A motion trajectory planning method, device, equipment and medium for quay crane spreader

Abstract

The present invention relates to the field of automated equipment systems for port container terminals, and specifically to a motion trajectory planning method, device, equipment, and medium for a quay crane spreader. The method comprises: obtaining initial state information and terminal state information of the quay crane spreader, and a first motion constraint condition of a 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 for the quay crane spreader; wherein the motion trajectory model is constructed based on a high-order polynomial. The motion trajectory planning method for a quay crane spreader of the present invention can improve the accuracy of trajectory planning for the quay crane spreader, thereby improving the operating efficiency of the quay crane spreader.

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 spreader. Background Art

[0002] Container quay cranes (QSCs) are the most widely used container cranes along the shores of container terminals. Their primary function is to load, unload, and transport standard containers between the seaside and landside. This involves stacking containers from landside transport vehicles to designated locations on seaside container ships, or loading containers from seaside container ships onto landside transport vehicles, completing container transport between the seaside and landside locations, according to terminal regulations.

[0003] With the rapid increase in container terminal throughput, the continued growth of container transport vessels, the continuous rise in labor costs, and the increasing awareness of environmental protection, container terminals are placing increasingly high demands on the automation of quay cranes. Automated quay cranes have become one of the key technologies and equipment for achieving unmanned container terminal operations, and their level of automation directly impacts the operational efficiency of automated terminals.

[0004] In the automatic container transportation process 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 movement 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 limitations 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) motion trajectory of the crane crane by controlling the motion of the quay crane trolley and the hoist, and combining the characteristics and constraints of the electromechanical actuator, as well as the limitations of the external obstacle contours. This method mainly focuses on simple path planning, using simple straight lines, multiple curves and various corresponding transformations to express the motion path of the quay crane crane. This type of method has problems such as complex trajectory expression, large amount of calculation 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-mentioned 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 spreader, which can improve the accuracy of trajectory planning of the quay crane spreader, thereby improving the operating efficiency of the quay crane spreader.

[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] Furthermore, 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 trajectory running time;

[0024] The motion trajectory model is solved according to the initial constraints, termination constraints and 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 satisfied, the motion trajectory is used 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 and final status 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 spreader 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 spreader.

[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 obtain 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, configured to construct a second motion constraint condition for 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 final 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 obtain the initial state information and the final state information of the quay crane spreader, as well as 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 spreader as described above, and obtain the overall trajectory planning result of the quay crane spreader.

[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, and 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 spreader 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 the clear structure and simple calculation of the polynomial. In combination with the constraints of the quay crane crane at the initial position, the terminal position and the operation control, the coefficients of each term of the high-order polynomial are calculated, thereby planning 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 dynamic 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] To more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present invention, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

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

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

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

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

[0056] Figure 8 1 is a schematic structural diagram of a motion trajectory planning device for a quay crane spreader provided by one embodiment of the present invention;

[0057] Figure 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] Figure 10 This is a block diagram of an electronic device provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0059] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of 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 making creative efforts shall fall within the scope of protection of the present invention.

[0060] It should be noted that the terms "first," "second," and the like in the description 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 precedence. It should be understood that the numbers used in this manner are interchangeable 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," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, apparatus, product, or device comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to these processes, methods, products, or devices.

[0061] In order to make the purpose, technical solutions 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 intended to limit the embodiments of the present invention.

[0062] Reference Manual Figure 1 , which shows a schematic structural diagram of a quay crane spreader motion system provided by an embodiment of the present invention. Figure 1As shown, the quay crane spreader motion system may include a quay crane trolley track 110, a quay crane trolley 120, a wire rope 130, a quay crane spreader 140, and a ground obstacle 150. The quay crane trolley track 110 is at the same level, and 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 spreader 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 spreader 140) can be recorded as θ. It is also possible to define the rectangular coordinate system OXY of the quay crane spreader motion system with a certain point O on the quay crane trolley track as the origin, the rightward running 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 y 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 y 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] Example 1

[0066] Reference Manual 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 gantry crane movement system. Figure 2 As shown, the method may include the following steps:

[0067] S210: 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.

[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. The initial state information may include one or more of the initial position, initial velocity, initial swing angle, initial swing angular velocity and initial swing angular acceleration. The terminal state information may include one or more of the terminal position, terminal velocity, 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 spreader 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 Waiting 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 and the ordinate of the final position of the quay crane spreader are the same (i.e., y s0 =y se ), and the vertical 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 spreader 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 of the quay crane trolley including but not limited to 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 spreader based on the first motion constraint condition.

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

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

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

[0077]

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

[0079] Then we can get:

[0080]

[0081] Where g is the gravitational acceleration constant.

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

[0083] Specifically, after determining the position relationship, the second motion constraint of the quay crane spreader can be determined based on the first motion constraint of the quay crane trolley. For example, assuming that the first motion constraint includes the operating range X of the quay crane trolley 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 spreader, g is the gravitational acceleration constant,

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

[0087] S230: Iteratively solving 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 spreader; wherein the motion trajectory model is constructed based on a high-order polynomial.

[0088] In an embodiment of the present invention, a motion trajectory model of the quay crane spreader can be constructed based on a high-order polynomial. Initial and final state information, combined with a preset trajectory run time, is then used to construct a system of equations for solving the polynomial coefficients in the motion trajectory model. This system then employs a cyclic iteration approach to solve for the motion trajectory that satisfies the second motion constraint of the quay crane spreader. During the iteration process, the resulting motion trajectory of the quay crane spreader can be adjusted by adjusting the trajectory run 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 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 gantry crane is s A ninth-order polynomial in time t is used 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 crane 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 crane crane 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 embodiments of the present invention, initial constraints for the motion trajectory model can be constructed based on the initial state information of the quay crane spreader, and termination constraints for 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 and termination constraints can be determined based on the order of the motion trajectory model. For example, if the motion trajectory model is a ninth-order polynomial, the number of equations in both the initial and termination constraints can be five.

[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 and the termination constraint shown in the above equations (3) and (4) to obtain a set of equations. By solving the set of equations, the coefficients a of the high-order polynomials in the motion trajectory model can be obtained. i (i=0, 1, ..., n), that is, the motion trajectory of the quay crane spreader 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 further 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 velocity constraint condition, and the second acceleration constraint condition are satisfied.

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

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

[0111] In an 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 solved motion trajectory can be directly used as the trajectory planning result of the quay crane spreader.

[0112] S236: If not, update the trajectory running time, and return to step S233 to re-solve the motion trajectory model based on the updated trajectory running time until the solved motion trajectory meets the second motion constraint condition.

[0113] In this 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 velocity constraint, or the second acceleration constraint, an iterative process may be entered. In this case, the trajectory runtime may be adjusted, and the process returns to step S233 to solve a new motion trajectory and determine whether the new motion trajectory satisfies the second motion constraint. This 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 impose any specific limitation on 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, terminal position and operation control conditions of the quay crane crane, 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 reduces the amount of calculation, can improve the efficiency of trajectory planning, and thus improve the operating efficiency of the entire quay crane crane motion system.

[0116] In some embodiments, the Figure 3b , and 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 spreaders (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 positional relationship between the quay crane trolley and the quay crane spreader, the trolley 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 gantry crane. If it is not satisfied, the trajectory running time is updated, and the motion trajectory model is re-solved based on the updated trajectory running time until the motion trajectory x is obtained according to the solution. s (t) The calculated trajectory of the 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 in an 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, terminal position and 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 dynamic 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.

[0118] Example 2

[0119] Reference Manual Figure 4 , which shows the process of a motion trajectory planning method for a quay crane spreader 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, as well as 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. The initial state information may include one or more of the initial position, initial velocity, initial swing angle, initial swing angular velocity and initial swing angular acceleration. The terminal state information may include one or more of the terminal position, terminal velocity, terminal swing angle, terminal swing angular velocity and terminal swing angular acceleration.

[0122] In practical applications, the coordinates of the initial position of the gantry 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 is also possible to determine 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 Waiting for status information.

[0123] In the embodiment of the present invention, when performing trajectory planning, the inherent constraints of the quay crane equipment can also be determined, such as but not limited to the constraints of the lifting of the quay crane spreader and the first motion constraints of the quay crane trolley. The constraints of the lifting of the quay crane spreader can include but not limited to the operating range L of the lifting of the quay crane spreader, 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 trolley may include but is not limited to the operating range X of the quay crane trolley. 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, during trajectory planning, information about obstacles near the quay crane crane that may affect the operation of the quay crane crane may also be obtained. The obstacle information may include but is not limited to information about the height of the obstacle, etc., and this embodiment of the present invention does not impose any specific restrictions on this.

[0125] S420: 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.

[0126] In an embodiment of the present invention, during the operation of the quay crane crane, it is necessary to avoid nearby obstacles. Therefore, the motion trajectory of the quay crane crane can be segmented according to the obstacles, and the segmented trajectory planning method can be used to plan each sub-trajectory separately, and finally the overall trajectory planning result of the quay crane crane can be 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 vertical coordinate y of the end position se The motion trajectory of the quay 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 vertical coordinate 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 , 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 horizontal coordinate x se unchanged, the vertical coordinate 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 , 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 horizontal coordinate x se unchanged, the vertical coordinate 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 vertical coordinate 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 , 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 vertical coordinate y of the gantry crane s Keep the initial position y s0 unchanged), the vertical coordinate 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 vertical coordinate 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 horizontal coordinate x se unchanged), the horizontal coordinate x s From the initial position x s0 Change to the end position horizontal coordinate x se (or the vertical coordinate 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 without segmenting, that is, the entire operation process of the quay crane spreader is planned as a trajectory, in which the vertical coordinate y of the quay crane spreader is s Always remain unchanged, the horizontal axis x 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 spreader 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 spreader.

[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 spreader. 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 illustrated embodiment provides a method 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 spreader in sections and combining the characteristics and constraints of the quay crane spreader and the limitations of external obstacles, a safe, smooth and fast spreader operation trajectory can be planned, and the accuracy of the quay crane spreader trajectory planning can be further improved.

[0136] The following is to divide the motion trajectory of the quay crane into three sections, and use the following method: 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, that is, the horizontal coordinate x of the quay crane spreader s Keep the initial position x s0 unchanged, the vertical coordinate 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, refer to the attached 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 gantry crane spreader (x s0 ,y s0 ), and the safety position ordinate y b ; Among them, the coordinates of the initial position (x s0 ,ys0 ) including 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 of the maximum lifting speed of the quay crane crane v max The square of the maximum acceleration a max The ratio.

[0141] Specifically, we can first calculate the initial position y of the gantry crane crane based on the vertical coordinate y s0 and the safety position y b Calculate y s0 -y b The value of the maximum lifting speed of the quay crane is based on the absolute value 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 gantry 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 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: Run the trajectory according to the first sub-trajectory for a certain time T s0 The trajectory planning of the first sub-trajectory is performed to obtain the motion trajectory shown in the following formula (6):

[0146]

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

[0148] Specifically, when When , the trajectory planning can be performed using the longitudinal velocity trapezoidal mode according to the calculated trajectory running time of the first sub-trajectory, resulting in the motion trajectory shown in equation (6). The specific trajectory planning method can be referred 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.

[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 gantry crane, y b is the vertical coordinate of the safe position, a max 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: Run the trajectory according to the first sub-trajectory for a certain time T s0 The trajectory planning of the first sub-trajectory is performed to obtain the motion trajectory shown in the following formula (8):

[0153] x s (t) = x s0 t∈[0,T s0 ]

[0154]

[0155] Specifically, when When , the trajectory planning can be performed using the longitudinal velocity trapezoidal mode according to the calculated trajectory running time of the first sub-trajectory, resulting in the motion trajectory shown in equation (8). The specific trajectory planning method can be referred 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, that is, the horizontal coordinate x of the quay crane spreader s From the initial position x s0Change to the end position horizontal coordinate x se , 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 shown is used for trajectory planning.

[0158] It should be noted that the specific content of 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 here in the embodiment of the present invention.

[0159] In the embodiment of the present invention, for the third sub-trajectory, that is, the horizontal coordinate x of the quay crane spreader s Keep the end position horizontal coordinate x se unchanged, the vertical coordinate 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, refer to the attached 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 ) including the end position abscissa x se and the end position ordinate y se .

[0162] S620: Determine the y coordinate of the terminal position of the gantry crane spreader se and the safety position y b Is the difference greater than the absolute value of the maximum lifting speed of the quay crane crane v 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 gantry crane se and the safety position y b Calculate y se -y b The value of the maximum lifting speed of the quay crane is based on the absolute value 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 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: Run the trajectory according to the third sub-trajectory for a time T se The trajectory planning of the third sub-trajectory is performed to obtain the motion trajectory shown in the following formula (10):

[0168]

[0169] Among them, x s (t) is the horizontal coordinate of the gantry crane at time t, y s (t) is the vertical coordinate 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 planning can be performed using the longitudinal velocity trapezoidal mode according to the calculated trajectory running time of the third sub-trajectory, resulting in the motion trajectory shown in equation (10). The specific trajectory planning method can be referred 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.

[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 maxThe 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: Run the trajectory according to the third sub-trajectory for a time T se The trajectory planning of the third sub-trajectory is performed to obtain the motion trajectory shown in the following formula (12):

[0175]

[0176] Specifically, when When , the trajectory planning can be performed using the longitudinal velocity trapezoidal mode according to the calculated trajectory running time of the third sub-trajectory, resulting in the motion trajectory shown in equation (12). The specific trajectory planning method can be referred 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.

[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 by the 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 can be determined first, such as but not limited to the operating range of the quay crane hoisting device L = [2,50] m, the absolute value of the maximum speed v max =3m / s, the absolute value of the maximum acceleration 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 Constraints such as the following can also be obtained. The coordinates of the initial position of the gantry crane (x s0 ,y s0 )=(20,44), the coordinates of the end position (x se ,y se )=(80,28), and determine the safe position ordinate y according to the obstacle information b = 20. Set the initial swing angular acceleration α0 = 0rad / s2 and the final swing 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 is moved from (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 is moved from (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 and termination constraints shown in equations (3) and (4) above to obtain the following set of equations:

[0186]

[0187] and

[0188]

[0189] Using the above equations to solve the coefficients of the ninth-order polynomial, 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 FIG. Figure 7aAs shown, 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 the solution can be repeated. 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 FIG. Figure 7b As shown in Figure 1, the position, maximum speed, and maximum acceleration of the quay crane vehicle at this time do not exceed the threshold, satisfying the position, speed, and acceleration constraints of the quay crane vehicle. The motion trajectory obtained at 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 in an 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, terminal position and 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 dynamic 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.

[0204] Reference Manual 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 configured 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 is configured to construct a second motion constraint condition for 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 construction module, configured to construct a motion trajectory model based on a high-order polynomial.

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

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

[0212] A segmentation module 920 is configured 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 spreader.

[0214] It should be noted that the devices provided in the above embodiments are only illustrated by the division of the above functional modules when implementing their functions. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the devices provided in the above embodiments and the corresponding method embodiments are based on the same concept. The specific implementation process is detailed in the corresponding method embodiments and 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-mentioned 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. The program storage area can store the operating system, application programs required for functions, etc.; the data storage area can store data created based on the use of the device, etc. In addition, the memory can include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory can also include a memory controller to provide the processor with access to the memory.

[0217] Combined with the reference manual Figure 10 , which is a block diagram of an electronic device 1000 according to one 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 this document, the processor 1002 may be configured to execute the following operations: 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 an 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 apparatus 1000, or it may be accessible to the apparatus but not necessarily a part of the apparatus. 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 In some embodiments, the instructions 1020 , hardware, firmware, and / or software components thereof may be additionally or 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 to communicate with any other suitable devices (such as a front-end module, an antenna, etc.) via 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, the system memory 1004, the NVM / storage 1006, and a firmware device (not shown) having instructions. 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] Device 1000 may further include an input / output (I / O) device 1012. I / O device 1012 may include a user interface to enable a user to interact with device 1000; peripheral component interfaces may also be designed to enable peripheral components to interact with device 1000. In some embodiments, device 1000 may further include a sensor for determining at least one of environmental conditions and location information related to 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, a gyroscope sensor, an accelerometer, a proximity sensor, an ambient light sensor, and a positioning unit. 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., a Global Positioning System (GPS) satellite).

[0231] It should 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, or may combine or separate certain components, or arrange the components differently. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0232] One 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 is run 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 various optional embodiments above.

[0235] It should be noted that the order in which the embodiments of the present invention are described above is for illustrative purposes only and does not represent the superiority or inferiority of the embodiments. The above description is of specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described 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 accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0236] The various embodiments in this specification are described in a progressive manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences from other embodiments. In particular, the device embodiments are generally similar to the method embodiments, so the description is relatively simple. For relevant parts, refer to the description of the method embodiments.

[0237] Those 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 a program to instruct the relevant hardware, and the program may be stored in a computer-readable storage medium, which 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 principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A motion trajectory planning method for a quay crane spreader, characterized in that: The method comprises: Acquiring 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, wherein the initial state information includes an initial position, an initial velocity, an initial swing angle, an initial swing angular velocity, and an initial swing angular acceleration; and the final state information includes a final position, a final velocity, a final swing angle, a final swing angular velocity, and a final swing angular acceleration; The second motion constraint of the quay crane spreader is constructed based on the first motion constraint, wherein the first motion constraint includes a first position constraint, a first speed constraint, and a first acceleration constraint. The second motion constraint of the quay crane spreader is constructed based on the first motion constraint, including: determining the positional relationship between the quay crane trolley and the quay crane spreader, and constructing the second position constraint, the second speed constraint, and the second acceleration constraint of the quay crane spreader according to the positional relationship and the first position constraint, the first speed constraint, and the first acceleration constraint, respectively. The first position constraint is the operating range X of the trolley. c , the first speed constraint is the absolute value of the maximum speed V cmax , the first acceleration constraint condition is the maximum acceleration absolute value a cmax , the second position constraint, the second velocity constraint, and the second acceleration constraint of the second motion constraint are respectively: , Among them, x s is the horizontal coordinate of the quay crane spreader, g is the gravitational acceleration constant, is the length of the wire rope connecting the quay crane trolley and the quay crane spreader, and t is the time; 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, including: constructing an initial constraint condition and a terminal constraint condition of the quay crane spreader based on the initial state information and the terminal state information; determining a trajectory running time; solving the motion trajectory model according to the initial constraint condition, the terminal constraint condition, and the trajectory running time to obtain a motion trajectory of the quay crane spreader; judging whether the motion trajectory satisfies the second motion constraint condition; if so, using the motion trajectory as the trajectory planning result of the quay crane spreader; if not, updating the trajectory running time, and re-solving the motion trajectory model based on the updated trajectory running time until the solved motion trajectory satisfies the second motion constraint condition; The motion trajectory model is constructed based on a high-order polynomial, and the motion trajectory model is: ， The initial constraints are: , The termination constraints are: , 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 the coefficients of the polynomial, T is the trajectory running time, and θ is the angle between the wire rope and the vertical direction.

2. A motion trajectory planning method for a quay crane spreader, characterized in that: The method comprises: Obtaining initial state information and final state information of the quay crane spreader, as well as obstacle information near the quay crane spreader; Segmenting 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; Using the method according to claim 1, trajectory planning is performed on part or all of the sub-trajectories to obtain the overall trajectory planning result of the quay crane spreader.

3. A motion trajectory planning device for a quay crane spreader, characterized in that: The method according to claim 1, wherein the device comprises: a first acquisition module, configured 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, configured to construct a second motion constraint condition for 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 final state information, and the second motion constraint condition to obtain a trajectory planning result for the quay crane spreader; Wherein, the motion trajectory model is constructed based on a high-order polynomial.

4. A motion trajectory planning device for a quay crane spreader, characterized in that: The method according to claim 2, wherein the device comprises: a second acquisition module, configured 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 is configured 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; The second planning module performs trajectory planning on part or all of the sub-trajectories to obtain an overall trajectory planning result of the quay crane spreader.

5. 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 1-2.

6. 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 spreader according to any one of claims 1-2.

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