Action control method and system of crane

Abstract

The invention discloses an action control method and system of a crane in the technical field of crane path planning, and aims to solve the technical problems that the track bending is more, the actual path is longer, error control is not considered, and a planning path is lacked to be converted into a control means. The method comprises the steps that an inverse kinematics model, starting point information and terminal point information are acquired, and the inverse kinematics model generates a planning path according to the starting point information and the terminal point information; controlling the input current of different action components according to the planned path; working feedback information corresponding to different action parts is obtained, an actual path is generated according to the working feedback information, and error compensation is carried out on the input current in real time according to the error between the actual path and the planned path. According to the action control system of the crane, the planned path for uniformly coordinating all the action parts is generated based on the inverse kinematics model, correction is carried out in real time according to the error between the actual path and the planned path, and the bending and the length in the actual hoisting path of the crane are reduced.

Description

Technical Field

[0001] The invention relates to a crane motion control method and system, belonging to the technical field of crane path planning. Background Art

[0002] At present, the classic operations of crane lifting operations mainly consist of rotation, extension, boom lengthening, winching and other actions.

[0003] In order to achieve fast lifting, the crane allows compound actions, but due to the limitations of existing equipment conditions and software and hardware levels, the current compound actions allow a maximum of two actions to be combined, which makes the trajectory of the crane lifting operation have more bends and the actual path is longer, and error control is not taken into account; at the same time, the planned path lacks the corresponding means to convert it into control of the action parts. Summary of the invention

[0004] The purpose of the present application is to overcome the deficiencies in the prior art and to provide a method for controlling the motion of a crane that can perform path planning and correction and control motion components according to the planned path.

[0005] In order to achieve the above objectives, this application is implemented by adopting the following technical solutions: In a first aspect, a method for controlling a crane motion comprises: Acquire an inverse kinematics model, starting point information, and end point information, and generate a planned path using the inverse kinematics model according to the starting point information and the end point information; Controlling input currents of different action components according to the planned path; Acquire working feedback information corresponding to different action components, generate an actual path according to the working feedback information, and perform error compensation on the input current according to an error between the actual path and the planned path.

[0006] In some embodiments of the first aspect, the inverse kinematics model generates a planned path according to the starting point information and the end point information, including: Obtaining constraint conditions according to the upper and lower limits of the speed of the action component, the action range of the action component and obstacle information; Generate a planned path according to the starting point information and the end point information; In response to the planned path not satisfying the constraint condition, the planned path is regenerated.

[0007] In some embodiments of the first aspect, controlling the input current of different action components according to the planned path includes: Converting the planned path into path point set data, each path point data of the path point set data includes position, speed and acceleration data; According to the motion dimension of each motion component, the position, velocity and acceleration data are allocated as target control parameters of different motion components; The corresponding input current is set according to the target control parameter of each action component.

[0008] In some embodiments of the first aspect, the action component includes a rotary valve, a telescopic valve, a luffing balancing valve, or a winch valve; The working feedback information includes the slewing angle and angular velocity of the slewing bearing, the telescopic length and speed of the telescopic arm, the luffing angle and angular velocity of the luffing cylinder, the hook position or the speed of the winch hydraulic motor.

[0009] In some embodiments of the first aspect, the performing error compensation on the input current according to the error between the actual path and the planned path includes: Converting the planned path into path point set data, each path point data of the path point set data at least includes a position and a speed; Extracting an actual position and an actual speed from the actual path, and comparing the actual position and the actual speed with the position and the speed in the path point set data to obtain a position difference and a speed difference; The error compensation of the input current according to the error between the actual path and the planned path includes: using the position difference and the speed difference to correct the starting point information and the end point information to obtain corrected starting point information and end point information; generating a planned path according to the corrected starting point information and end point information.

[0010] In some embodiments of the first aspect, the performing error compensation on the input current according to the error between the actual path and the planned path includes: Converting the planned path into path point set data, each path point data of the path point set data at least includes a position and a speed; Extracting an actual position and an actual speed from the actual path, and comparing the actual position and the actual speed with the position and the speed in the path point set data to obtain a position difference and a speed difference; The input current is error compensated according to the error between the actual path and the planned path, including obtaining a correction current according to the position difference and the speed difference, and using the correction current to correct the input current.

[0011] In a second aspect, the present application also provides a crane motion control system, comprising: A control device, used to execute the crane motion control method described in any embodiment of the first aspect; A detection device is used to obtain the work feedback information.

[0012] In some embodiments of the second aspect, the detection device includes a rotation sensor for detecting the rotation angle and angular velocity of the slewing bearing, a telescopic sensor for detecting the telescopic length and speed of the telescopic arm, a variable amplitude sensor for detecting the variable amplitude angle and angular velocity of the variable amplitude cylinder, a hook sensor for detecting the hook position, or a winch encoder for detecting the speed of the winch hydraulic motor.

[0013] In a third aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the crane motion control method described in any embodiment of the first aspect.

[0014] In a fourth aspect, the present application further provides a computer program product, comprising a computer program / instructions, characterized in that when the computer program / instructions are executed by a processor, the steps of the crane motion control method described in any embodiment of the first aspect are implemented.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The motion control system of the crane provided in the present application generates a planned path that unifies and coordinates the various motion components based on an inverse kinematics model, and makes corrections in real time based on the error between the actual path and the planned path, thereby reducing the bends and length of the actual lifting path of the crane. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present application or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 is a flowchart of the steps of the crane motion control method provided in this embodiment; Figure 2 is a structural schematic diagram of a crane to which the motion control system of the crane provided in this embodiment is applied; In the figure: 1. Get off the vehicle; 2. Get on the vehicle; 3. Tire; 4. Outrigger; 5. Turntable; 6. Slewing bearing; 7. Slewing hydraulic motor; 8. Slewing valve; 9. Slewing sensor; 10. Telescopic arm; 11. Telescopic cylinder; 12. Telescopic valve; 13. Telescopic sensor; 14. Booming cylinder; 15. Booming balance valve; 16. Booming sensor; 17. Winch; 18. Wire rope; 19. Winch hydraulic motor; 20. Winch valve; 21. Winch encoder; 22. Hook; 23. Hook sensor; 24. Control device; 25. Operating room; 26. Detection device. DETAILED DESCRIPTION

[0018] The technical solution of the present invention is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical solution of the present application, rather than limitations on the technical solution of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments can be combined with each other.

[0019] The term "and / or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship. Embodiment 1

[0020] Figure 1 This is a flow chart of a method for controlling the motion of a crane in the first embodiment of the present invention. This flow chart only shows the logical sequence of the method described in this embodiment. In other possible embodiments of the present invention, different methods may be used without conflict. Figure 1 The steps shown or described are accomplished in the order shown.

[0021] See also Figure 1 The method of this implementation specifically includes the following steps: An inverse kinematics model, starting point information, and end point information are obtained. The starting point information and the end point information can be input into the inverse kinematics model, and the inverse kinematics model generates a planned path according to the starting point information and the end point information. Control the input current of different action components according to the planned path; The working feedback information corresponding to different action components is obtained, the actual path is generated according to the working feedback information, and the input current error is compensated in real time according to the error between the actual path and the planned path.

[0022] The inverse kinematics model plans a planned path that can theoretically connect the start and end points based on the given starting point information and end point information. However, during the actual execution of the crane, factors such as excessive load, aging of action components, and wind load may cause errors between the actual path and the planned path. Therefore, this embodiment needs to obtain the work feedback information corresponding to different action components, generate the actual path based on the work feedback information, and then judge and generate the error compensation strategy based on the error between the actual path and the planned path.

[0023] This embodiment realizes the practical application of the planned path by deriving the input current of different action parts according to the planned path. The biggest feature of this method is timely response and high reliability, which is suitable for application in dangerous engineering machinery such as cranes. The method of controlling the input current of different action parts can be implemented in other forms known in the art, such as pulse width modulation, voltage modulation of input current, and magnitude modulation of input current, and even more other known forms, which will not be repeated here.

[0024] This embodiment also realizes the correction of control error based on direct or indirect error compensation of input current of the action component.

[0025] In addition, this embodiment decomposes the planned path into input current control of different action components, so that multiple action components work simultaneously, thereby reducing the bending degree and length of the actual path. Embodiment 2

[0026] This embodiment provides a motion control method for a crane. This embodiment is optimized on the basis of the first embodiment to improve the technical effect and refine the technical solution. For the contents not fully described in this embodiment, please refer to the first embodiment.

[0027] As one embodiment, the inverse kinematics model generates a planned path according to the starting point information and the end point information, including: Obtain constraint conditions based on the upper and lower speed limits of the action parts, the action range of the action parts, and obstacle information; Generate a planned path based on the starting point information and the end point information; In response to the planned path not satisfying the constraint condition, the planned path is regenerated.

[0028] The constraint conditions introduced in the inverse kinematics model aim to reduce the potential wind direction during the execution of the planned path, reduce the error between the planned path and the actual path, and thus reduce the number of corrections, and reduce the degree of tortuosity and length of the actual path.

[0029] refer to Figure 2, the action components of the crane generally include a rotary valve 8, a telescopic valve 12, a variable amplitude balance valve 15 and a winch valve 20. These components control actions in different dimensions. For example, the rotary valve 8 controls the rotary action, the telescopic valve 12 adjusts the distance of the hook 22 by controlling the telescopic movement of the telescopic arm 10, the variable amplitude balance valve 15 controls the pitch angle of the telescopic arm 10, and the winch valve 20 controls the up and down position and up and down movement speed of the hook 22. After analyzing this embodiment, it is not difficult for a person skilled in the art to see that any action of the crane can be decomposed into the control of the position, speed and acceleration data of different action components, or by controlling the position, speed and acceleration data of each action component in a targeted manner, it can be combined into a planned path to be executed. Each action component has different division of labor and different action dimensions. Therefore, this embodiment first converts the planned path into path point set data. The path point set data contains continuous path points, and each path point data includes position, speed and acceleration data to realize the decomposition of the planned path. Then, this embodiment also distributes the position, velocity and acceleration data as target control parameters of different action components according to the action dimension of each action component, and then controls the input current according to the target control parameters.

[0030] For example, the hook 22 of the crane is located at point A, which is the starting point. The crane is ready to lift the cargo at point B, so point B is the end point. Point A is located on the top floor of the work area on the south side of the crane, and point B is located at the unloading point on the north side of the crane. Due to safety considerations, the unloading point is farther away from the crane relative to the work area. After inputting the information of points A and B as the starting point information and the end point information, the inverse kinematics model generates a nearly straight planning path from point A to point B. From the perspective of the center of the crane, the planned path points from south to north, from high to low, and from near to far. After the planned path is decomposed into the path point set data, the position, speed and acceleration data pointing from south to north, from high to low, and from near to far are obtained, among which the position data is mainly used for the identification of the starting and ending points and the segmentation of the path in the target control parameters, and the speed and acceleration data are the main target control parameters. The target control parameters assigned to the rotary valve 8 drive the rotary valve 8 to control the turntable 5 to change its amplitude from south to north; at the same time, the target control parameters assigned to the amplitude cylinder 14 drive the amplitude cylinder 14 to control the telescopic arm 10 to reduce the pitch height; at the same time, the target control parameters assigned to the telescopic valve 12 drive the telescopic valve 12 to control the extension of the telescopic arm 10; at the same time, the target control parameters can also be assigned to the winch valve 20 to drive the hook 22 to reach the safe lifting height. These steps are all completed on the same timeline, which can meet the simultaneous cooperation of multiple action components in the control of the same planned path, and achieve the purpose of reducing the bending degree and length of the actual path.

[0031] The above-mentioned moving parts include the slewing valve 8, the telescopic valve 12, the boom balance valve 15 and / or the winch valve 20. Correspondingly, the working feedback information includes the slewing angle and angular velocity of the slewing bearing 6, the telescopic length and speed of the telescopic arm 10, the boom angle and angular velocity of the boom cylinder 14, the position of the hook 22 or the speed of the winch hydraulic motor 19.

[0032] Embodiment 1 also mentions that the input current is compensated in real time according to the error between the actual path and the planned path. This mainly includes two ways: 1. Error compensation of the planned path to achieve indirect error compensation input current; 2. Direct compensation of the input current.

[0033] Regarding error compensation for the planned path, as mentioned in the first embodiment, error compensation for the input current is performed in real time according to the error between the actual path and the planned path, including: Convert the planned path into path point set data, each path point data of the path point set data includes at least a position and a speed; Extract the actual position and actual speed from the actual path, compare the actual position and actual speed with the position and speed in the path point set data, and obtain the position difference and speed difference; As mentioned in Example 1, the input current error compensation is performed in real time according to the error between the actual path and the planned path, including using the position difference and the speed difference to correct the starting point information and the end point information to obtain the corrected starting point information and the end point information; generating a planned path according to the corrected starting point information and the end point information, and using the newly generated planned path to cover the old planned path.

[0034] As for directly compensating the input current, as mentioned in the first embodiment, the error compensation of the input current is performed in real time according to the error between the actual path and the planned path, including: Convert the planned path into path point set data, each path point data of the path point set data includes at least a position and a speed; Extract the actual position and actual speed from the actual path, compare the actual position and actual speed with the position and speed in the path point set data, and obtain the position difference and speed difference; As mentioned in the first embodiment, the input current is compensated in real time according to the error between the actual path and the planned path, including obtaining a correction current according to the position difference and the speed difference, and using the correction current to correct the input current. It is worth noting that correcting the input current generally refers to introducing a correction current value when formulating the current value of the input current to modify the current value finally output by the action component.

[0035] The method provided above is to sample the planned path into multiple path points, and to distribute the input current of the action component based on the path points. This embodiment also provides another method for processing the planned path: A meta-action library is pre-built, and each meta-action in the meta-action library contains different action components with pre-set input current magnitudes; Decompose the planned path into multiple continuous meta-paths, and find the most suitable meta-action in the meta-action library for each meta-path; Multiple most suitable meta-actions are connected in series into an action set in the order of the meta-path, and the input currents of different action components are controlled according to the action set.

[0036] The idea of ​​this scheme is to decompose the planned path into meta-paths, connect adjacent meta-paths, ensure the interconnected execution of meta-actions and that the actual path is sufficient to restore the planned path. The meta-actions preset the input currents of different action components. Therefore, when executing this scheme, it is only necessary to match the meta-action closest to the meta-path. There is no need to formulate a specific current control plan in real time, which reduces the execution resources required for the crane's motion control method.

[0037] The crane motion control method provided in this embodiment mainly refines the steps of the method, provides a correction method for input current, and provides an intermediate process from path planning to action component execution. Embodiment 3

[0038] This embodiment provides a crane motion control system, referring to Figure 2 , including a control device 24, used to execute the crane motion control method provided in the first or second embodiment. The crane motion control method can refer to Figure 1 ; The detection device 26 is used to detect the working feedback information. The working feedback information obtained by the detection device 26 is input to the control device 24 to modify the planned path and the input current.

[0039] The motion control method of the crane provided in Example 1 or 2 can be applied to the motion control system of the crane provided in this embodiment, and has functional modules and beneficial effects corresponding to the execution method. The motion control system of the crane provided in this embodiment has the same technical effects as Example 1 or 2, which will not be repeated here.

[0040] As one embodiment, the detection device 26 includes a rotation sensor 9 for detecting the rotation angle and angular velocity of the slewing bearing 6, a telescopic sensor 13 for detecting the telescopic length and speed of the telescopic arm 10, a variable amplitude sensor 16 for detecting the variable amplitude angle and angular velocity of the variable amplitude cylinder 14, a hook sensor 23 for detecting the position of the hook 22 and / or a winch encoder 21 for detecting the speed of the winch hydraulic motor 19.

[0041] As one example, refer to Figure 2 The crane includes a lower car 1 and an upper car 2 supported by the lower car 1. The lower car 1 is supported on the ground by tires 3 and outriggers 4. The upper car 2 includes a turntable 5 hinged on the lower car 1 by a slewing bearing 6. The turntable 5 can be driven to rotate by a slewing hydraulic motor 7. The slewing hydraulic motor 7 includes a slewing valve 8. The opening of the slewing valve 8 controls the slewing direction, speed and acceleration of the slewing hydraulic motor 7. The slewing table 5 is also provided with a slewing sensor 9 for collecting the slewing direction, speed and acceleration in real time. The slewing valve 8 and the slewing sensor 9 are connected to the control device 24 by electrical signals.

[0042] An operating room 25 and a telescopic arm 10 are provided on the turntable 5. The telescopic arm 10 is adjusted by a telescopic cylinder 11, and the telescopic length, speed and acceleration of the telescopic cylinder 11 are controlled by a telescopic valve 12. A telescopic sensor 13 for detecting the telescopic length, speed and acceleration of the telescopic arm 10 is also arranged on the telescopic arm 10. The telescopic valve 12 and the telescopic sensor 13 are electrically connected to the control device 24.

[0043] The telescopic arm 10 is connected to the turntable 5 through a luffing cylinder 14, which controls the pitch angle of the telescopic arm 10. The luffing cylinder 14 includes a luffing balance valve 15 for controlling its pitch angle, angular velocity and angular acceleration. The signal end of the luffing balance valve 15 is electrically connected to a control device 24. There is also an luffing sensor 16 near the luffing cylinder 14 for detecting the pitch angle, angular velocity and angular acceleration of the telescopic arm 10. The luffing balance valve 15 and the luffing sensor 16 are electrically connected to the control device 24.

[0044] A winch 17 is provided at one end of the telescopic arm 10. The winch 17 pulls out a wire rope 18 to hang a hook 22 at the other end of the telescopic arm 10. The winch 17 is driven by a winch hydraulic motor 19, and a winch valve 20 in the winch hydraulic motor 19 controls the winch direction, speed and acceleration of the winch 17, thereby controlling the lifting speed and acceleration of the hook 22. A winch encoder 21 for detecting the winch direction, speed and acceleration is also provided in the winch 17, and a hook sensor 23 for detecting the position of the hook 22 is provided on the hook 22. The hook sensor 23, the winch encoder 21 and the winch valve 20 are connected to the control device 24 by electrical signals.

[0045] As one of the embodiments, each time the planned path is executed, the control device 24 also needs to detect the initial states of each action component and the detection device 26, which also serves as the input information of the inverse kinematics model and the basis for fault judgment. Embodiment 4

[0046] This embodiment provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps of the crane motion control method provided in the first or second embodiment are implemented.

[0047] The computer-readable storage medium provided in this embodiment has the same technical effects as those in Embodiment 1 or 2, and will not be described in detail here. Embodiment 5

[0048] This embodiment provides a computer program product, on which a computer program is stored, and when the program is executed by a processor, the steps of the crane motion control method provided in Embodiment 1 or Embodiment 2 are implemented. The computer program product provided in this embodiment can be transmitted, distributed and downloaded in the form of a signal via the Internet.

[0049] The computer program product provided in this embodiment has the same technical effects as those in Embodiment 1 or 2, and will not be described in detail here.

[0050] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0051] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0052] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0053] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0054] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0055] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0056] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for controlling the motion of a crane, characterized in that: include, Acquire an inverse kinematics model, starting point information, and end point information, and generate a planned path using the inverse kinematics model according to the starting point information and the end point information; Controlling input currents of different action components according to the planned path; Acquire working feedback information corresponding to different action components, generate an actual path according to the working feedback information, and perform error compensation on the input current according to an error between the actual path and the planned path.

2. The crane motion control method according to claim 1, characterized in that: The inverse kinematics model generates a planned path according to the starting point information and the end point information, including: Obtaining constraint conditions according to the upper and lower limits of the speed of the action component, the action range of the action component and obstacle information; Generate a planned path according to the starting point information and the end point information; In response to the planned path not satisfying the constraint condition, the planned path is regenerated.

3. The crane motion control method according to claim 1, characterized in that: The controlling of the input current of different action components according to the planned path includes: Converting the planned path into path point set data, each path point data of the path point set data includes position, speed and acceleration data; According to the motion dimension of each motion component, the position, velocity and acceleration data are allocated as target control parameters of different motion components; The corresponding input current is set according to the target control parameter of each action component.

4. The crane motion control method according to claim 3 is characterized in that: The actuating components include a rotary valve (8), a telescopic valve (12), a variable amplitude balancing valve (15) or a winch valve (20); The working feedback information includes the slewing angle and angular velocity of the slewing bearing (6), the telescopic length and speed of the telescopic arm (10), the luffing angle and angular velocity of the luffing cylinder (14), the position of the hook (22) or the speed of the winch hydraulic motor (19).

5. The crane motion control method according to claim 1, characterized in that: The controlling of the input current of different action components according to the planned path includes: Pre-building a meta-action library, wherein each meta-action in the meta-action library includes different action components with pre-set input current magnitudes; Decomposing the planned path into multiple continuous meta-paths, and finding the most suitable meta-action in the meta-action library for each meta-path; A plurality of the most suitable elementary actions are connected in series into an action set in the order of the elementary paths, and the input currents of different action components are controlled according to the action set.

6. The crane motion control method according to claim 1, characterized in that: The error compensation of the input current according to the error between the actual path and the planned path includes: Converting the planned path into path point set data, each path point data of the path point set data at least includes a position and a speed; Extracting an actual position and an actual speed from the actual path, and comparing the actual position and the actual speed with the position and the speed in the path point set data to obtain a position difference and a speed difference; The error compensation for the input current according to the error between the actual path and the planned path includes correcting the starting point information and the end point information using the position difference and the speed difference to obtain corrected starting point information and end point information; Generate a planned path according to the corrected starting point information and end point information; Alternatively, a correction current is obtained according to the position difference and the speed difference, and the input current is corrected using the correction current.

7. A crane motion control system, characterized in that: include, A control device (24) for executing the crane motion control method according to any one of claims 1 to 6; A detection device (26) is used to obtain the work feedback information.

8. The motion control system of the crane according to claim 7, characterized in that: The detection device (26) comprises a slewing sensor (9) for detecting the slewing angle and angular velocity of the slewing bearing (6), a telescopic sensor (13) for detecting the telescopic length and speed of the telescopic arm (10), a variable amplitude sensor (16) for detecting the variable amplitude angle and angular velocity of the variable amplitude cylinder (14), a hook sensor (23) for detecting the position of the hook (22) or a winch encoder (21) for detecting the speed of the winch hydraulic motor (19).

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the crane motion control method described in any one of claims 1 to 6 are implemented.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the crane motion control method described in any one of claims 1 to 6 are implemented.

Images