or separate some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0232] An embodiment of the present invention also provides a computer-readable storage medium, which can be set in an electronic device to store at least one instruction or at least one program related to implementing a motion trajectory planning method for a quay crane crane. The at least one instruction or the at least one program is loaded and executed by the processor to implement the motion trajectory planning method for a quay crane crane provided in the above method embodiment.

[0233] Optionally, in an embodiment of the present invention, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store program codes.

[0234] One embodiment of the present invention also provides a computer program product, which includes a computer program / instructions. When the computer program product runs on an electronic device, the computer program / instructions are loaded and executed by a processor to implement the steps of the motion trajectory planning method for the quay crane crane provided in the above-mentioned various optional embodiments.

[0235] It should be noted that the sequence of the embodiments of the present invention described above is for description only and does not represent the advantages and disadvantages of the embodiments. The above describes specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0236] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0237] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0238] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A motion trajectory planning method for a quay crane spreader, characterized in that: The method comprises: Acquire initial state information and final state information of the quay crane spreader, and a first motion constraint condition of the quay crane trolley corresponding to the quay crane spreader; Constructing a second motion constraint condition for the quay crane spreader based on the first motion constraint condition; Iteratively solving a preset motion trajectory model based on the initial state information, the terminal state information and the second motion constraint condition to obtain a trajectory planning result of the quay crane spreader; Wherein, the motion trajectory model is constructed based on a high-order polynomial.

2. The method according to claim 1, characterized in that The initial state information includes one or more of an initial position, an initial velocity, an initial swing angle, an initial swing angular velocity, and an initial swing angular acceleration; the termination state information includes one or more of a termination position, a termination velocity, a termination swing angle, a termination swing angular velocity, and a termination swing angular acceleration.

3. The method according to claim 1, characterized in that: The first motion constraint condition includes a first position constraint condition, a first speed constraint condition and a first acceleration constraint condition; The constructing the second motion constraint condition of the quay crane spreader based on the first motion constraint condition comprises: Determining the positional relationship between the quay crane trolley and the quay crane spreader; According to the position relationship and the first position constraint condition, the first speed constraint condition and the first acceleration constraint condition, a second position constraint condition, a second speed constraint condition and a second acceleration constraint condition of the quay crane spreader are respectively constructed.

4. The method according to claim 1, characterized in that The method further comprises: The motion trajectory model is constructed based on a high-order polynomial, and the motion trajectory model is: Among them, x s (t) is the position of the quay crane at time t, n is the order of the polynomial, a i (i=0,1,…,n) are the coefficients of the polynomial, and T is the trajectory running time.

5. The method according to claim 1, characterized in that The iteratively solving a preset motion trajectory model based on the initial state information, the terminal state information and the second motion constraint condition to obtain a trajectory planning result of the quay crane spreader includes: Based on the initial state information and the final state information, constructing initial constraint conditions and final constraint conditions of the quay crane spreader; Determine the trajectory running time; Solving the motion trajectory model according to the initial constraint condition, the termination constraint condition and the trajectory running time to obtain the motion trajectory of the quay crane spreader; Determining whether the motion trajectory satisfies the second motion constraint condition; If satisfied, the motion trajectory is used as the trajectory planning result of the quay crane crane; If not, the trajectory running time is updated, and the motion trajectory model is re-solved based on the updated trajectory running time until the solved motion trajectory satisfies the second motion constraint condition.

6. A motion trajectory planning method for a quay crane spreader, characterized in that: The method comprises: Acquire initial state information and final state information of the quay crane spreader, and obstacle information near the quay crane spreader; Based on the initial state information, the final state information and the obstacle information, segmenting the motion trajectory of the quay crane spreader to obtain at least one sub-trajectory; Utilizing the method described in any one of claims 1 to 5, trajectory planning is performed on part or all of the sub-trajectories to obtain an overall trajectory planning result of the quay crane crane.

7. A motion trajectory planning device for a quay crane spreader, characterized in that: The device comprises: A first acquisition module is used to acquire initial state information and final state information of the quay crane spreader, and a first motion constraint condition of the quay crane trolley corresponding to the quay crane spreader; A construction module, used for constructing a second motion constraint condition of the quay crane spreader based on the first motion constraint condition; A first planning module, configured to iteratively solve a preset motion trajectory model based on the initial state information, the terminal state information and the second motion constraint condition to obtain a trajectory planning result of the quay crane spreader; Wherein, the motion trajectory model is constructed based on a high-order polynomial.

8. A motion trajectory planning device for a quay crane spreader, characterized in that: The device comprises: A second acquisition module is used to acquire initial state information and final state information of the quay crane spreader, and obstacle information near the quay crane spreader; A segmentation module, configured to segment the motion trajectory of the quay crane spreader based on the initial state information, the terminal state information and the obstacle information to obtain at least one sub-trajectory; The second planning module is used to perform trajectory planning on part or all of the sub-trajectories using the method described in any one of claims 1 to 5 to obtain the overall trajectory planning result of the quay crane crane.

9. An electronic device, characterized in that: The electronic device includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the motion trajectory planning method of the quay crane crane as described in any one of claims 1-6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the motion trajectory planning method of the quay crane crane as described in any one of claims 1-6.

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