Intelligent unmanned crane control system

Abstract

The invention discloses an intelligent unmanned crane control system, which relates to the technical field of crane control systems and comprises a data acquisition module, a data processing module, a delay analysis module, a prediction analysis module, a load analysis module and a distributed control module. Extracting shaking information FD1 and inclination information FD2 in the dynamic change information FD, calculating a load risk value Q, and judging a load abnormal state according to the Q; performing three-dimensional dynamic trajectory coincidence judgment of M and N by a prediction analysis module through the position information A and the position information WA, and identifying obstacles in surrounding objects; risk early warning of load analysis and prediction analysis is improved, targeted obstacle avoidance processing is performed according to three different early warning signals of obstacles, and the effect of emergency obstacle avoidance is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of crane control systems, and in particular to an intelligent unmanned crane control system. Background Art

[0002] In the modern industrial field, cranes play a supporting role in the handling of heavy objects, shouldering the dual key missions of improving operating efficiency and ensuring operational safety. With the continuous advancement of industrial automation technology, the limitations of traditional cranes in terms of operating accuracy, real-time response and intelligence level have gradually emerged. These limitations not only affect operating efficiency, but also pose a potential threat to operational safety.

[0003] The booming development of intelligent technology has brought innovation to traditional crane control systems. By integrating cutting-edge sensor technology, efficient data processing algorithms and intelligent decision-making modules, this new control system has realized the autonomous operation and intelligent obstacle avoidance functions of cranes. It can capture and analyze massive and complex data such as position, speed, and load in real time, thus making great progress in automated operation.

[0004] However, although the intelligent unmanned crane control system has made remarkable achievements in the field of automated operation, when faced with complex working conditions such as emergency obstacle avoidance and rapid load adjustment, due to the large scale and complex structure of real-time data, there is a certain delay in the data processing process, and the decision-making response is also relatively slow. This makes it difficult for the crane control system to make quick and accurate judgments in emergency situations, thereby increasing the potential risk of accidents. Summary of the invention

[0005] In view of the above situation, the present invention timely enhances the data link bandwidth by analyzing the data delay, and adjusts the threshold parameters of the load analysis and the three-dimensional motion trajectory of the cantilever according to the data delay analysis results to avoid obstacles in time.

[0006] The technical solution is to include a data acquisition module, a data processing module, a delay analysis module and a prediction analysis module, a load analysis module, and a distribution control module. The data acquisition module collects the dynamic status of the crane and the dynamic status of the surrounding objects, the load status, and the timestamp T1 of sending information, wherein the dynamic status of the crane includes position information A, motion trajectory information B, and cantilever moving speed C, the dynamic status of the surrounding objects includes position information WA, motion trajectory information WB, and moving speed WC, and the load status includes load weight FH, load size information FB, and dynamic change information FD; The data processing module records the timestamp T2 of the information sent by the data acquisition module, removes noise, and detects and processes abnormal values; The delay analysis module calculates the delay time T3=T2-T1, and then extracts the delay time threshold HT in the database. If T3 is greater than HT, it indicates that the information transmission is delayed, the data link bandwidth is enhanced, and the relevant personnel are notified to eliminate the interference factors. If T3 is less than or equal to HT, it indicates that the information transmission is normal; The load analysis module extracts the shaking information FD1 and the tilt information FD2 in the dynamic change information FD, and then extracts the corresponding shaking threshold FD11, tilt threshold FD21, load weight threshold FH1, and load size threshold FB1 from the database, calculates the load risk value Q, and determines the abnormal state of the load according to Q; The prediction and analysis module establishes the three-dimensional dynamic trajectory M of the crane through the crane motion trajectory information B and the cantilever moving speed C, and establishes the three-dimensional dynamic trajectory N of the object through the motion trajectory information WB and the moving speed WC of the surrounding objects, and judges the overlap of the three-dimensional dynamic trajectories of M and N through the position information A and the position information WA, and identifies obstacles in the surrounding objects; The distributed control module receives the analysis results sent by the delay analysis module, the load analysis module, and the prediction analysis module. When there is a delay in information transmission, the risk warning of the load analysis and the prediction analysis is improved. When the load is abnormal, the lifting task is re-executed after eliminating the load abnormality. When obstacles are identified in the surrounding objects, the cantilever is driven away from the overlapping position of the three-dimensional dynamic trajectory.

[0007] The motion trajectory information of the cantilever makes the new motion trajectory information of the cantilever away from the overlapping position of the three-dimensional dynamic trajectory.

[0008] Furthermore, the data processing module detects and processes abnormal values, extracts the cantilever movement speed threshold C1 and the load weight threshold FH1 in the database, when C is greater than C1, it indicates that the cantilever movement speed is abnormal, and when FH is greater than FH1, it indicates that the load weight is abnormal. When either the cantilever movement speed or the load weight is abnormal, the crane suspends work and notifies relevant personnel to inspect the corresponding abnormal parameters. When there is no abnormality during the inspection, the crane resumes work and the data acquisition module re-collects information.

[0009] Further, the load analysis module calculates a load risk value Q, Q=[(FD11- FD1)÷FD11]×0.3+[(FD21- FD2)÷FD21]×0.3+[(FH1- FH)÷FH1]×0.2+[(FB1- FB)÷FB1]×0.2+ε, where ε is an error calibration value of the load risk value Q; If Q is greater than 0.2, it indicates that the load is abnormal. Otherwise, if Q is less than or equal to 0.2, it indicates that the load is normal.

[0010] Furthermore, the prediction and analysis module judges the overlap of the three-dimensional dynamic trajectories of M and N through the position information A and the position information WA, and identifies obstacles among the surrounding objects. When the three-dimensional dynamic trajectories M and N are judged to have overlapping points in spatial position in the future, it indicates that the corresponding object is an obstacle. The overlapping time t is calculated by combining the cantilever moving speed C and the moving speed WC with the three-dimensional dynamic trajectories M and N. If t is less than or equal to 3S, it is the first warning signal, if t is greater than 3S and less than 10S, it is the second warning signal, and if t is greater than 10S, it is the third warning signal. Conversely, when the three-dimensional dynamic trajectories M and N are judged not to have overlapping points in spatial position in the future, it indicates that the corresponding object is not an obstacle.

[0011] Furthermore, when the distributed control module receives information transmission delay, it improves the risk warning of load analysis and predictive analysis, where Q is greater than 0.1, indicating that the load is abnormal, otherwise, Q is less than or equal to 0.1, indicating that the load is normal, and t is less than or equal to 3S, which is the first warning signal, t is greater than 3S and less than 10S, which is the second warning signal, t is greater than 10S, which is the third warning signal, t is less than or equal to 2S, which is the first warning signal, t is greater than 2S and less than 9S, which is the second warning signal, and t is greater than 9S, which is the third warning signal. Otherwise, when the information transmission is normal, the load analysis module and the predictive analysis module work normally; When the load is abnormal, an alarm is sent to remind people around the crane to evacuate quickly. At the same time, the cantilever movement speed is reduced, the lifting task is stopped, the load is placed nearby, and relevant personnel are notified to eliminate the load abnormality. After the load abnormality is eliminated, the lifting task is executed again.

[0012] Furthermore, when the distributed control module receives the first warning signal, it sends an alarm to remind people around the crane to evacuate quickly, and at the same time controls the cantilever working motor to stop working, so as to immediately stop the cantilever from moving according to the current motion trajectory information B, and activates the standby motor to drive the cantilever away from the overlapping position of the three-dimensional dynamic trajectory; When receiving the second warning signal, an alarm is sent to remind people around the crane to evacuate quickly, the cantilever movement speed is reduced, and the cantilever is controlled to move away from the overlapping position of the three-dimensional dynamic trajectory; When receiving the third warning signal, the motion trajectory information of the cantilever is replanned so that the new motion trajectory information of the cantilever is far away from the overlapping position of the three-dimensional dynamic trajectory.

[0013] Furthermore, the motion trajectory information B is the movement trajectory of the cantilever when the crane performs a lifting task, and is the entire motion trajectory information from the starting position to the ending position of the cantilever; The motion trajectory information WB is the movement trajectory of the surrounding objects collected in real time by the data acquisition module. Starting from the detection of the object, the position changes of the surrounding objects are tracked in real time, and the motion trajectory of the surrounding objects is predicted based on the motion trajectory of the currently detected object.

[0014] Due to the adoption of the above technical solution, the present invention has the following advantages compared with the prior art: 1. Information transmission delay, enhance data link bandwidth, notify relevant personnel to eliminate interference factors, extract shaking information FD1 and tilt information FD2 in dynamic change information FD, calculate load risk value Q, judge load abnormal state according to Q, predictive analysis module makes three-dimensional dynamic trajectory coincidence judgment of M and N through position information A and position information WA, and identifies obstacles in surrounding objects. When the distributed control module receives information transmission delay, it improves the risk warning of load analysis and predictive analysis, and makes targeted obstacle avoidance processing for three different warning signals of obstacles, and practices the effect of emergency obstacle avoidance, which has great practicality and promotion. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The present invention is a flow chart of an intelligent unmanned crane control system. DETAILED DESCRIPTION

[0016] The above and other technical contents, features and effects of the present invention are described in detail below with reference to the attached Figure 1 The detailed description of the embodiments will clearly show that the structural contents mentioned in the following embodiments are all based on the drawings in the specification.

[0017] On the existing basis, in order to solve the problem that there is a certain delay in the crane data processing process and the decision-making response is relatively slow when facing complex working conditions such as emergency obstacle avoidance and rapid load adjustment, the potential risk of accidents can be reduced.

[0018] Embodiment 1 includes a data acquisition module, a data processing module, a delay analysis module and a prediction analysis module, a load analysis module, and a distribution control module. The data acquisition module collects the dynamic status of the crane and the dynamic status of the surrounding objects, the load status, and the timestamp T1 of sending information, wherein the dynamic status of the crane includes position information A, motion trajectory information B, and cantilever movement speed C, the dynamic status of the surrounding objects includes position information WA, motion trajectory information WB, and movement speed WC, and the load status includes load weight FH, load size information FB, and dynamic change information FD; The data processing module records the timestamp T2 of the information sent by the data acquisition module, removes noise, and detects and processes abnormal values; The delay analysis module calculates the delay time T3=T2-T1, and then extracts the delay time threshold HT in the database. If T3 is greater than HT, it indicates that the information transmission is delayed, the data link bandwidth is enhanced, and the relevant personnel are notified to eliminate the interference factors. If T3 is less than or equal to HT, it indicates that the information transmission is normal; The load analysis module extracts the shaking information FD1 and the tilt information FD2 in the dynamic change information FD, and then extracts the corresponding shaking threshold FD11, tilt threshold FD21, load weight threshold FH1, and load size threshold FB1 from the database, calculates the load risk value Q, and determines the abnormal state of the load according to Q; The prediction and analysis module establishes the three-dimensional dynamic trajectory M of the crane through the crane motion trajectory information B and the cantilever moving speed C, and establishes the three-dimensional dynamic trajectory N of the object through the motion trajectory information WB and the moving speed WC of the surrounding objects, and judges the overlap of the three-dimensional dynamic trajectories of M and N through the position information A and the position information WA, and identifies obstacles in the surrounding objects; The distributed control module receives the analysis results sent by the delay analysis module, the load analysis module, and the prediction analysis module. When there is a delay in information transmission, the risk warning of the load analysis and the prediction analysis is improved. When the load is abnormal, the lifting task is re-executed after eliminating the load abnormality. When obstacles are identified in the surrounding objects, the cantilever is driven away from the overlapping position of the three-dimensional dynamic trajectory.

[0019] The motion trajectory information of the cantilever makes the new motion trajectory information of the cantilever away from the overlapping position of the three-dimensional dynamic trajectory.

[0020] The data processing module detects and processes abnormal values, extracts the cantilever movement speed threshold C1 and the load weight threshold FH1 in the database, when C is greater than C1, it indicates that the cantilever movement speed is abnormal, when FH is greater than FH1, it indicates that the load weight is abnormal, when either the cantilever movement speed or the load weight is abnormal, the crane suspends work and notifies relevant personnel to inspect the corresponding abnormal parameters, when no abnormality is found during the inspection, the crane resumes work and the data acquisition module re-collects information.

[0021] The load analysis module calculates the load risk value Q, Q=[(FD11- FD1)÷FD11]×0.3+[(FD21-FD2)÷FD21]×0.3+[(FH1- FH)÷FH1]×0.2+[(FB1- FB)÷FB1]×0.2+ε, where ε is the error calibration value of the load risk value Q; If Q is greater than 0.2, it indicates that the load is abnormal. Otherwise, if Q is less than or equal to 0.2, it indicates that the load is normal.

[0022] The prediction and analysis module uses the position information A and the position information WA to determine the overlap of the three-dimensional dynamic trajectories of M and N, and identifies obstacles among the surrounding objects. When the three-dimensional dynamic trajectories M and N are determined to have overlapping points in the future, it indicates that the corresponding object is an obstacle. The overlapping time t is calculated by combining the cantilever movement speed C and the movement speed WC with the three-dimensional dynamic trajectories M and N. If t is less than or equal to 3S, it is the first warning signal. If t is greater than 3S and less than 10S, it is the second warning signal. If t is greater than 10S, it is the third warning signal. Conversely, when the three-dimensional dynamic trajectories M and N are determined not to have overlapping points in the future, it indicates that the corresponding object is not an obstacle.

[0023] When the distributed control module receives information transmission delay, it improves the risk warning of load analysis and predictive analysis, where Q is greater than 0.1, indicating that the load is abnormal, otherwise, Q is less than or equal to 0.1, indicating that the load is normal, and t is less than or equal to 3S, which is the first warning signal, t is greater than 3S and less than 10S, which is the second warning signal, t is greater than 10S, which is the third warning signal, t is less than or equal to 2S, which is the first warning signal, t is greater than 2S and less than 9S, which is the second warning signal, and t is greater than 9S, which is the third warning signal. On the contrary, when the information transmission is normal, the load analysis module and the predictive analysis module work normally; When the load is abnormal, an alarm is sent to remind people around the crane to evacuate quickly. At the same time, the cantilever movement speed is reduced, the lifting task is stopped, the load is placed nearby, and relevant personnel are notified to eliminate the load abnormality. After the load abnormality is eliminated, the lifting task is executed again.

[0024] Since the time is very short when the first warning signal is sent, it is not enough to control the cantilever working motor to change direction immediately, and if the cantilever working motor is stopped immediately, it will easily cause problems with the motor. Therefore, when the distributed control module receives the first warning signal, it sends an alarm to remind people around the crane to evacuate quickly, and at the same time controls the cantilever working motor to stop working, so as to immediately stop the cantilever's current motion trajectory information B from moving, and activate the standby motor to drive the cantilever away from the overlapping position of the three-dimensional dynamic trajectory; When receiving the second warning signal, an alarm is sent to remind people around the crane to evacuate quickly, the cantilever movement speed is reduced, and the cantilever is controlled to move away from the overlapping position of the three-dimensional dynamic trajectory; When receiving the third warning signal, the motion trajectory information of the cantilever is replanned so that the new motion trajectory information of the cantilever is far away from the overlapping position of the three-dimensional dynamic trajectory.

[0025] The motion trajectory information B is the movement trajectory of the cantilever when the crane performs a lifting task, and is the entire motion trajectory information from the starting position to the ending position of the cantilever; The motion trajectory information WB is the movement trajectory of the surrounding objects collected in real time by the data acquisition module. Starting from the detection of the object, the position changes of the surrounding objects are tracked in real time, and the motion trajectory of the surrounding objects is predicted based on the motion trajectory of the currently detected object.

[0026] When the present invention is used specifically, on the basis of the prior art, the data acquisition module collects the dynamic status of the crane and the dynamic status of the surrounding objects, the load status and the timestamp T1 of sending the information, wherein the dynamic status of the crane includes the position information A, the motion track information B, and the cantilever moving speed C, the dynamic status of the surrounding objects includes the position information WA, the motion track information WB and the moving speed WC, and the load status includes the load weight FH, the load size information FB and the dynamic change information FD; When the distributed control module receives information transmission delay, it improves the risk warning of load analysis and predictive analysis, where Q is greater than 0.1, indicating that the load is abnormal, otherwise, Q is less than or equal to 0.1, indicating that the load is normal, and t is less than or equal to 3S, which is the first warning signal, t is greater than 3S and less than 10S, which is the second warning signal, t is greater than 10S, which is the third warning signal, t is less than or equal to 2S, which is the first warning signal, t is greater than 2S and less than 9S, which is the second warning signal, and t is greater than 9S, which is the third warning signal. On the contrary, when the information transmission is normal, the load analysis module and the predictive analysis module work normally; When the load is abnormal, an alarm is sent to remind people around the crane to evacuate quickly. At the same time, the cantilever movement speed is reduced, the lifting task is stopped, the load is placed nearby, and relevant personnel are notified to eliminate the load abnormality. After the load abnormality is eliminated, the lifting task is executed again.

[0027] When receiving the first warning signal, an alarm is sent to remind people around the crane to evacuate quickly, and at the same time, the cantilever working motor is controlled to stop working, so as to immediately stop the cantilever's current motion trajectory information B from moving, and activate the standby motor to drive the cantilever away from the overlapping position of the three-dimensional dynamic trajectory; When receiving the second warning signal, an alarm is sent to remind people around the crane to evacuate quickly, the cantilever movement speed is reduced, and the cantilever is controlled to move away from the overlapping position of the three-dimensional dynamic trajectory; When receiving the third warning signal, the motion trajectory information of the cantilever is replanned to make the new motion trajectory information of the cantilever away from the overlapping position of the three-dimensional dynamic trajectory. Through data delay analysis, the data link bandwidth is timely enhanced. At the same time, according to the data delay analysis results, the threshold parameters of load analysis and cantilever three-dimensional motion trajectory are adjusted to avoid obstacles in an emergency.

[0028] The above is a further detailed description of the present invention in combination with a specific implementation method, and it cannot be determined that the specific implementation of the present invention is limited to this; for technical personnel in the technical field to which the present invention belongs and related technical fields, based on the technical solution of the present invention, the expansion and replacement of operating methods and data should all fall within the protection scope of the present invention.

Claims

1. An intelligent unmanned crane control system, characterized in that: It includes a data acquisition module, a data processing module, a delay analysis module and a prediction analysis module, a load analysis module, and a distribution control module. The data acquisition module collects the dynamic status of the crane and the dynamic status of the surrounding objects, the load status, and the timestamp T1 of sending information, wherein the dynamic status of the crane includes position information A, motion trajectory information B, and cantilever movement speed C, the dynamic status of the surrounding objects includes position information WA, motion trajectory information WB and movement speed WC, and the load status includes load weight FH, load size information FB, and dynamic change information FD; The data processing module records the timestamp T2 of the information sent by the data acquisition module, removes noise, and detects and processes abnormal values; The delay analysis module calculates the delay time T3=T2-T1, and then extracts the delay time threshold HT in the database. If T3 is greater than HT, it indicates that the information transmission is delayed, the data link bandwidth is enhanced, and the relevant personnel are notified to eliminate the interference factors. If T3 is less than or equal to HT, it indicates that the information transmission is normal; The load analysis module extracts the shaking information FD1 and the tilt information FD2 in the dynamic change information FD, and then extracts the corresponding shaking threshold FD11, tilt threshold FD21, load weight threshold FH1, and load size threshold FB1 from the database, calculates the load risk value Q, and determines the abnormal state of the load according to Q; The prediction and analysis module establishes the three-dimensional dynamic trajectory M of the crane through the crane motion trajectory information B and the cantilever moving speed C, and establishes the three-dimensional dynamic trajectory N of the object through the motion trajectory information WB and the moving speed WC of the surrounding objects, and judges the overlap of the three-dimensional dynamic trajectories of M and N through the position information A and the position information WA, and identifies obstacles in the surrounding objects; The distributed control module receives the analysis results sent by the delay analysis module, the load analysis module, and the prediction analysis module. When the information transmission is delayed, the risk warning of the load analysis and the prediction analysis is improved. When the load is abnormal, the lifting task is re-executed after eliminating the load abnormality. When obstacles existing in the surrounding objects are identified, the cantilever is driven away from the overlapping position of the three-dimensional dynamic trajectory; The motion trajectory information of the cantilever makes the new motion trajectory information of the cantilever away from the overlapping position of the three-dimensional dynamic trajectory.

2. According to claim 1, an intelligent unmanned crane control system is characterized in that: The data processing module detects and processes abnormal values, extracts the cantilever movement speed threshold C1 and the load weight threshold FH1 in the database, when C is greater than C1, it indicates that the cantilever movement speed is abnormal, when FH is greater than FH1, it indicates that the load weight is abnormal, when either the cantilever movement speed or the load weight is abnormal, the crane suspends work and notifies relevant personnel to inspect the corresponding abnormal parameters, when no abnormality is found during the inspection, the crane resumes work and the data acquisition module re-collects information.

3. According to claim 1, an intelligent unmanned crane control system is characterized in that: The load analysis module calculates the load risk value Q, Q=[(FD11- FD1)÷FD11]×0.3+[(FD21- FD2)÷FD21]×0.3+[(FH1- FH)÷FH1]×0.2+[(FB1- FB)÷FB1]×0.2+ε, where ε is the error calibration value of the load risk value Q; If Q is greater than 0.2, it indicates that the load is abnormal. Otherwise, if Q is less than or equal to 0.2, it indicates that the load is normal.

4. According to claim 3, an intelligent unmanned crane control system is characterized in that: The prediction and analysis module uses the position information A and the position information WA to determine the overlap of the three-dimensional dynamic trajectories of M and N, and identifies obstacles among the surrounding objects. When the three-dimensional dynamic trajectories M and N are determined to have overlapping points in the future, it indicates that the corresponding object is an obstacle. The overlapping time t is calculated by combining the cantilever movement speed C and the movement speed WC with the three-dimensional dynamic trajectories M and N. If t is less than or equal to 3S, it is the first warning signal. If t is greater than 3S and less than 10S, it is the second warning signal. If t is greater than 10S, it is the third warning signal. Conversely, when the three-dimensional dynamic trajectories M and N are determined not to have overlapping points in the future, it indicates that the corresponding object is not an obstacle.

5. The intelligent unmanned crane control system according to claim 4, characterized in that: When the distributed control module receives information transmission delay, it improves the risk warning of load analysis and predictive analysis, where Q is greater than 0.1, indicating that the load is abnormal, otherwise, Q is less than or equal to 0.1, indicating that the load is normal, and t is less than or equal to 3S, which is the first warning signal, t is greater than 3S and less than 10S, which is the second warning signal, t is greater than 10S, which is the third warning signal, t is less than or equal to 2S, which is the first warning signal, t is greater than 2S and less than 9S, which is the second warning signal, and t is greater than 9S, which is the third warning signal. On the contrary, when the information transmission is normal, the load analysis module and the predictive analysis module work normally; When the load is abnormal, an alarm is sent to remind people around the crane to evacuate quickly. At the same time, the cantilever movement speed is reduced, the lifting task is stopped, the load is placed nearby, and relevant personnel are notified to eliminate the load abnormality. After the load abnormality is eliminated, the lifting task is executed again.

6. The intelligent unmanned crane control system according to claim 5, characterized in that: When the distributed control module receives the first warning signal, it sends an alarm to remind people around the crane to evacuate quickly, and at the same time controls the cantilever working motor to stop working, so as to immediately stop the cantilever from moving the current motion trajectory information B, and activates the standby motor to drive the cantilever away from the overlapping position of the three-dimensional dynamic trajectory; When receiving the second warning signal, an alarm is sent to remind people around the crane to evacuate quickly, the cantilever movement speed is reduced, and the cantilever is controlled to move away from the overlapping position of the three-dimensional dynamic trajectory; When receiving the third warning signal, the motion trajectory information of the cantilever is replanned so that the new motion trajectory information of the cantilever is far away from the overlapping position of the three-dimensional dynamic trajectory.

7. An intelligent unmanned crane control system according to any one of claims 1 to 6, characterized in that: The motion trajectory information B is the movement trajectory of the cantilever when the crane performs a lifting task, and is the entire motion trajectory information from the starting position to the ending position of the cantilever; The motion trajectory information WB is the movement trajectory of the surrounding objects collected in real time by the data acquisition module. Starting from the detection of the object, the position changes of the surrounding objects are tracked in real time, and the motion trajectory of the surrounding objects is predicted based on the motion trajectory of the currently detected object.

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