An intelligent spreader control system

Abstract

The present invention relates to the technical field of sling control, and discloses an intelligent sling control system, including: a main control system module receives information from each module, and sends a control signal according to real-time feedback of a grab signal; a human-computer interaction module receives input preset information, generates a grab signal and sends it to the main control system module to perform an operation; a motor drive module receives a drive signal sent by the main control system module, and drives the motor to operate according to the drive signal; a sensing module receives a data acquisition signal sent by the main control system module, and continuously monitors and collects the working environment through a sensing switch; a safety protection module receives a detection signal sent by the main control system module, detects the safety status of the sling and its surrounding environment through a detection device, detects potential risks and promptly feeds back to the main control system module. The present invention can solve the technical problems that the control logic of the existing PICKUP sling is difficult to quickly adapt and has poor efficiency when processing different types of workpieces.

Description

Technical Field

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

[0002] PICKUP spreader, also known as PICKUP gripper or extraction conveyor, is a special tool for manual conveying of parts. It is widely used in automobile manufacturing and production, mainly used to grab, carry and position large parts such as car body parts (such as doors, hoods, tailgates, etc.) and convey them from process A to process B.

[0003] The existing PICKUP slings are generally composed of a horizontal axis travel motor and a lifting cylinder, which can save manual handling. However, the existing PICKUP slings have the following deficiencies in actual applications: (1) Incomplete functionality: Some PICKUPs do not have a horizontal travel function. When positioning, the horizontal direction cannot be adjusted automatically, and the accuracy of the positioning of the sling and the workpiece cannot be guaranteed. The workpiece positioning must rely on the intervention of the operator, and after positioning, manual confirmation is required before grabbing or placing, which makes the operation inconvenient and increases the complexity. In addition, during the handling process, the sling must grab the workpiece from point A, place it on the transport tool, and then be transported to point R by the transport tool. Then the sling grabs the workpiece again and places it at point B (i.e., the target position). Due to the limited length of the sling, it is impossible to directly handle long-distance lateral transmission tasks. The lateral transmission distance is much greater than the longitudinal transmission distance, and it needs to rely on equipment relay to complete. The whole process of grabbing takes too long, consumes a lot of energy, and may also cause loosening safety problems due to vibration during movement, thereby significantly reducing work efficiency and operational safety. The lifting height of some PICKUPs is determined by a fixed-stroke cylinder. The lifting height is not adjustable and cannot be flexibly adjusted according to specific needs. When grabbing workpieces, it is necessary to complete multiple grabbing and relay transportation. The grabbing time is long and the energy consumption is high. (2) When grabbing and placing workpieces, they usually rely on fixed and constant tracks, and all operations must follow the preset path each time. When faced with different types of workpieces, each type of workpiece often requires a set of independent control logic to adjust the sling, which makes the sling adjustment process not only complicated and cumbersome but also very time-consuming, limiting its flexibility and making it difficult to quickly adapt to diverse needs. Summary of the invention

[0004] The present invention is intended to provide an intelligent spreader control system to solve the technical problem that the control logic of the existing PICKUP spreader is difficult to quickly adapt and has poor efficiency when processing different types of workpieces.

[0005] To solve the above technical problems, the present invention adopts the following technical solutions: an intelligent spreader control system, comprising: a main control system module and a human-machine interaction module, a motor drive module, a sensing module and a safety protection module respectively connected to the main control system module;

[0006] Main control system module: used to receive information from each module and send control signals according to real-time feedback of the grabbing signals, where the control signals include drive signals sent to the motor drive module, detection signals sent to the safety protection module, and data acquisition signals sent to the sensing module;

[0007] The main control system module includes a preset information module; the preset information module includes operating parameters applicable to different vehicle models, and the operating parameters of each vehicle model include a number of workpiece position coordinates and gripper shape settings;

[0008] Human-computer interaction module: used to receive input preset information, generate grabbing signals, and send the grabbing signals to the main control system module to execute operations;

[0009] Motor drive module: used to receive the drive signal sent by the main control system module and drive the motor to run according to the drive signal, so as to control the horizontal travel and vertical lifting of the spreader;

[0010] Sensing module: including a sensing switch, which is used to receive the data acquisition signal sent by the main control system module, and continuously monitor and collect working environment information through the sensing switch;

[0011] Safety protection module: used to receive the detection signal sent by the main control system module, detect the safety status of the spreader and its surrounding environment through the detection equipment, detect potential risks and provide timely feedback to the main control system module;

[0012] The main control system module receives the grasping signal transmitted by the human-computer interaction module, and controls the motor drive module to drive the hoist to move along the selected path according to the preset path selection judgment model based on the vehicle type selection, workpiece position coordinate selection and gripper shape selection of the target workpiece for different workpieces; the path selection judgment model selects the shortest path from multiple optional paths as the selected path based on the different workpieces and on the premise of ensuring that the workpiece does not get loose, so that the hoist starts to move along the selected path; during the movement process, the main control system module receives the working environment information collected in real time by the sensing module, and continues to move along the selected path or changes the direction of the selected path to form the optimal path according to the movement status of the workpiece; during the movement process, the main control system module receives the detection signal transmitted by the safety protection module in real time, and moves on the premise of confirming that the surrounding environment is safe.

[0013] The principle of this scheme is: in actual operation, the sensing switch in the sensing module is activated, and the real-time collection of working environment information begins. The operator selects the preset information through the control interface, including the position coordinates of the workpiece of different models and the gripper shape settings. These settings are adjusted based on the shape, size, weight and material of the workpiece. According to the operator's selection, a specific grasping signal will be generated and sent to the main control system module. The main control system module receives the grasping signal and selects the judgment model according to the preset path, and plans the optimal path from the current position to complete the grasping of the workpiece (that is, the optimal path from the starting point to the end point), ensuring that collisions and other obstacles are avoided. According to the different workpieces, under the premise of ensuring that the workpiece does not loosen, select the best one from multiple optional paths as the selected path to make the hoist start to move along the selected path. The main control system module controls the motor drive module to drive the hoist to move along the selected path, that is, control the hoist to walk horizontally and lift vertically along the selected path. The horizontal walking is used to approach and lift the workpiece for precise positioning and avoiding obstacles. Vertical lifting is used to descend to the appropriate position above the workpiece to ensure that there will be no collision with the workpiece or other obstacles; during the movement, the main control system module receives the working environment information collected by the sensing module in real time, and continues to move along the selected path or changes the direction of the selected path to form the optimal path according to the movement status of the workpiece; at the same time, during the movement, the main control system module receives the detection signal transmitted by the safety protection module in real time, and moves on the premise of confirming that the surrounding environment is safe.

[0014] The advantages of this solution are: (1) Unlike traditional static path planning, this solution combines the sensing module and preset information to build a dynamic response mechanism. The system forms the optimal path based on the different workpieces (such as shape, size, weight and material) while ensuring that the workpiece is not loose and stable. In addition, during the entire movement process, the path planning can be adjusted dynamically and timely according to real-time environmental changes to ensure the safety and effectiveness of the path and operation. This dynamic response mechanism not only improves the flexibility and adaptability of the system, but also greatly enhances the safety of operations, ensuring that tasks can be successfully completed even in complex and changing working environments.

[0015] (2) This solution breaks the technical prejudice of traditional PICKUP spreaders that each type of workpiece has an independent and complex control logic when handling different types of workpieces. This solution successfully integrates the grasping requirements of multiple workpieces into a unified and flexible logical framework by introducing an intelligent spreader control system. It can dynamically select different workpiece positions and required gripper forms, and combine the control of horizontal travel and vertical lifting in the motor drive module to achieve rapid adaptation to various complex workpiece conditions.

[0016] (3) The setting of the gripper shape avoids damage to the workpiece due to insufficient gripping. At the same time, the appropriate gripper shape is conducive to shortening the gripping time and path length, while inappropriate gripping may lead to additional operation steps, prolong the gripping time, and increase the risk of scratching or damage to the workpiece during movement.

[0017] (4) By presetting the path selection judgment model, the path can be automatically selected and adjusted according to the characteristics of different workpieces to form the optimal path with the shortest distance, avoiding unnecessary detours or waiting time, thereby improving work efficiency and workpiece quality. If the grasping process takes too long, the workpiece may be easily deformed, affecting the work quality.

[0018] (5) The control of the horizontal movement and vertical lifting of the spreader allows the spreader to move flexibly in three-dimensional space to meet the needs of grasping a variety of workpieces without the need to reprogram each workpiece.

[0019] (6) The motor drive module accurately controls the horizontal movement and vertical lifting of the spreader based on the data provided by the sensing switch in the sensing module, ensuring that each action can be executed accurately and without error, thereby achieving stable grasping of the workpiece. The combination of "sensing module + motor drive module" enables the spreader to handle various types of workpieces quickly, timely and accurately, thereby improving the adaptability of the spreader.

[0020] (7) The safety protection module detects the safety status of the hoist and its surrounding environment through detection equipment, detects potential risks and promptly feeds back to the main control system module, ensuring that every action of the motor drive module to drive the motor is performed within the safety range, thereby ensuring the safety of the hoist during operation.

[0021] Preferably, as an improvement, the motor drive module includes:

[0022] Horizontal motor drive module: used to control the horizontal travel motor, thereby controlling the horizontal movement of the spreader; the horizontal travel motor is controlled by a motor and a frequency converter to control the running speed of the spreader;

[0023] Vertical motor drive module: used to control the vertical lifting motor, thereby controlling the vertical lifting of the spreader; the vertical lifting motor is controlled by a hoist and a motor.

[0024] Beneficial effects: The horizontal movement and vertical lifting of the spreader can be accurately controlled by the horizontal travel motor and the vertical lifting motor; the horizontal travel motor can be controlled by the motor and the frequency converter to achieve fine adjustment of the spreader's running speed, so that the spreader can maintain the optimal speed under different working conditions (workpiece conditions). The combined control of the hoist and the motor can provide smooth and controllable lifting actions, especially when handling heavy workpieces, to avoid the impact caused by sudden starting or stopping, and protect the equipment and workpieces.

[0025] Preferably, as an improvement, the sling includes a gripper; and the sensing switch includes:

[0026] Horizontal travel in-position and over-position travel switch: used to detect the position of the hoisting device during horizontal travel;

[0027] Vertical lifting in-position and over-position travel switch: used to detect the vertical position of the spreader;

[0028] Workpiece sensing switch: used to detect whether a workpiece exists at a specified location;

[0029] Gripper in place sensing switch: used to confirm whether the gripper is correctly in place.

[0030] Beneficial effects: The horizontal travel in-position and over-position travel switches and the vertical lifting in-position and over-position travel switches are set to effectively prevent the spreader from running out of bounds and avoid collisions with surrounding structures or other equipment, thereby ensuring the safety of the entire system; the workpiece sensing switch can confirm whether there is a workpiece when the spreader approaches the specified position, preventing empty grasping or misgrabbing, and reducing the risks caused by operational errors; the gripper in-position sensing switch ensures that each grasping can be completed firmly and accurately, which not only improves the success rate of grasping, but also reduces the risk of operation failure or workpiece damage due to the gripper not being in place.

[0031] Preferably, as an improvement, the detection device comprises:

[0032] Horizontal travel in-position and over-position detection: Detect whether the horizontal movement reaches the preset position through the horizontal travel in-position and over-position travel switches, and prevent it from exceeding the set horizontal range;

[0033] Vertical lifting in-position and over-position detection: The vertical lifting in-position and over-position travel switches are used to detect whether the vertical lifting has reached the predetermined position and prevent it from exceeding the set height range.

[0034] Beneficial effects: Horizontal walking in-position and out-of-position detection and vertical lifting in-position and out-of-position detection enable the spreader to be parked at the designated location accurately every time, thus improving the accuracy of the operation.

[0035] Preferably, as an improvement, after the path selection judgment model receives the grabbing signal, the main control system module plans several potential optional paths from the starting point to the end point according to the working environment information collected by the sensing module;

[0036] The working environment information includes the state and position of the sling and the state of the workpiece.

[0037] Beneficial effects: By considering the characteristics of the sling and the workpiece, collision, looseness, deformation, scratching or instability can be avoided in path planning, ensuring the safety of the operation process; and it can prevent equipment wear or damage to the workpiece caused by the sling moving too fast. At the same time, adjusting the gripper shape according to the different workpiece states can effectively avoid damage to the workpiece.

[0038] Preferably, as an improvement, the path selection judgment model further selects a path with the shortest distance from multiple optional paths as a selected path based on the physical characteristics of the sling, while ensuring that the workpiece does not get loose, so that the sling starts to move along the selected path;

[0039] The physical characteristics of the spreader include the spreader's moving track, the spreader's moving speed, and the spreader's grasping state;

[0040] The differences in the workpieces include differences in the gripping position, shape, weight and material of the workpieces.

[0041] Beneficial effects: By making specific selections for each path, it can be ensured that the selected path will not cause accidents such as collision or falling of equipment or workpieces, thereby improving the safety of the entire system; the shortest distance can quickly complete the grasping action, reduce the grasping time, and reduce the scratching, deformation or damage of the workpiece, thereby improving production efficiency and workpiece quality.

[0042] Preferably, as an improvement, during the process of the sling grabbing the workpiece and moving along the selected path, the sensing module monitors the changes in the surrounding environment in real time; the main control system module dynamically adjusts the selected path according to the real-time monitoring results; the dynamic adjustment includes: when an over-position occurs during the movement, dynamically re-planning the path to cope with the over-position situation to maintain the safety and effectiveness of the path; when it is detected that other optional paths are relatively empty, dynamically adjusting the path to move along the new optional path; when encountering other optional paths that are shorter and safer, dynamically adjusting the path to move along the new optional path;

[0043] During the movement, the main control module continuously evaluates the path execution status, senses and dynamically adjusts the continuous optimization path in real time, making each adjustment closer to the optimal state.

[0044] Beneficial effects: Real-time dynamic adjustment of the path can ensure the safety of operation and prevent accidents caused by unexpected situations; when new obstacles or other abnormal situations appear in the environment, the system can respond quickly and dynamically re-plan the path to maintain the safety and effectiveness of the path; dynamic optimization of the movement direction and speed of the spreader can reduce unnecessary energy consumption and time waste, reduce operating costs and improve work efficiency; continuous optimization of path execution helps to gradually approach the optimal state and improve the overall performance of the system.

[0045] Preferably, as an improvement, during the movement of the spreader, the main control system module synchronizes the descent and grabbing actions of the gripper through the safety protection module; the safety protection module includes:

[0046] Stop signal interaction between systems: The spreader and main control system modules are logically interlocked and synchronized;

[0047] Abnormal state detection alarm: Monitor and judge the horizontal travel motor and vertical lifting motor through the feedback data of the detection equipment.

[0048] Beneficial effects: The spreader and the main control system module are logically interlocked and operate synchronously. When the motor drives the spreader's gripper to move toward the workpiece and gradually approaches the workpiece under the control of the drive signal, it starts the process of preparing and implementing the grasping action at the same time. That is, during the descent process, the gripper has already started the grasping program, so that it can immediately and stably grasp the workpiece at the moment it reaches the workpiece. This synchronous action design improves the efficiency and accuracy of the entire grasping process, ensures the smoothness and reliability of the operation, and at the same time requires that each operation of the spreader must meet specific safety logic conditions before it can be carried out, effectively preventing incorrect operations and ensuring the safe operation of the spreader in the entire workflow. The abnormal state detection alarm can collect the state data of the spreader in real time through the detection equipment installed in various key positions, and feed it back to the control system, and take corresponding measures according to the corresponding situation.

[0049] Preferably, as an improvement, the set level range is 0-16000mm; the set height range is 1000mm-4000mm.

[0050] Beneficial effects: The set horizontal range and the set height range provide clear boundary limits for the operation of the spreader, which can effectively prevent the spreader from exceeding the predetermined working area, avoid collision with surrounding structures or other equipment, and reduce potential safety hazards.

[0051] Preferably, as an improvement, the number of horizontal travel in-position and out-of-position travel switches is 10-14; the number of vertical lifting in-position and out-of-position travel switches is 3-6.

[0052] Beneficial effects: The setting of various travel switches provides more monitoring points and can provide accurate position feedback. The system can form an optimal path based on these data feedback. In addition, the travel switches also form a multi-level safety protection.

[0053] The beneficial effects of the present invention are as follows: (1) This solution can dynamically adjust the workpiece grasping position (i.e., can accurately grasp the key parts of the workpiece) and the gripper state detection according to the shape, weight and material of the workpiece, thereby ensuring that the workpiece will not get loose or deformed during the movement, thereby ensuring stable movement.

[0054] (2) When grasping a workpiece, this scheme can plan out several optional paths that can be actually implemented, and select a path with the shortest distance from multiple optional paths as the selected path based on the state, position and workpiece state of the sling detected in real time by the sensing switch, so that the sling starts to move along the selected path; and in the process of moving, the selected path is dynamically adjusted according to the moving trajectory, moving speed, grasping state of the sling and the grasping position, shape, weight and material of different workpieces, so as to obtain the optimal path with the minimum energy consumption, the shortest distance and the shortest grasping time, thereby improving the working efficiency of the sling and reducing the problem of deformation, scratching or other damage of the workpiece caused by too long grasping time.

[0055] (3) In this solution, the operation of the entire hoist is logically interlocked with the main control system through the interaction of stop signals between systems, thus forming a synchronous logic interlocking mechanism, so that each module forms an organic whole. Whether in normal operation or in the event of an emergency, all modules can respond synchronously to ensure the stability and reliability of the system; when the safety protection module detects an abnormality or triggers an emergency stop condition, the synchronous logic interlocking mechanism will take effect immediately, allowing all related modules to execute the stop action synchronously. This instant response mechanism greatly improves safety and prevents the spread of potential risks. In addition, the grabbing action of the gripper is activated during the movement of the hoist, saving waiting time and improving production efficiency.

[0056] (4) The setting of the horizontal travel in-position and over-position travel switches and the vertical lifting in-position and over-position travel switches in the sensing switches can calculate the optimal path between the starting point and the end point based on the workpiece position information and various travel switches when grabbing different workpieces, ensuring that each movement is the shortest and safest route. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 A schematic flow chart of an intelligent spreader control system provided in Embodiment 1 of the present invention.

[0058] Figure 2 This is a schematic diagram of the structure of a motor drive module in an intelligent spreader control system provided in Embodiment 1 of the present invention.

[0059] Figure 3 A schematic diagram of the structure of a sensing module in an intelligent spreader control system provided in Embodiment 1 of the present invention Figure 1 .

[0060] Figure 4 A schematic diagram of the structure of a safety protection module in an intelligent spreader control system provided in Embodiment 1 of the present invention Figure 1 .

[0061] Figure 5 A schematic diagram of the structure of a sensing module in an intelligent spreader control system provided in the third embodiment of the present invention Figure 2 .

[0062] Figure 6 A schematic diagram of the structure of a safety protection module in an intelligent spreader control system provided in the fourth embodiment of the present invention Figure 2 .

[0063] Figure 7 This is a schematic diagram of the structure of a power supply module in an intelligent lifting equipment control system provided in Embodiment 5 of the present invention. DETAILED DESCRIPTION

[0064] The following is further described in detail through specific implementation methods:

[0065] The embodiment is basically as shown in the attached Figure 1 As shown: an intelligent spreader control system, including: a main control system module and a human-machine interaction module, a motor drive module, a sensing module and a safety protection module respectively connected to the main control system module.

[0066] Main control system module: used to receive information from each module and send control signals according to real-time feedback of the grabbing signal, wherein the control signals sent by the main control system include: drive signals sent to the motor drive module, detection signals sent to the safety protection module and data acquisition signals sent to the sensing module, thereby realizing centralized management of the entire control system and coordinating the operation of each submodule to ensure safe and efficient operation of the spreader. In this embodiment, the spreader includes a gripper.

[0067] The main control system module includes a preset information module. Specifically, the preset information module includes operating parameters suitable for different vehicle models, and the operating parameters of each vehicle model include a number of workpiece position coordinates (the coordinate position is used to determine the movement of the spreader in the horizontal (i.e., X-axis and Y-axis) and vertical (i.e., Z-axis) directions) and gripper shape settings. The workpiece position coordinates ensure that the spreader can accurately find and locate the target workpiece, and the horizontal and vertical movement stroke parameters ensure that the spreader moves accurately according to the predetermined path, ensuring that each operation can reach the correct position to avoid empty grasping or misgrasping. In this embodiment, the initial position of different workpieces is fixed, and the operator manually selects the corresponding workpiece style code. The gripper shape setting includes gripper action and state detection, which can set appropriate gripper actions according to the characteristics (i.e., size, weight, shape, etc.) and materials of different workpieces to prevent damage or falling of the workpiece due to over-tightening or over-loosening. In this embodiment, by pre-setting corresponding operating parameters for special requirements such as the shape and size of different vehicle models, the spreader can flexibly respond to the grasping needs of various vehicle models and improve the versatility and adaptability of the system. The pre-storage of preset information ensures that the intelligent spreader can use the human-computer interaction module to quickly select and send grasping signals in complex production lines, making it easier for the spreader to complete the grasping task of the target workpiece efficiently, safely and accurately.

[0068] Human-computer interaction module: used to receive input preset information, generate grabbing signals, and send the grabbing signals to the main control system module to execute operations.

[0069] Specifically, the operator selects preset information through the control interface, generates specific grabbing signals based on these selections, and then sends the grabbing signals to the main control system module to guide subsequent grabbing actions and monitor the operating status of the spreader in real time. This allows the operator to control the grabbing of complex and different workpieces through simple and intuitive operations, improving the ease of use and efficiency of the system.

[0070] Motor drive module: used to receive the drive signal sent by the main control system module, and drive the motor to run according to the drive signal, so as to control the horizontal travel and vertical lifting of the spreader.

[0071] like Figure 2As shown, the motor drive module includes a horizontal motor drive module and a vertical motor drive module. Specifically, the horizontal motor drive module is used to control the horizontal travel motor, thereby controlling the horizontal movement of the sling, that is, controlling the movement of the sling in the X-axis and Y-axis directions on the guide rail. As a reference, the horizontal travel motor of this solution is controlled by a motor and a frequency converter, so as to control the running speed of the sling to avoid running too fast or too slow, which affects the production efficiency and the quality of the workpiece. The vertical motor drive module is used to control the vertical lifting motor, thereby controlling the vertical lifting of the sling, that is, controlling the movement of the sling in the Z-axis direction on the guide rail. As a reference, the vertical lifting motor of this solution adopts the form of a combination of a hoist and a motor.

[0072] The motor drive module also feeds back current status information, such as motor speed and position, to the main control system module so that the system can make real-time adjustments.

[0073] Sensing module: includes a sensing switch, which is used to receive the data acquisition signal sent by the main control system module, and continuously monitor and collect working environment information through the sensing switch.

[0074] like Figure 3 As shown, the sensing switch includes a horizontal travel in-place and over-position travel switch, a vertical lifting in-place and over-position travel switch, a workpiece sensing switch, and a gripper in-place sensing switch. Specifically, the horizontal travel in-place and over-position travel switch is used to detect the position of the hoist during horizontal travel to ensure that it is within a predetermined horizontal range. The vertical lifting in-place and over-position travel switch is used to detect the position of the hoist in the vertical direction to ensure that it is within a predetermined height range. The workpiece sensing switch is used to detect whether there is a workpiece in the specified position to ensure accurate grasping. The gripper in-place sensing switch is used to confirm whether the gripper is correctly in place to ensure the safety of grasping and releasing. Among them, the number of horizontal travel in-place and over-position travel switches is 10-14; the number of vertical lifting in-place and over-position travel switches is 3-6. Specifically, in this embodiment, the number of horizontal travel in-place and over-position travel switches is 12; the number of vertical lifting in-place and over-position travel switches is 4. The setting of the number of various travel switches provides more monitoring points and can provide accurate position feedback. At the same time, the control system can form an optimal path based on these data feedback.

[0075] Safety protection module: used to receive the detection signal sent by the main control system module, detect the safety status of the spreader and its surrounding environment through detection equipment, detect potential risks and provide timely feedback to the main control system module.

[0076] like Figure 4As shown, the safety protection module includes horizontal travel in-position and over-position detection, vertical lifting in-position and over-position detection and system-to-system stop signal interaction. Specifically, horizontal travel in-position and over-position detection: the horizontal travel in-position and over-position travel switch is used to detect whether the horizontal movement has reached the predetermined position, and prevent it from exceeding the set horizontal range. Vertical lifting in-position and over-position detection: the vertical direction in-position and over-position travel switch is used to detect whether the vertical lifting has reached the predetermined position, and prevent it from exceeding the set height range. System-to-system stop signal interaction: the hoist and the main control system module are logically interlocked. Through logical interlocking, the hoist and the main control system modules can communicate in real time to ensure the synchronization of the logical control operations of the hoist and the main control system, avoid operational errors caused by time difference or asynchrony, improve the efficiency and reliability of the entire production process, and at the same time ensure that the intelligent hoist is applied to the production line.

[0077] Power module: Provides stable power supply for the entire system to ensure the normal operation of each module.

[0078] The main control system module receives the grasping signal transmitted by the human-computer interaction module, and according to the vehicle type selection, workpiece position coordinate selection and gripper shape selection of the target workpiece, for different workpieces, according to the preset path selection judgment model, controls the motor drive module to drive the hoist to move along the selected path; the path selection judgment model, according to the different workpieces, under the premise of ensuring that the workpiece does not get loose, selects the shortest path from multiple optional paths as the selected path to make the hoist start to move along the selected path; during the movement process, the main control system module receives the working environment information collected by the sensing module in real time, and continues to move along the selected path or changes the direction of the selected path to form the optimal path according to the movement status of the workpiece; during the movement process, the main control system module receives the detection signal transmitted by the safety protection module in real time, and moves on the premise of confirming that the surrounding environment is safe.

[0079] Specifically, after the path selection judgment model receives the grasping signal, the main control system module plans several potential optional paths from the starting point to the end point according to the working environment information collected by the sensing module; the path selection judgment model not only depends on the difference of the workpiece, but also on the physical characteristics of the hoist. On the premise of ensuring that the workpiece does not get loose, the hoist selects the shortest path from multiple optional paths as the selected path and starts to move along the selected path; when the hoist grasps the workpiece and moves along the selected path, the sensing module monitors the changes in the surrounding environment in real time; the main control system module makes corresponding adjustments based on the real-time monitoring results.

[0080] In this embodiment, the working environment information includes the state, position and workpiece state of the spreader. Specifically, the state of the spreader refers to the state information of the spreader collected by various travel switches to ensure that it is in the correct working mode; the workpiece state refers to the position and movement position of different workpieces. The difference of the workpiece includes the different grasping position, shape, weight and material of the workpiece.

[0081] The physical characteristics of the spreader refer to the spreader's moving trajectory (the moving trajectory / path formed by each sensor switch), the spreader's moving speed, and the spreader's grasping state (whether the position where the gripper grasps the workpiece is loose). Specifically, the spreader's moving trajectory refers to the moving trajectory / path formed by each sensor switch, the spreader's moving speed refers to the speed controlled by the horizontal travel motor and the vertical lifting motor; the spreader's grasping state refers to the grasping state of the gripper grasping the workpiece.

[0082] The differences in workpieces include the different gripping positions, shapes, weights and materials of the workpieces. Specifically, workpieces of different shapes, weights and materials require different gripping positions, and the key parts of the workpieces that need to be gripped (i.e., the parts that are not easy to make the workpiece loose, slide or deform but can be grasped) are different, and corresponding adjustments need to be made according to the specific situation. That is, for larger or heavier workpieces, a more stable gripping position is required to avoid loosening or deformation during transportation; for irregularly shaped workpieces, multiple gripping positions are required to maintain stability; for workpieces with some surfaces painted or otherwise treated, special attention should be paid to the gripping state when gripping to avoid scratching or damage to the paint surface due to excessive local pressure. At the same time, the smooth surface increases the risk of sliding, and the gripping position needs to be adjusted to ensure safety. In addition, the choice of gripping position and the choice of gripper shape directly affect the time and path length of gripping and handling. Improper gripping may lead to additional operating steps, extend the handling time, and increase the risk of damage to the workpiece during movement.

[0083] The specific implementation process is as follows:

[0084] The power module is started to provide stable power to each module. The sensing switch in the sensing module starts to collect working environment information. The operator selects the target workpiece through the control interface. Based on the selection, a specific grasping signal is generated and sent to the main control system. The generated grasping signal includes the model selection of the target workpiece, the workpiece position coordinate selection, and the gripper shape selection. For different workpieces, their shapes, sizes, weights, and materials are different, and the grasping position and gripper shape are significantly different. For example: when grasping fragile materials, such as non-durable or non-metallic materials, the gripper must use gentle force and movement to avoid damaging the workpiece; conversely, when grasping heavy or durable metal workpieces, such as steel frame parts, the gripper needs to apply greater force and a larger grasping position to ensure that the workpiece is firmly grasped and does not slip.

[0085] Path selection: The path selection judgment model accepts the preset information selected in the grasping signal (i.e., the workpiece position coordinates and the gripper shape) and the working environment information provided by the sensing switch (i.e., the hanger status, position, and working status), and plans several potential optional paths from the starting point to the end point; that is, it plans an optional path from the current position to the workpiece grasping that can be actually implemented; after planning several optional paths, the path selection judgment model selects the shortest path from multiple optional paths as the selected path based on the physical characteristics of the workpiece grasping position, shape, weight, material, the moving trajectory of the hanger, and the moving speed of the hanger, while ensuring that the workpiece does not get loose, so that the hanger starts moving along the selected path.

[0086] In this embodiment, the workpiece to be grasped is the longitudinal beam panel of the vehicle body. On the assembly line of an automobile manufacturing plant, a sling is used to grasp and move the longitudinal beam panel. The operator sets the position coordinates of the longitudinal beam panel through the preset information module and sets the gripper shape according to the material, shape, weight and structure of the vehicle body to ensure firmness but not excessive pressure. The path selection judgment model starts to plan several potential optional paths from the current position of the sling to the grasping position of the longitudinal beam panel based on the received preset information and the working environment information collected in real time by the sensing switch. Considering the physical properties of the sling (such as the moving trajectory and moving speed of the sling, etc.) and the specific attributes of the vehicle body (such as shape, weight, material, etc.), multiple executable optional paths are calculated, and each optional path can ensure that the workpiece does not get loose and meets all safety regulations. Then, a shortest distance is selected from multiple optional paths as the selected path so that the sling starts to move along the selected path.

[0087] For example, after calculation by the main control system module, the path selection judgment model proposes three potential paths. That is, path A: a straight path, but there is an area in the middle where transport vehicles and other equipment may frequently enter and exit; path B: a curved path, more than twice the length of path A, but it is relatively open along the way, there are no dynamic obstacles and the road surface is flat, it can travel at high speed, and it also avoids the collision-intensive area, reducing the risk of collision. Path C: The length is more than three times that of path A, but it completely avoids all known fixed and dynamic obstacles and has the highest safety. However, due to its longest length, it will increase the moving time and energy consumption. According to the above conditions, the path selection judgment model selects path A as the selected path. The reasons are as follows: the system gives priority to path A with the shortest distance. Compared with paths B and C, path A significantly shortens the moving distance and reduces the deformation caused by time. Although other transport vehicles and other equipment may be encountered during the journey, after being equipped with a safety protection module, risks can be effectively avoided, and obstacles can be responded to in advance to avoid collisions and other problems. After executing the selected path, the spreader moves along path A according to the predetermined plan, goes to the location of the vehicle body to grab it, and safely transports it to the location where it needs to be moved. During this process, the sensing module and the safety protection module continuously monitor the changes in the surrounding environment, and the main control system module adjusts the action state of the PICKUP spreader according to real-time monitoring. If an obstacle appears in path A during movement, the spreader will immediately stop and issue an alarm, and continue to move after the obstacle is removed, and finally move the vehicle body to the required location. The whole process is both efficient and safe, and meets the requirements of the shortest distance and the shortest time, thereby reducing the problem of deformation and scratches of the workpiece due to long-term grabbing.

[0088] Movement of the spreader: The workpiece sensing switch first confirms whether there is a workpiece at the target position of the option. When there is a workpiece, the main control system sends a drive signal to the motor drive module. The motor drive module receives the drive signal and controls the horizontal travel motor and the vertical lifting motor to perform corresponding actions, that is, to control the horizontal and vertical movement of the spreader on the guide rail according to the selected path. In other words, it controls the movement of the spreader in the three directions of X, Y, and Z of the guide rail. The movement in the Z direction refers to the up and down movement, which is used to approach and lift the workpiece. The movement in the X and Y directions refers to the front and back, left and right movement, which is used to accurately locate and avoid obstacles. The spreader descends to the appropriate position above the workpiece in the vertical direction to ensure that it will not collide with the workpiece or other obstacles. The horizontal travel motor drives the spreader to move horizontally to the predetermined horizontal position, and the horizontal travel in place and over-position switch is used to detect the horizontal travel in place and over-position to ensure that the horizontal travel does not exceed the stroke, and moves accurately to the top of the workpiece to ensure that the gripper can accurately align with the workpiece. The vertical lifting motor drives the spreader to rise and fall to the predetermined height position, and the vertical lifting in place and over-position travel switch is used to detect the vertical lifting in place and over-position to ensure that the vertical lifting does not exceed the stroke. The gripper in place sensing switch confirms that the gripper is correctly in place and ready to grasp. It then performs the final grasping action to complete the grasping of the workpiece.

[0089] Under the control of the stop signal interaction between the systems, when the gripper moves toward the workpiece and gradually approaches the workpiece, the preparation and implementation process of the grasping action will be started and executed synchronously. In other words, during the descent process, the gripper has already started the grasping program, allowing it to grasp the workpiece stably as soon as it reaches the workpiece. This synchronous action design improves the efficiency and accuracy of the entire grasping process and ensures the smoothness and reliability of the operation. When the task is completed, the main control system instructs the motor drive module to reset the spreader to the initial position, the operator confirms the completion of the task through the control interface, and the system enters standby mode to prepare for the next task.

[0090] That is, during the spreader grabbing control process, the spreader and the main control system module work closely together through logical interlocking to ensure that the entire control system always remains synchronized, so that each operation of the spreader must meet specific safety logic conditions before it can be carried out, effectively preventing incorrect operations and ensuring the safe operation of the spreader in the entire workflow.

[0091] In this solution, the accuracy and efficiency of the workpiece grabbing project are ensured through the coordinated work of the main control system module, human-computer interaction module, motor drive module, induction module, safety protection module and power module. The grabbing requirements of various workpieces are successfully integrated into a unified and flexible logical framework, breaking the technical prejudice that each type of workpiece has an independent and complex control logic when the traditional PICKUP hanger handles different types of workpieces. In addition, unlike the traditional static path planning, this solution combines the induction module and preset information to build a dynamic response mechanism. The system forms the selected path according to the different workpieces (such as shape, size, weight and material) and the physical characteristics of the hanger on the premise of ensuring that the workpiece is not loose and stable. In the whole moving process, it can give priority to the shortest path for movement according to the real-time environmental changes, avoiding unnecessary detours or waiting time, thereby improving work efficiency and workpiece quality; if the grabbing process takes too long, it is easy to deform the workpiece and affect the work quality. The dynamic response mechanism provided by this solution not only improves the flexibility and adaptability of the system, but also greatly enhances the safety and effectiveness of the operation, ensuring that the task can be successfully completed even in a complex and changing working environment.

[0092] Specifically, under the control of the system-to-system stop signal interaction, the spreader and the main control system are synchronized, thus forming a synchronous logic interlocking mechanism, which realizes the close coordination between the spreader operation and each module (i.e., the main control system module, the human-machine interaction module, the motor drive module, the sensing module, and the safety protection module). The overall operation of the spreader is always consistent, and synchronous actions are performed, making the operation and adjustment of the entire system smoother and more efficient. In the process of the gripper approaching the workpiece, the grasping action has been started synchronously, so that the entire process from positioning to grasping can be completed in the shortest time, thereby significantly improving work efficiency and reducing unnecessary waiting time. With the close cooperation of the "motor drive module and the sensing module", under a unified set of logical control, accurate and timely grasping of workpieces of different models can be achieved; the close cooperation of the "motor drive module + safety protection module + sensing module", the data fed back by various sensing switches and detections, enable the main control system to dynamically calculate and adjust the optimal grasping path through the path selection judgment model, and complete the grasping and release of the workpiece in a timely and rapid manner. That is, the sensing module includes horizontal travel in-position and over-position travel switches, vertical lifting in-position and over-position travel switches, workpiece sensing switches and gripper in-position sensing switches, which can monitor the position and status of the sling and workpiece in real time to ensure the accuracy and safety of the operation. The safety protection module includes horizontal travel in-position and over-position detection, vertical lifting in-position and over-position detection, and system-to-system stop signal interaction. The safety protection module works in conjunction with the sensing module to provide multiple protection mechanisms, such as over-travel detection, to prevent accidents and ensure the safety of operators and equipment.

[0093] This solution also integrates multiple types of switches, detections, and logic interlocks, and can plan and dynamically adjust an optimal path. These switches and detections can monitor the status of the spreader and its surroundings in real time, and the logic interlocks can only be executed when all necessary conditions are met. The next operation will be executed. This ensures that the spreader runs on the safest and most efficient path. Through the collaborative work of the sensing module and the motor drive module, each operation is ensured to be accurate and can respond quickly to improve work efficiency. The combination of the safety protection module and the motor drive module provides comprehensive safety protection and reduces potential risks. The system can be adjusted according to different vehicle models and workpiece types to adapt to diverse production needs.

[0094] Embodiment 2:

[0095] The difference between this embodiment and the first embodiment is that, during the process of the sling grabbing the workpiece and moving along the selected path, the sensing module monitors the changes in the surrounding environment in real time; the main control system module dynamically adjusts the selected path according to the real-time monitoring results; the dynamic adjustment includes: when an over-position occurs during the movement, dynamically re-planning the path to cope with the over-position situation to maintain the safety and effectiveness of the path; when it is detected that other optional paths are relatively empty, dynamically adjusting the path to move along the new optional path; when encountering other optional paths that are shorter and safer, dynamically adjusting the path to move along the new optional path;

[0096] During the movement, the main control module continuously evaluates the path execution status, senses and dynamically adjusts the continuous optimization path in real time, making each adjustment closer to the optimal state.

[0097] Specifically, Path A is a straight path, but there is an area in the middle where you may encounter frequent transport vehicles and other equipment. Path B is a curved path, more than twice as long as Path A, but it is relatively open along the way, has no dynamic obstacles and a flat road surface, allowing high-speed travel. In addition, it avoids collision-intensive areas, reducing the risk of collision. Path C is more than three times as long as Path A, but completely avoids all known fixed and dynamic obstacles, and has the highest safety. However, due to its longest length, it will increase movement time and energy consumption.

[0098] Final decision Based on the above conditions, the model selected path B as the selected path. The reasons are as follows: Moderate distance: Although it is not the shortest path, it significantly shortens the moving distance and reduces the deformation caused by time compared with path C. Reasonable energy consumption: Path B is relatively flat, allowing the hoist to move at a higher and stable speed, thereby reducing the total energy consumption. Strong emergency response capability: Path B is relatively empty along the way, and even in the event of an emergency, it can make adjustments quickly to ensure safety and reliability. After executing the selected path, the hoist moves along path B according to the predetermined plan, goes to the location of the vehicle body to grab it, and transports it safely to the required location. The main control system module continuously evaluates the path execution and plans new paths based on real-time monitoring results. If during the movement, the planned path D in the re-planned optional path is a straight path and empty, the path can be dynamically adjusted and switched to path D for movement; if the planned path E is short and completely avoids all known fixed and dynamic obstacles, the path is dynamically adjusted and switched to path E for movement, and finally the vehicle body is moved to the required location. The entire process is both efficient and safe, while meeting the requirements of shortest distance, minimum energy consumption and strong emergency response capabilities, thereby reducing the problem of workpiece deformation and scratches caused by long-term grasping.

[0099] Embodiment three:

[0100] The difference between this embodiment and the first embodiment is that, in this embodiment, the sensing module further includes a manual operation button box: which is used to provide a manual control option to facilitate the operator to perform necessary intervention.

[0101] Specifically, Figure 5 As shown, the sensing module also includes a manual operation button box. When encountering a workpiece with a complex shape and heavy weight, the operator can use the manual operation button box to make fine adjustments to the position of the spreader. The manual operation button box is equipped with buttons or rockers for up and down, left and right, and forward and backward movement, so that the operator can fine-tune the position of the spreader according to the actual situation to ensure that the gripper can accurately align with the key parts of the workpiece. For example: when grabbing a frame, because the frame has an irregular shape, large size and heavy weight, when the gripper moves above the frame, the operator can make fine adjustments through the manual operation button box to ensure that the spreader is accurately aligned with a specific key part of the frame before performing the grabbing action.

[0102] This solution uses a manually operated button box. When grabbing complex vehicle workpieces, the operator can flexibly adjust the position and posture of the hoist according to actual conditions to ensure the best grabbing effect.

[0103] Embodiment 4:

[0104] The difference between this embodiment and the first embodiment is that, in this embodiment, Figure 6 As shown, the safety protection module also includes an emergency stop button and an abnormal state detection alarm. Emergency stop button: the highest priority protection button, which can stop the equipment from running to protect the equipment and operators; abnormal state detection alarm: through the feedback data of the detection equipment, the horizontal travel motor and the vertical lifting motor are monitored and judged to ensure that the intelligent spreader is in normal operation; the horizontal range is set to: 0-16000mm; the height range is set to: 1000-4000mm. In this embodiment, the horizontal range is set to 14000mm and the height range is set to 3000mm.

[0105] Specifically, when the hoist grabs the workpiece, the system collects data in real time and feeds back to the main control system module through the travel switches and other detection equipment installed at various key positions. When the horizontal travel in place and over-position switch detects that the hoist exceeds the preset horizontal range of 14000mm, or when the vertical lifting in place and over-position switch detects that it exceeds the preset height range of 3000mm, the system will respond immediately. The main control system module will judge the status of the horizontal travel motor and the vertical lifting motor based on the received data, immediately stop the equipment and issue an alarm signal in time. The alarm method includes sound alarm and display of warning information on the control interface to remind the operator to pay attention and take corresponding measures. There is a protection button with the highest priority. When an emergency occurs, the emergency stop button can be triggered to stop the equipment immediately to protect the safety of the equipment and operators. When a dynamic obstacle appears during the movement, it will be detected by the safety protection module and corresponding measures will be taken to stop the equipment to protect the safety of the equipment and operators.

[0106] In this solution, the emergency stop button and the abnormal state detection alarm system complement each other and together form a complete safety protection system. The emergency stop button provides a timely means of manual intervention, while the abnormal state detection alarm realizes automated real-time monitoring and early warning.

[0107] Embodiment five:

[0108] The difference between this embodiment and the first embodiment is that, in this embodiment, the power module includes a controller power module, a motor power module, a detection component power module, a gripper power module and a reserved opening power module.

[0109] Specifically, Figure 7As shown in the figure, the power module is subdivided into five independent submodules, each of which is responsible for powering a specific type of equipment. Among them, the controller power module is used to provide power for the main control system. Ensure that the main control system can operate continuously and stably, coordinate and manage the work of all other modules, and maintain the overall operation of the system. The motor power module is used to power the horizontal travel motor that drives horizontal travel and the vertical lifting motor that drives vertical lifting. Ensure that the motor has sufficient power support to achieve accurate horizontal travel and vertical lifting movements, and improve the efficiency and accuracy of operations. The detection component power module is used to power sensing switches, detection equipment, and other electrical equipment. That is, it provides power for horizontal travel in-place and over-position travel switches, vertical lifting in-place and over-position travel switches, workpiece sensing switches, gripper in-place sensing switches, horizontal travel in-place and over-position detection, vertical lifting in-place and over-position detection, system-to-system stop information interaction, and abnormal state detection alarms. Ensure that detection equipment such as the sensing module and the safety protection module work normally, monitor the position and status in real time, and ensure the safety and accuracy of operations. The gripper power module provides power to the gripping part of the spreader. Ensure that the gripper can reliably perform the gripping action, adapt to the needs of different models and workpiece types, and improve the accuracy and stability of the gripping. Reserved power module: another power module that provides power for various electrical devices and detectors on the spreader. As a backup power supply or expansion interface, it can flexibly respond to the possible increase in electrical equipment and detection needs in the future, such as. Added travel switches and detection equipment, thereby enhancing the scalability and adaptability of the system.

[0110] In this solution, the power supply of each device is independently controlled, ensuring that each part can obtain the required power support, thereby achieving efficient, safe and intelligent workpiece grasping operation. Even if a power module fails, other modules can continue to work, avoiding the risk of the entire system shutting down due to a single power problem.

[0111] The above is only an embodiment of the present invention, and the common knowledge such as the known specific technical solutions and / or characteristics in the solution is not described in detail here. It should be pointed out that for those skilled in the art, without departing from the technical solution of the present invention, several modifications and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. An intelligent spreader control system, characterized in that: include: A main control system module and a human-machine interaction module, a motor drive module, a sensing module and a safety protection module respectively connected to the main control system module; Main control system module: used to receive information from each module and send control signals according to real-time feedback of the grabbing signals, where the control signals include drive signals sent to the motor drive module, detection signals sent to the safety protection module, and data acquisition signals sent to the sensing module; The main control system module includes a preset information module; the preset information module includes operating parameters applicable to different vehicle models, and the operating parameters of each vehicle model include a number of workpiece position coordinates and gripper shape settings; Human-computer interaction module: used to receive input preset information, generate grabbing signals, and send the grabbing signals to the main control system module to execute operations; Motor drive module: used to receive the drive signal sent by the main control system module and drive the motor to run according to the drive signal, so as to control the horizontal travel and vertical lifting of the spreader; Sensing module: including a sensing switch, which is used to receive the data acquisition signal sent by the main control system module, and continuously monitor and collect working environment information through the sensing switch; Safety protection module: used to receive the detection signal sent by the main control system module, detect the safety status of the spreader and its surrounding environment through the detection equipment, detect potential risks and provide timely feedback to the main control system module; The main control system module receives the grasping signal transmitted by the human-computer interaction module, and controls the motor drive module to drive the hoist to move along the selected path according to the preset path selection judgment model based on the vehicle type selection, workpiece position coordinate selection and gripper shape selection of the target workpiece for different workpieces; the path selection judgment model selects the shortest path from multiple optional paths as the selected path based on the different workpieces and on the premise of ensuring that the workpiece does not get loose, so that the hoist starts to move along the selected path; during the movement process, the main control system module receives the working environment information collected in real time by the sensing module, and continues to move along the selected path or changes the direction of the selected path to form the optimal path according to the movement status of the workpiece; during the movement process, the main control system module receives the detection signal transmitted by the safety protection module in real time, and moves on the premise of confirming that the surrounding environment is safe.

2. The intelligent spreader control system according to claim 1, characterized in that: The motor drive module includes: Horizontal motor drive module: used to control the horizontal travel motor, thereby controlling the horizontal movement of the spreader; the horizontal travel motor is controlled by a motor and a frequency converter to control the running speed of the spreader; Vertical motor drive module: used to control the vertical lifting motor, thereby controlling the vertical lifting of the spreader; the vertical lifting motor is controlled by a hoist and a motor.

3. The intelligent spreader control system according to claim 1, characterized in that: The lifting device includes a gripper; the sensing switch includes: Horizontal travel in-position and over-position travel switch: used to detect the position of the hoisting device during horizontal travel; Vertical lifting in-position and over-position travel switch: used to detect the vertical position of the spreader; Workpiece sensing switch: used to detect whether a workpiece exists at a specified location; Gripper in place sensing switch: used to confirm whether the gripper is correctly in place.

4. The intelligent spreader control system according to claim 1, characterized in that: Testing equipment includes: Horizontal travel in-position and over-position detection: Detect whether the horizontal movement reaches the preset position through the horizontal travel in-position and over-position travel switches, and prevent it from exceeding the set horizontal range; Vertical lifting in-position and over-position detection: The vertical lifting in-position and over-position travel switches are used to detect whether the vertical lifting has reached the predetermined position and prevent it from exceeding the set height range.

5. The intelligent spreader control system according to claim 1, characterized in that: After the path selection judgment model receives the grasping signal, the main control system module plans several potential optional paths from the starting point to the end point according to the working environment information collected by the sensing module; The working environment information includes the state and position of the sling and the state of the workpiece.

6. The intelligent spreader control system according to claim 1, characterized in that: The path selection judgment model also selects a shortest path from multiple optional paths as a selected path based on the physical characteristics of the lifting device and on the premise that the workpiece does not get loose, so that the lifting device starts to move along the selected path; The physical characteristics of the spreader include the spreader's moving track, the spreader's moving speed, and the spreader's grasping state; The differences in the workpieces include differences in the gripping position, shape, weight and material of the workpieces.

7. The intelligent spreader control system according to claim 1, characterized in that: When the lifting device grabs the workpiece and moves along the selected path, the sensing module monitors the changes in the surrounding environment in real time; the main control system module dynamically adjusts the selected path based on the real-time monitoring results; The dynamic adjustment includes: when an over-position occurs during the movement, dynamically re-planning the path to cope with the over-position situation and maintain the safety and effectiveness of the path; when it is detected that other optional paths are relatively empty, dynamically adjusting the path to move along the new optional path; when other optional paths are shorter and safer, dynamically adjusting the path to move along the new optional path; During the movement, the main control module continuously evaluates the path execution status, senses and dynamically adjusts the continuous optimization path in real time, making each adjustment closer to the optimal state.

8. The intelligent spreader control system according to claim 2, characterized in that: During the movement of the spreader, the main control system module synchronizes the descent and grabbing actions of the gripper through the safety protection module; the safety protection module includes: Stop signal interaction between systems: The spreader and main control system modules are logically interlocked and synchronized; Abnormal state detection alarm: Monitor and judge the horizontal travel motor and vertical lifting motor through the feedback data of the detection equipment.

9. The intelligent spreader control system according to claim 4, characterized in that: The setting level range is 0-16000mm; the setting height range is 1000-4000mm.

10. The intelligent spreader control system according to claim 3, characterized in that: The number of horizontal travel in-position and over-position travel switches is 10-14; the number of vertical lifting in-position and over-position travel switches is 3-6.

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