Method and system for controlling the action of a crane

Abstract

The application discloses a crane action control method and system in the technical field of crane path planning, and aims to solve the technical problems of more trajectory bending, longer actual path, no error control and lack of planning path conversion into control means. It comprises: obtaining an inverse kinematics model, start point information and end point information, the inverse kinematics model generating a planning path according to the start point information and the end point information; controlling the input current of different action components according to the planning path; obtaining working feedback information corresponding to different action components, generating an actual path according to the working feedback information, and performing error compensation on the input current in real time according to the error between the actual path and the planning path. The crane action control system provided by the application generates a planning path for coordinating various action components based on an inverse kinematics model, and corrects in real time according to the error between the actual path and the planning path, thereby reducing the bending and length of the actual lifting path of the crane.

Description

Technical Field

[0001] This invention relates to a method and system for controlling the motion of a crane, belonging to the field of crane path planning technology. Background Technology

[0002] Currently, the classic operation of crane hoisting mainly consists of actions such as slewing, telescopicing, luffing, and winching.

[0003] To achieve rapid lifting, cranes are allowed to perform compound movements. However, due to limitations in existing equipment and software / hardware capabilities, current compound movements can only combine a maximum of two movements. This results in crane lifting operations having more zigzag paths and longer actual routes, and error control is not taken into account. Furthermore, the planned paths lack corresponding means to be converted into control of the moving parts. Summary of the Invention

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

[0005] To achieve the above objectives, this application employs the following technical solution:

[0006] Firstly, a method for controlling the motion of a crane, comprising:

[0007] Obtain the inverse kinematics model, starting point information, and ending point information; use the inverse kinematics model to generate a planned path based on the starting point information and the ending point information.

[0008] The input current of different actuators is controlled according to the planned path;

[0009] Obtain work feedback information corresponding to different action components, generate actual paths based on the work feedback information, and compensate the input current for errors based on the error between the actual paths and the planned paths.

[0010] In some embodiments of the first aspect, the inverse kinematics model generates a planned path based on the starting point information and the ending point information, including:

[0011] Constraints are obtained based on the upper and lower speed limits of the motion component, the motion range of the motion component, and obstacle information.

[0012] A planned path is generated based on the starting point information and the ending point information;

[0013] In response to the planned path not meeting the constraints, a new planned path is generated.

[0014] In some embodiments of the first aspect, controlling the input current of different actuators according to the planned path includes,

[0015] The planned path is converted into path point set data, and each path point data in the path point set data includes position, velocity, and acceleration data;

[0016] Based on the motion dimension of each motion component, the position, velocity, and acceleration data are assigned as target control parameters for different motion components;

[0017] Set the corresponding input current according to the target control parameters of each actuator.

[0018] In some embodiments of the first aspect, the actuating component includes a rotary valve, a telescopic valve, a luffing balance valve, or a winch valve;

[0019] The work feedback information includes the slewing angle and angular velocity of the slewing bearing, the telescopic boom extension length and speed, the luffing cylinder luffing angle and angular velocity, and the hook position or the speed of the winch hydraulic motor.

[0020] In some embodiments of the first aspect, the step of compensating the input current for errors based on the error between the actual path and the planned path includes,

[0021] The planned path is converted into path point set data, where each path point data in the path point set data includes at least location and speed;

[0022] The actual position and actual speed are extracted from the actual path, and the actual position and actual speed are compared with the position and speed in the path point set data to obtain the position difference and speed difference.

[0023] The step of compensating the input current for error based on 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 ending point information to obtain corrected starting point information and ending point information; and generating a planned path based on the corrected starting point information and ending point information.

[0024] In some embodiments of the first aspect, the step of compensating the input current for errors based on the error between the actual path and the planned path includes,

[0025] The planned path is converted into path point set data, where each path point data in the path point set data includes at least location and speed;

[0026] The actual position and actual speed are extracted from the actual path, and the actual position and actual speed are compared with the position and speed in the path point set data to obtain the position difference and speed difference.

[0027] Error compensation for the input current based on the error between the actual path and the planned path includes obtaining a correction current based on the position difference and the speed difference, and using the correction current to correct the input current.

[0028] Secondly, this application also provides a motion control system for a crane, including,

[0029] Control device for performing the crane motion control method described in any embodiment of the first aspect;

[0030] A detection device is used to acquire the work feedback information.

[0031] In some embodiments of the second aspect, the detection device includes a slewing sensor for detecting the slewing angle and angular velocity of the slewing bearing, a telescopic sensor for detecting the telescopic length and speed of the telescopic boom, a luffing sensor for detecting the luffing angle and angular velocity of the luffing cylinder, a hook sensor for detecting the position of the hook, or a winch encoder for detecting the speed of the winch hydraulic motor.

[0032] Thirdly, this application also 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.

[0033] Fourthly, this application also provides a computer program product, including a computer program / instructions, characterized in that, when the computer program / instructions are executed by a processor, they implement the steps of the crane motion control method described in any embodiment of the first aspect.

[0034] Compared with the prior art, the beneficial effects achieved by this application are as follows:

[0035] The crane motion control system provided in this application generates a unified and coordinated planned path for each moving component based on an inverse kinematics model, and corrects it in real time according to the error between the actual path and the planned path, thereby reducing the bends and lengths in the actual lifting path of the crane. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a flowchart of the steps of the crane motion control method provided in this embodiment;

[0038] Figure 2 This is a schematic diagram of the structure of a crane that uses the crane motion control system provided in this embodiment;

[0039] In the diagram: 1. Unloading; 2. Loading; 3. Tire; 4. Outrigger; 5. Turntable; 6. Slewing bearing; 7. Slewing hydraulic motor; 8. Slewing valve; 9. Slewing sensor; 10. Telescopic boom; 11. Telescopic cylinder; 12. Telescopic valve; 13. Telescopic sensor; 14. Luffing cylinder; 15. Luffing balance valve; 16. Luffing 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. Operator's cab; 26. Detection device. Detailed Implementation

[0040] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments and specific features in the embodiments are detailed descriptions of the technical solution of the present application, rather than limitations thereof. In the absence of conflict, the embodiments and technical features in the embodiments can be combined with each other.

[0041] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship. Example 1

[0042] Figure 1 This is a flowchart illustrating a crane motion control method according to Embodiment 1 of the present invention. This flowchart merely shows the logical sequence of the method described in this embodiment. Provided there are no conflicts, different methods may be used in other possible embodiments of the present invention. Figure 1 Complete the steps shown or described in the order indicated.

[0043] See Figure 1 The method implemented in this way specifically includes the following steps:

[0044] Obtain the inverse kinematics model, starting point information, and ending point information. The starting point information and ending point information can be input into the inverse kinematics model, and the inverse kinematics model will generate a planned path based on the starting point information and ending point information.

[0045] Control the input current of different moving parts according to the planned path;

[0046] Obtain work feedback information corresponding to different moving parts, generate actual paths based on work feedback information, and perform real-time error compensation on input current based on the error between actual paths and planned paths.

[0047] The inverse kinematics model plans a theoretically feasible path connecting the start and end points based on given start and end point information. However, during the actual execution of the crane's actions, factors such as excessive load, aging of moving parts, and wind load can cause errors between the actual path and the planned path. Therefore, this embodiment needs to obtain the work feedback information corresponding to different moving parts, generate the actual path based on the work feedback information, and then evaluate and generate an error compensation strategy based on the error between the actual path and the planned path.

[0048] This embodiment achieves the practical application of the planned path by deriving the input current of different moving parts based on the planned path. The biggest advantage of this method is its timely response and high reliability, making it suitable for use in dangerous engineering machinery such as cranes. The method of controlling the input current of different moving parts can be implemented in other forms known in the art, such as pulse width modulation, voltage modulation of the input current, and magnitude modulation of the input current, or even many other known forms, which will not be elaborated here.

[0049] This embodiment also corrects control errors by directly or indirectly compensating for the input current of the actuator.

[0050] In addition, this embodiment decomposes the planned path into input current control of different moving parts, so that multiple moving parts can work at the same time, reducing the degree of bending and length of the actual path. Example 2

[0051] This embodiment provides a method for controlling the motion of a crane. This embodiment is an optimization based on Embodiment 1 to improve the technical effect and refine the technical solution. For details not described in this embodiment, please refer to Embodiment 1.

[0052] As one embodiment, the inverse kinematics model generates a planned path based on the starting point and ending point information, including:

[0053] Constraints are obtained based on the upper and lower speed limits of the motion components, the range of motion of the motion components, and obstacle information.

[0054] Generate a planned path based on the starting point and ending point information;

[0055] If the planned path does not meet the constraints, a new planned path is generated.

[0056] Introducing constraints into the inverse kinematics model aims to reduce the potential wind direction during the execution of the planned path, reduce the error between the planned path and the actual path, thereby reducing the number of corrections and the degree of curvature and length of the actual path.

[0057] refer to Figure 2 The actuating components of a crane typically include a slewing valve 8, a telescopic valve 12, a luffing balance valve 15, and a winch valve 20. These components control movements in different dimensions. For example, the slewing valve 8 controls the slewing motion, the telescopic valve 12 adjusts the distance of the hook 22 by controlling the telescopic boom 10's extension and retraction, the luffing balance valve 15 controls the pitch angle of the telescopic boom 10, and the winch valve 20 controls the vertical position and speed of the hook 22. After analyzing this embodiment, those skilled in the art will readily see that any movement of a crane can be decomposed into the control of the position, speed, and acceleration data of different actuating components. In other words, by specifically controlling the position, speed, and acceleration data of each actuating component, a planned path can be formed. Since each actuating component has a different function and different movement dimensions, 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, thus achieving the decomposition of the planned path. Then, in this embodiment, the position, velocity and acceleration data are allocated as target control parameters for different motion components according to the motion dimension of each motion component, and then the input current is controlled according to the target control parameters.

[0058] For example, the crane hook 22 is located at point A, which is the starting point. The crane is preparing to lift the goods at point B, so point B is the ending point. Point A is located on the top floor of the work area south of the crane, and point B is located at the unloading point north of the crane. For safety reasons, the unloading point is farther away from the crane than the work area. After inputting the information of points A and B as the starting and ending point information, the inverse kinematics model generates a nearly straight planned path from point A to point B. This planned path, viewed from the crane's center perspective, points from south to north, from high to low, and from near to far. After the planned path is decomposed into path point set data, position, velocity, and acceleration data are obtained, pointing from south to north, from high to low, and from near to far. The position data is mainly used for identifying the starting and ending points and segmenting the path in the target control parameters, while the velocity and acceleration data are the main target control parameters. The target control parameters allocated to the rotary valve 8 drive the rotary valve 8 to control the turntable 5 to change its luffing height from south to north; simultaneously, the target control parameters allocated to the luffing cylinder 14 drive the luffing cylinder 14 to control the telescopic boom 10 to lower its pitch height; simultaneously, the target control parameters allocated to the telescopic valve 12 drive the telescopic valve 12 to control the telescopic boom 10 to extend; simultaneously, the target control parameters can also be allocated 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 requirement of simultaneous control and cooperation of multiple moving parts on the same planned path, thereby reducing the bends and length of the actual path.

[0059] The above-mentioned moving parts include rotary valve 8, telescopic valve 12, luffing balance valve 15 and / or winch valve 20. Correspondingly, the work feedback information includes the rotation angle and angular velocity of the slewing bearing 6, the extension length and speed of the telescopic boom 10, the luffing angle and angular velocity of the luffing cylinder 14, and the position of the hook 22 or the speed of the winch hydraulic motor 19.

[0060] Example 1 also mentions real-time error compensation of the input current based on the error between the actual path and the planned path. This mainly includes two approaches: 1. Compensating for the error of the planned path to achieve indirect error compensation of the input current; 2. Directly compensating for the input current.

[0061] Regarding error compensation for the planned path, as mentioned in Example 1, error compensation for the input current is performed in real time based on the error between the actual path and the planned path, including...

[0062] The planned path is converted into path point set data, and each path point in the path point set data includes at least its location and speed.

[0063] The actual position and actual speed are extracted from the actual path, and the actual position and actual speed are compared with the position and speed in the path point set data to obtain the position difference and speed difference.

[0064] As mentioned in Example 1, real-time error compensation for the input current is performed based on the error between the actual path and the planned path. This includes correcting the starting point information and ending point information using position difference and speed difference to obtain corrected starting point information and ending point information; generating a planned path based on the corrected starting point information and ending point information; and using the newly generated planned path to overwrite the old planned path.

[0065] For direct compensation of the input current, as mentioned in Example 1, real-time error compensation of the input current is performed based on the error between the actual path and the planned path, including:

[0066] The planned path is converted into path point set data, and each path point in the path point set data includes at least its location and speed.

[0067] The actual position and actual speed are extracted from the actual path, and the actual position and actual speed are compared with the position and speed in the path point set data to obtain the position difference and speed difference.

[0068] As mentioned in Example 1, real-time error compensation of the input current is performed based on the error between the actual path and the planned path. This includes obtaining a correction current based on the position difference and 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 setting the input current value to modify the final output current value of the actuator.

[0069] The method described above samples the planned path into multiple path points and allocates the input current of the actuator based on these path points. This embodiment also provides another method for processing the planned path:

[0070] A pre-built meta-action library is constructed, and each meta-action in the library contains different action components with pre-set input current values;

[0071] The planned path is broken down into multiple continuous meta-paths, and the most suitable meta-action is found in the meta-action library for each meta-path.

[0072] Multiple most suitable meta-actions are connected in series to form an action set according to the order of the meta-path, and the input current of different action components is controlled according to the action set.

[0073] The idea behind this scheme is to break down the planned path into meta-paths, with adjacent meta-paths connected to ensure that meta-actions are executed in a coordinated manner and that the actual path sufficiently replicates the planned path. The meta-actions are pre-set with the input current of different action components, so when executing this scheme, only the meta-action closest to the meta-path needs to be matched, without the need to formulate a specific current control scheme in real time, thus reducing the execution resources required for the crane's motion control method.

[0074] The crane motion control method provided in this embodiment mainly refines the steps of the method, provides a method for correcting the input current, and provides the intermediate process from planning the path to the execution of the moving parts. Example 3

[0075] This embodiment provides a crane motion control system, referencing... Figure 2 It includes a control device 24 for executing the crane motion control method provided in Embodiment 1 or 2. The crane motion control method can be referred to... Figure 1 ;

[0076] The detection device 26 is used to detect operational feedback information. The operational feedback information obtained by the detection device 26 is input to the control device 24 for path planning and input current correction.

[0077] The crane motion control method provided in Embodiment 1 or 2 can be applied to the crane motion control system provided in this embodiment, and has the corresponding functional modules and beneficial effects of the execution method. The crane motion control system provided in this embodiment has the same technical effects as Embodiment 1 or 2, and will not be described again here.

[0078] In one embodiment, the detection device 26 includes 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 boom 10, a luffing sensor 16 for detecting the luffing angle and angular velocity of the luffing 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.

[0079] As one embodiment, reference Figure 2 The crane includes a lower carriage 1 and an upper carriage 2 supported by the lower carriage 1. The lower carriage 1 is supported on the ground by tires 3 and outriggers 4. The upper carriage 2 includes a turntable 5 hinged to the lower carriage 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 which controls the slewing direction, speed, and acceleration of the slewing hydraulic motor 7. The turntable 5 is also equipped with a slewing sensor 9 that collects the slewing direction, speed, and acceleration in real time. The slewing valve 8 and the slewing sensor 9 are electrically connected to the control device 24.

[0080] The turntable 5 is equipped with an operating room 25 and a telescopic arm 10. 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 is also arranged on the telescopic arm 10 to detect the telescopic length, speed and acceleration of the telescopic arm 10. The telescopic valve 12 and the telescopic sensor 13 are electrically connected to the control device 24.

[0081] The telescopic boom 10 is connected to the turntable 5 via a luffing cylinder 14. The luffing cylinder 14 controls the pitch angle of the telescopic boom 10. The luffing cylinder 14 includes a luffing balance valve 15 for controlling its pitch angle, angular velocity, and angular acceleration. The signal terminal of the luffing balance valve 15 is electrically connected to the control device 24. Near the luffing cylinder 14, there is also a luffing sensor 16 for detecting the pitch angle, angular velocity, and angular acceleration of the telescopic boom 10. The luffing balance valve 15 and the luffing sensor 16 are electrically connected to the control device 24.

[0082] A winch 17 is installed at one end of the telescopic boom 10. The winch 17 pulls out a wire rope 18 to suspend a hook 22 located at the other end of the telescopic boom 10. The winch 17 is driven by a winch hydraulic motor 19, and the winch valve 20 inside 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. There is also a winch encoder 21 inside the winch 17 to detect the winch direction, speed, and acceleration, and a hook sensor 23 is installed on the hook 22 to detect the position of the hook 22. The hook sensor 23, the winch encoder 21, and the winch valve 20 are electrically connected to the control device 24.

[0083] In one embodiment, each time the planned path is executed, the control device 24 also needs to detect the initial state of each moving component and the detection device 26, which also serves as the input information for the inverse kinematics model and the basis for fault judgment. Example 4

[0084] This embodiment 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 provided in Embodiment 1 or Embodiment 2.

[0085] The computer-readable storage medium provided in this embodiment has the same technical effects as that in Embodiment 1 or 2, and will not be described again here. Example 5

[0086] This embodiment provides a computer program product storing a computer program that, when executed by a processor, implements the steps of the crane motion control method provided in Embodiment 1 or Embodiment 2. The computer program product provided in this embodiment can be transmitted, distributed, and downloaded via the Internet in the form of signals.

[0087] The computer program product provided in this embodiment has the same technical effects as that in Embodiment 1 or 2, and will not be described again here.

[0088] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0089] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0090] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0091] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0092] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0093] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0094] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method of motion control of a crane, characterized by, include, Obtain the inverse kinematics model, starting point information, and ending point information; use the inverse kinematics model to generate a planned path based on the starting point information and the ending point information. The input current of different actuators is controlled according to the planned path; Obtain work feedback information corresponding to different action components, generate actual paths based on the work feedback information, and compensate the input current for errors based on the error between the actual paths and the planned paths. The inverse kinematics model generates a planned path based on the starting point information and the ending point information, including: Constraints are obtained based on the upper and lower speed limits of the motion component, the motion range of the motion component, and obstacle information. A planned path is generated based on the starting point information and the ending point information; In response to the planned path not satisfying the constraints, a new planned path is generated; The control of the input current of different actuators according to the planned path includes, The planned path is converted into path point set data, and each path point data in the path point set data includes position, velocity, and acceleration data; Based on the motion dimension of each motion component, the position, velocity, and acceleration data are assigned as target control parameters for different motion components; Set the corresponding input current according to the target control parameters of each actuator; The actuating components include a rotary valve (8), a telescopic valve (12), a variable amplitude balance valve (15), or a winch valve (20). The work feedback information includes the slewing angle and angular velocity of the slewing bearing (6), the telescopic boom (10) telescopic length and speed, the luffing cylinder (14) luffing angle and angular velocity, the hook (22) position or the speed of the winch hydraulic motor (19); Alternatively, controlling the input current of different actuators according to the planned path includes, A pre-built meta-action library is constructed, wherein each meta-action in the meta-action library contains different action components with pre-set input current magnitudes; The planned path is broken down into multiple continuous meta-paths, and the most suitable meta-action is found for each meta-path in the meta-action library. Multiple most suitable meta-actions are connected in series to form an action set according to the order of the meta-path, and the input current of different action components is controlled according to the action set; The step of compensating the input current for error based on the error between the actual path and the planned path includes: The planned path is converted into path point set data, where each path point data in the path point set data includes at least location and speed; The actual position and actual speed are extracted from the actual path, and the actual position and actual speed are compared with the position and speed in the path point set data to obtain the position difference and speed difference. The starting point information and the ending point information are corrected using the position difference and the speed difference to obtain corrected starting point information and ending point information; a planned path is generated based on the corrected starting point information and ending point information; or, a correction current is obtained based on the position difference and the speed difference, and the input current is corrected using the correction current.

2. A motion control system of a crane, characterized by, include, Control device (24) for executing the motion control method of the crane as described in claim 1; The detection device (26) is used to acquire the work feedback information; The detection device (26) includes 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 boom (10), a luffing sensor (16) for detecting the luffing angle and angular velocity of the luffing 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).

3. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of the crane motion control method of claim 1.

4. A computer program product comprising computer programs / instructions, characterized in that, When the computer program / instruction is executed by the processor, it implements the steps of the crane motion control method of claim 1.

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