Lifting appliance control method and device of travelling crane and electronic equipment

Abstract

The invention discloses a crane sling control method and device and electronic equipment, and relates to the field of hoisting machinery. The method comprises the following steps: acquiring an image sequence of a lifting appliance; performing feature extraction and target detection on each image to obtain pixel coordinates at two ends of the lifting appliance; calculating the inclination angle of the lifting appliance in each image to obtain a swinging angle sequence; judging whether the lifting appliance is in an abnormal swinging state or not, and determining a target swinging angle from the swinging angle sequence; if it is determined that the lifting appliance is in the abnormal swing state, the swing angle difference value of the target swing angle relative to the preset swing angle range is calculated; according to the swing angle difference value, compensation force is generated and applied to the lifting appliance, and the compensation direction of the compensation force is opposite to the swing direction of the lifting appliance. According to the technical scheme, the compensation force is automatically generated according to the swing angle difference value, abnormal swing of the lifting appliance is restrained, and the safety of lifting operation is improved.

Description

Technical Field

[0001] The present application relates to a field, and specifically to a method, device and electronic equipment for controlling a crane hoist. Background Art

[0002] With the continuous development of industrial automation and intelligence, cranes and crane spreaders are increasingly used in manufacturing, port logistics, construction and other fields. These devices play a pivotal role in improving operating efficiency and reducing labor costs. Especially in the handling and precise positioning of heavy objects, crane spreaders are indispensable.

[0003] At present, due to the complex and changeable working environment of the crane, there are many external disturbance factors, and the flexible characteristics of the spreader itself, the spreader is prone to swing during movement. The swing of the spreader will cause the heavy objects to shake and impact. However, the traditional method relies on the operator to adjust and stabilize the spreader through manual control, which is easy to cause safety accidents and has the problem of low safety.

[0004] Therefore, there is an urgent need for a method, device and electronic equipment for controlling a crane hoist. Summary of the invention

[0005] The present application provides a method, device and electronic equipment for controlling a crane hoist, which automatically generates a compensation force according to a swing angle difference, suppresses abnormal swing of the hoist, and improves the safety of the lifting operation.

[0006] In a first aspect of the present application, a method for controlling a crane hoist is provided, the method comprising: acquiring an image sequence of the hoist, the image sequence comprising a plurality of continuous images; performing feature extraction and target detection on each of the images to obtain pixel coordinates of both ends of the hoist; calculating the inclination angle of the hoist in each of the images according to the pixel coordinates to obtain a swing angle sequence; judging whether the hoist is in an abnormal swing state according to the swing angle sequence, and determining a target swing angle from the swing angle sequence; if it is determined that the hoist is in an abnormal swing state, calculating a swing angle difference of the target swing angle relative to a preset swing angle range, the swing angle difference being an offset of the target swing angle relative to the preset swing angle range; generating a compensation force according to the swing angle difference, and applying the compensation force to the hoist, the compensation direction of the compensation force being opposite to the swing direction of the hoist.

[0007] By adopting the above technical solution, by acquiring a continuous image sequence of the spreader, performing feature extraction and target detection on the image, calculating the inclination angle of the spreader to obtain a swing angle sequence, judging whether the spreader is in an abnormal swing state, determining the target swing angle, calculating the swing angle difference, generating a compensation force and applying it to the spreader, the real-time monitoring and active control of the spreader swing state are realized. By analyzing and judging the swing angle sequence, the abnormal swing state of the spreader can be accurately identified, providing a basis for subsequent control decisions. Generating a compensation force based on the swing angle difference and applying it to the spreader can effectively suppress the abnormal swing of the spreader, so that it can be restored to a safe and stable working state as soon as possible, avoiding manual operation, and improving the safety and reliability of lifting operations.

[0008] Optionally, judging whether the spreader is in an abnormal swing state according to the swing angle sequence, and determining a target swing angle from the swing angle sequence, specifically includes: calculating statistical characteristic values ​​of the swing angle sequence, the statistical characteristic values ​​including a mean, a square, a maximum value and a minimum value; if the swing angle values ​​included in the swing angle sequence are all within the preset swing angle range, and the variance is less than a preset variance threshold, determining that the spreader is in a normal swing state, and taking the mean as the target swing angle; if the swing angle values ​​included in the swing angle sequence are all within the preset swing angle range, and the variance is greater than or equal to a preset variance threshold, determining that the spreader is in an abnormal swing state, and taking a sum of the mean and the variance weighted by a preset weight as the target swing angle; if the maximum value or the minimum value is not within the preset swing angle range, determining that the spreader is in an abnormal swing state, and taking the maximum value or the minimum value as the target swing angle.

[0009] By adopting the above technical solution, by calculating the mean, variance, maximum and minimum statistical characteristic values ​​of the swing angle sequence, and comprehensively considering the average level, discreteness and extreme value of the swing angle, it is possible to accurately determine whether the spreader is in an abnormal swing state and determine the appropriate target swing angle. The statistical characteristics of the swing angle sequence are utilized to accurately identify abnormal swing states of different degrees. This method achieves a detailed evaluation and classification of the swing state of the spreader through statistical characteristic values ​​and graded judgment, providing a reliable basis for subsequent control decisions and improving the detection rate and control effect of abnormal swings.

[0010] Optionally, calculating the inclination angle of the sling in each of the images based on the pixel coordinates to obtain a swing angle sequence specifically includes: converting the pixel coordinates at both ends of the sling into spatial coordinates in a world coordinate system; calculating the swing angle corresponding to the sling in each of the images based on the spatial coordinates to obtain the swing angle sequence.

[0011] By adopting the above technical solution, the pixel coordinates at both ends of the spreader are converted into spatial coordinates in the world coordinate system, and the swing angle of the spreader is calculated based on the spatial coordinates, so as to realize the information mapping and state reconstruction from the two-dimensional image to the three-dimensional space. By converting the pixel coordinates into the world coordinate system, the spatial three-dimensional coordinates of the two end points of the spreader are obtained, which can accurately describe the spatial position and direction of the spreader. This method realizes the accurate evaluation of the swing state of the spreader. By converting the image coordinates into the spatial coordinates, the visual information is closely linked to the physical world, which provides a reliable data basis for the subsequent mechanical analysis and control execution.

[0012] Optionally, converting the pixel coordinates at both ends of the sling into spatial coordinates in a world coordinate system specifically includes: establishing a conversion relationship between a camera coordinate system and a world coordinate system; obtaining an extrinsic parameter matrix of the camera, and converting the pixel coordinates into coordinates in the camera coordinate system according to the extrinsic parameter matrix; and converting the coordinates in the camera coordinate system into a spatial coordinate system in the world coordinate system according to the conversion relationship.

[0013] By adopting the above technical solution, by establishing the conversion relationship between the camera coordinate system and the world coordinate system, using the camera extrinsic matrix to convert the pixel coordinates to the camera coordinate system, and then converting the camera coordinates to the world coordinate system according to the coordinate system conversion relationship, the accurate mapping of image coordinates to spatial coordinates is realized. This method utilizes the basic principles of machine vision and photogrammetry, and realizes the accurate correspondence between image information and spatial information through the construction and conversion of the coordinate system. Through the layer-by-layer conversion of the coordinate system, the local pixel coordinates are connected with the global world coordinates, realizing the transmission and sharing of visual information between different reference systems.

[0014] Optionally, if it is determined that the sling is in an abnormal swinging state, before calculating the swing angle difference between the target swing angle and the preset swing angle range, the method also includes: obtaining the upper limit value and the lower limit value of the preset swing angle range; calculating the average value of the upper limit value and the lower limit value, and determining the average value as the preset swing angle; subtracting the preset swing angle from the target swing angle to obtain the swing angle difference.

[0015] By adopting the above technical solution, after determining that the spreader is in an abnormal swinging state, the upper and lower limits of the preset swing angle range are obtained, the average value is calculated as the preset swing angle, and the target swing angle is subtracted from the preset swing angle to obtain the swing angle difference, which quantifies the degree to which the spreader's swing state deviates from the normal working range. The preset swing angle range reflects the safe allowable range of the spreader's swing, and the upper and lower limits correspond to the maximum and minimum values ​​of the swing angle under normal working conditions. By averaging the upper and lower limits, a characteristic angle that characterizes the normal swing state can be obtained as a reference for subsequent deviation calculations. The target swing angle actually measured is subtracted from the preset swing angle to obtain the deviation value between the two, which intuitively reflects the size and direction of the spreader's swing state deviating from the normal working range.

[0016] Optionally, the formula for generating the compensation force according to the swing angle difference is specifically: F=m(g·tanα+L·α''+2ζwn·(θ'-α')+wn²·(θ-α)) Wherein, F is the compensation force, m is the total mass of the sling and the load, g is the gravitational acceleration, L is the equivalent suspension length of the sling, θ is the target swing angle, α is the preset swing angle, θ-α is the swing angle difference, θ' is the target angular velocity, α' is the preset angular velocity, α'' is the preset angular acceleration, ζ is the damping ratio, and wn is the natural frequency of the system.

[0017] By adopting the above technical solution, a compensation force calculation formula based on the physical model is given, which comprehensively considers multiple key parameters of the sling swing system, such as the total mass of the sling and the hoisted object, gravity acceleration, equivalent suspension length of the sling, target swing angle, preset swing angle, swing angle difference, target angular velocity, preset angular velocity, preset angular acceleration, damping ratio and natural frequency, and generates a compensation force that is suitable for the swing state and control target. Based on the dynamic model of the sling swing, the formula describes the system force from four aspects: gravity term, inertia term, damping term and elastic term. By linearly combining these terms, a comprehensive compensation force expression is obtained, which can generate matching compensation force effects under different swing states.

[0018] Optionally, after generating a compensation force according to the swing angle difference and applying the compensation force to the sling, the method further includes: acquiring historical swing angle differences; judging a swing trend of the sling according to the historical swing angle differences, and constructing a fitting curve according to the swing trend; predicting a predicted swing angle difference of the sling within a preset time according to the fitting curve; and generating a predicted compensation force according to the predicted swing angle difference.

[0019] By adopting the above technical solution, on the basis of generating and applying the compensation force, a priori control strategy based on historical swing angle difference and trend prediction is further introduced. By obtaining the historical swing angle difference within a period of time, the change trend of the swing state of the spreader is judged, a mathematical fitting curve is constructed, and the swing angle difference within a period of time in the future is predicted based on the fitting curve, and then the predicted compensation force is generated. By extrapolating the swing angle difference at future moments, the development and changes of the swing state of the spreader can be grasped in advance to a certain extent, and corresponding control measures can be taken in advance.

[0020] In a second aspect of the present application, a crane control device for a sling is provided, the device comprising: an acquisition module and a processing module, wherein: the acquisition module is used to acquire an image sequence of the sling, the image sequence comprising a plurality of continuous images; the processing module is used to perform feature extraction and target detection on each of the images to obtain pixel coordinates of both ends of the sling; the processing module is also used to calculate the inclination angle of the sling in each of the images according to the pixel coordinates to obtain a swing angle sequence; the processing module is also used to determine whether the sling is in an abnormal swing state according to the swing angle sequence, and determine a target swing angle from the swing angle sequence; the processing module is also used to calculate a swing angle difference of the target swing angle relative to a preset swing angle range if it is determined that the sling is in an abnormal swing state, the swing angle difference being the offset of the target swing angle relative to the preset swing angle range; the processing module is also used to generate a compensation force according to the swing angle difference, and apply the compensation force to the sling, the compensation direction of the compensation force being opposite to the swing direction of the sling.

[0021] In the third aspect of the present application, an electronic device is provided, including a processor, a memory, a user interface and a network interface, the memory is used to store instructions, the user interface and the network interface are both used to communicate with other devices, and the processor is used to execute the instructions stored in the memory so that the electronic device executes any one of the methods described above.

[0022] In a fourth aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores instructions, and when the instructions are executed, any of the methods described above is executed.

[0023] In summary, one or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: 1. By acquiring a continuous image sequence of the spreader, performing feature extraction and target detection on the image, calculating the inclination angle of the spreader to obtain a swing angle sequence, judging whether the spreader is in an abnormal swing state, determining the target swing angle, calculating the swing angle difference, generating a compensation force and applying it to the spreader, the real-time monitoring and active control of the spreader's swing state are realized. By analyzing and judging the swing angle sequence, the abnormal swing state of the spreader can be accurately identified, providing a basis for subsequent control decisions. Generating a compensation force based on the swing angle difference and applying it to the spreader can effectively suppress the spreader's abnormal swing, restore it to a safe and stable working state as soon as possible, and improve the safety and reliability of the lifting operation.

[0024] 2. By calculating the mean, variance, maximum and minimum statistical characteristic values ​​of the swing angle sequence, and comprehensively considering the average level, discreteness and extreme value of the swing angle, it is possible to accurately determine whether the spreader is in an abnormal swing state and determine the appropriate target swing angle. The statistical characteristics of the swing angle sequence can accurately identify abnormal swing states of different degrees. This method achieves a detailed evaluation and classification of the swing state of the spreader through statistical characteristic values ​​and graded judgment, providing a reliable basis for subsequent control decisions and improving the detection rate and control effect of abnormal swings.

[0025] 3. By converting the pixel coordinates at both ends of the spreader into spatial coordinates in the world coordinate system and calculating the swing angle of the spreader based on the spatial coordinates, information mapping and state reconstruction from two-dimensional images to three-dimensional space are achieved. By converting the pixel coordinates into the world coordinate system, the spatial three-dimensional coordinates of the two end points of the spreader are obtained, which can accurately describe the spatial position and direction of the spreader. This method realizes an accurate assessment of the swing state of the spreader. By converting image coordinates to spatial coordinates, visual information is closely linked to the physical world, providing a reliable data basis for subsequent mechanical analysis and control execution. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a flow chart of a method for controlling a crane hoist disclosed in an embodiment of the present application; Figure 2 It is a module schematic diagram of a crane hoisting device control device disclosed in an embodiment of the present application; Figure 3 It is a structural schematic diagram of an electronic device disclosed in an embodiment of the present application.

[0027] Explanation of the reference numerals: 201, acquisition module; 202, processing module; 300, electronic device; 301, processor; 302, communication bus; 303, user interface; 304, network interface; 305, memory. DETAILED DESCRIPTION

[0028] In order to enable technicians in this field to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments.

[0029] In the description of the embodiments of the present application, words such as "for example" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "for example" or "for example" is intended to present related concepts in a specific way.

[0030] In the description of the embodiments of the present application, the meaning of the term "multiple" refers to two or more. For example, multiple systems refer to two or more systems, and multiple screen terminals refer to two or more screen terminals. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. The terms "include", "comprise", "have" and their variations all mean "including but not limited to", unless otherwise specifically emphasized.

[0031] The present application provides a method for controlling a crane hoist, referring to Figure 1 , Figure 1 1 is a flow chart of a method for controlling a crane hoist provided in an embodiment of the present application. The method is applied to a controller of the crane, and includes steps S101 to S107, which are as follows: Step S101: acquiring an image sequence of a spreader, wherein the image sequence includes a plurality of continuous images.

[0032] In step S101, the controller acquires an image sequence of the spreader. To achieve the acquisition of the image sequence, the controller is connected to one or more visual sensors (such as industrial cameras). These visual sensors are pre-installed on the crane by the user so that the movement state of the spreader can be clearly captured.

[0033] Step S102: performing feature extraction and target detection on each image to obtain pixel coordinates of both ends of the spreader.

[0034] In step S102, the controller performs feature extraction on each image in the received image sequence. The controller extracts key information that can effectively characterize the characteristics of the sling from the image through feature extraction, such as the shape, texture, and edge of the sling. Feature extraction methods include SIFT (scale-invariant feature transform), SURF (accelerated robust features), ORB (oriented FAST and rotation BRIEF), etc. Preferably, the SIFT algorithm is used in the embodiment of the present application. The controller first converts the image into a grayscale image, and then detects local extreme points in different scale spaces of the image. The controller removes low-contrast and unstable key points through a series of screening and optimization steps, and finally obtains a set of feature points with scale and rotation invariance. Each feature point corresponds to a 128-dimensional feature descriptor, which is used to characterize the gradient information of the area around the point.

[0035] After completing the feature extraction, the controller further performs target detection to determine the specific position of the sling in the image. Target detection can determine the bounding box and category label of the sling in the image. Target detection algorithms include Faster R-CNN, YOLO (You Only Look Once), and SSD (Single Shot MultiBox Detector). Preferably, the present application adopts the YOLO algorithm, and the controller first divides the image into several grids, each of which is responsible for predicting a set of bounding boxes and category probabilities. The controller extracts features from the image through a convolutional neural network to obtain the prediction results for each grid. Finally, based on the confidence and category probability of the prediction results, the bounding box containing the sling is screened out, and its position and size information is output. Through target detection, the controller can obtain the pixel coordinates of the sling in the image. Specifically, the two ends of the sling usually correspond to the two vertices of the bounding box, and the controller can directly read the pixel coordinates of these two vertices, such as (x1, y1) and (x2, y2).

[0036] For example, the controller uses the YOLO algorithm to detect an object in a frame of a spreader image and obtains two bounding boxes, corresponding to the left and right ends of the spreader. The coordinates of the upper left corner and lower right corner of the bounding box are (100, 200) and (300, 400) respectively. After post-processing and coordinate conversion, the controller finally outputs the pixel coordinates of the two ends of the spreader as (110, 210) and (290, 390).

[0037] Step S103: Calculate the tilt angle of the hanger in each image according to the pixel coordinates to obtain a swing angle sequence.

[0038] In step S103, the pixel coordinates at both ends of the sling are converted into space coordinates in the world coordinate system; according to the space coordinates, the swing angles corresponding to the sling in each image are calculated to obtain a swing angle sequence.

[0039] In a possible implementation, the pixel coordinates at both ends of the sling are converted into spatial coordinates in a world coordinate system, specifically including: establishing a conversion relationship between a camera coordinate system and a world coordinate system; obtaining an extrinsic parameter matrix of the camera, and converting the pixel coordinates into coordinates in the camera coordinate system according to the extrinsic parameter matrix; and converting the coordinates in the camera coordinate system into a spatial coordinate system in the world coordinate system according to the conversion relationship.

[0040] Specifically, the controller calculates the tilt angle of the spreader in each frame of the image based on the pixel coordinates at both ends of the spreader, thereby obtaining a sequence of swing angles that changes over time. First, the controller converts the pixel coordinates into spatial coordinates in the world coordinate system. This is because the pixel coordinates are only two-dimensional coordinates on the image plane and cannot directly reflect the actual position and posture of the spreader in three-dimensional space. In order to complete this conversion, the controller establishes a mapping relationship between the camera coordinate system and the world coordinate system. The origin of the camera coordinate system is located at the optical center of the camera, the Z axis coincides with the optical axis of the camera, and the X axis and Y axis are parallel to the horizontal and vertical directions of the image plane, respectively. The world coordinate system is a fixed global reference system, and its origin and coordinate axis directions can be set according to actual needs (such as the initial position of the spreader, the base of the crane), and this application does not limit this.

[0041] In order to establish the conversion relationship between the two coordinate systems, the controller obtains the camera's intrinsic matrix and extrinsic matrix. The intrinsic matrix contains the focal length and principal point coordinate information of the camera, which is used to describe the projection transformation during the camera imaging process. The extrinsic matrix includes the position and direction of the camera coordinate system relative to the world coordinate system, and consists of a rotation matrix R and a translation vector t. After obtaining the camera's intrinsic matrix and extrinsic matrix, the controller converts the pixel coordinates (u, v) into world coordinates (X, Y, Z) through the following steps: According to the intrinsic matrix, the pixel coordinates (u, v) are converted to normalized coordinates (x, y, 1) in the camera coordinate system. Using the extrinsic matrix, the normalized coordinates (x, y, 1) in the camera coordinate system are converted to coordinates (X, Y, Z) in the world coordinate system. Specifically, let the camera intrinsic matrix be K and the extrinsic matrix be [R|t], then the conversion relationship can be expressed as: ; Among them, Z is the scale factor to be determined, which can be determined by the known length of the spreader or other constraints. The controller can obtain the world coordinates P1 (X1, Y1, Z1) and P2 (X2, Y2, Z2) of the two ends of the spreader through the above formula, and then the controller calculates the tilt angle θ of the spreader in the current image: ; The controller arranges the tilt angles corresponding to each frame of the image in chronological order, and obtains an angle sequence {θ1, θ2, ..., θ n}.

[0042] For example, suppose the controller receives a frame of a sling image. After feature extraction and target detection, the pixel coordinates of the two ends of the sling are (100, 200) and (300, 400) respectively. Through camera calibration, the controller has obtained the camera's intrinsic parameter matrix K and extrinsic parameter matrix [R|t]. According to the conversion relationship, the controller first converts the pixel coordinates into normalized coordinates in the camera coordinate system, and then converts them to the world coordinate system through the extrinsic parameter matrix to obtain the spatial coordinates P1 (1.2, 3.4, 5.6) and P2 (2.3, 4.5, 6.7) at both ends of the sling. Substituting into the formula for calculation, we can get the tilt angle θ = 63.4° of the sling in the current image. By repeating this process, the controller can obtain a complete swing angle sequence.

[0043] Step S104: judging whether the spreader is in an abnormal swinging state according to the swinging angle sequence, and determining a target swinging angle from the swinging angle sequence.

[0044] In step S104, the statistical characteristic values ​​of the swing angle sequence are calculated, and the statistical characteristic values ​​include the mean, the square, the maximum value and the minimum value; if the swing angle values ​​included in the swing angle sequence are all within the preset swing angle range, and the variance is less than the preset variance threshold, it is determined that the spreader is in a normal swing state, and the mean is used as the target swing angle; if the swing angle values ​​included in the swing angle sequence are all within the preset swing angle range, and the variance is greater than or equal to the preset variance threshold, it is determined that the spreader is in an abnormal swing state, and the sum of the mean and the variance weighted according to the preset weight is used as the target swing angle; if the maximum value or the minimum value is not within the preset swing angle range, it is determined that the spreader is in an abnormal swing state, and the maximum value or the minimum value is used as the target swing angle.

[0045] Specifically, the controller extracts statistical features from the swing angle sequence to obtain statistical feature values, which include mean, variance, maximum and minimum values. Among them, the mean reflects the average level of the swing angle, the variance reflects the discreteness of the swing angle, and the maximum and minimum values ​​reflect the extreme values ​​of the swing angle. The controller first determines whether all the swing angle values ​​in the swing angle sequence fall within the preset swing angle range. If the maximum or minimum value in the swing angle sequence exceeds the preset swing angle range, it is determined that the hanger is in an abnormal swing state, and the maximum or minimum value is used as the target swing angle. In the case where both the maximum and minimum values ​​are outside the preset swing angle range, the controller selects the value that exceeds the preset swing angle range more as the target swing angle.

[0046] For example, assuming that the preset swing angle range is [-20°, 20°], and the current swing angle sequence is {-25°, -18°, 22°, 15°, 30°}. The controller first calculates the maximum value θmax and minimum value θmin of the sequence: maximum value θmax=30°; minimum value θmin=-25°; θmax and θmin are both beyond the preset swing angle range [-20°, 20°]. The controller further calculates the degree to which they exceed the range: Δθmax=30°-20°=10°; Δθmin=-20°-(-25°)=5°; Since Δθmax>Δθmin, the controller outputs the maximum value θmax=30° as the target swing angle θtarget.

[0047] If all the swing angle values ​​in the swing angle sequence are within the preset swing angle range, the controller then determines whether the variance is less than the preset variance threshold. If the variance is less than the preset variance threshold, it indicates that the swing angle changes relatively smoothly and the spreader is in a normal swing state. At this point, the controller can directly use the mean as the target swing angle.

[0048] If all the swing angle values ​​in the swing angle sequence are within the preset swing angle range, but the variance σ² is greater than or equal to the preset variance, it indicates that the swing angle changes greatly and the spreader is in an abnormal swing state. At this time, only using the mean μ as the target swing angle cannot fully reflect the actual swing situation. Therefore, the controller will weight the mean μ and the variance σ² according to the preset weight to obtain a comprehensive target angle. The target swing angle θ=w*μ+(1-w)*σ², where w is the weight coefficient, 0≤w≤1.

[0049] It should be noted that the preset swing angle range defines the safe interval of the swing angle of the sling, and the upper and lower limits of the preset range can be determined based on factors such as the design parameters of the sling, the working environment, and safety regulations; the preset variance threshold is used to judge the degree of discreteness of the swing angle sequence, which can be determined through simulation experiments or field experience; the preset weight coefficient is used to balance the contribution of the mean and variance to the target swing angle, and the value of the preset weight coefficient w can be set based on experience or simulation experiments. This application does not limit the specific values ​​of the preset swing angle range, the preset variance threshold, and the preset weight coefficient.

[0050] Step S105: If it is determined that the spreader is in an abnormal swing state, a swing angle difference between the target swing angle and the preset swing angle range is calculated, where the swing angle difference is an offset of the target swing angle relative to the preset swing angle range.

[0051] Before step S105, the method further includes: obtaining an upper limit value and a lower limit value of a preset swing angle range; calculating an average value of the upper limit value and the lower limit value, and determining the average value as a preset swing angle; and subtracting the preset swing angle from the target swing angle to obtain a swing angle difference.

[0052] Specifically, the controller obtains the upper limit value θmax and the lower limit value θmin of the preset swing angle range. For example, the current preset swing angle range is [-12°, 12°], that is, θmin=-12°, θmax=12°. Then, the controller calculates the midpoint value of the preset swing angle range, that is, the preset swing angle α. The preset swing angle α represents the ideal equilibrium position of the swing of the spreader, which is approximated by the average value of the upper limit and the lower limit. Specifically, the calculation formula of the preset swing angle α is: α=(θmax+θmin) / 2; continuing the above example, the preset swing angle range is [-12°, 12°], then: α=(12°+(-12°)) / 2=0°; This shows that within the current preset swing angle range, the ideal equilibrium position of the spreader swing is 0°. Then, the controller needs to compare the preset swing angle α with the target swing angle θ and calculate the difference between them, that is, the swing angle difference Δθ. This difference reflects the degree of deviation of the actual swing state of the spreader from the ideal equilibrium position. The calculation formula for the swing angle difference Δθ is: Δθ=θ-α; assuming that the current target swing angle θ is 15°, and the preset swing angle α is 0°, then: Δθ=15°-0°=15°; this indicates that the actual swing state of the sling is offset to the right by 15° relative to the ideal equilibrium position.

[0053] Step S106: generating a compensation force according to the swing angle difference, and applying the compensation force to the spreader, wherein the compensation direction of the compensation force is opposite to the swing direction of the spreader.

[0054] In step S106, the formula for generating the compensation force according to the swing angle difference and the swing amplitude difference is specifically: F=m(g·tanα+L·α''+2ζw n ·(θ'-α')+w n ²·(θ-α)) Where F is the compensation force, m is the total mass of the sling and the load, g is the gravitational acceleration, L is the equivalent suspension length of the sling, θ is the target swing angle, α is the preset swing angle, θ-α is the swing angle difference, θ' is the target angular velocity, α' is the preset angular velocity, α'' is the preset angular acceleration, ζ is the damping ratio, and w n is the natural frequency of the system.

[0055] Specifically, the controller calculates the compensation force according to the above formula, and the direction of the compensation force is opposite to the swing direction of the spreader. This is to offset the abnormal swing of the spreader and restore it to the preset equilibrium position as soon as possible. The controller can determine the swing direction of the spreader according to the positive and negative signs of the swing angle difference θ-α, and determine the direction of the compensation force accordingly. For example, when θ-α is a positive value, it means that the spreader is offset to the right, and the compensation force should be applied to the left; when θ-α is a negative value, it means that the spreader is offset to the left, and the compensation force should be applied to the right.

[0056] In the above formula, m in m(g·tanα) represents the total mass of the sling and the load, g represents the gravitational acceleration, and α represents the preset swing angle. This term represents the gravitational moment of the sling near the equilibrium position. When the sling deviates from the equilibrium position, gravity will generate a torque to try to pull the sling back to the equilibrium position. The magnitude of this torque is related to the mass of the sling, the gravitational acceleration, and the angle of deviation from the equilibrium position. Among them, tanα represents the tangent value of the preset swing angle. In a small angle range, tanα is approximately equal to α, and this term can be approximately regarded as mgα, that is, it is proportional to the angle deviation. L in L·α'' represents the equivalent suspension length of the sling, α'' represents the preset angular acceleration, and this term represents the inertia moment generated by the angular acceleration of the sling. According to Newton's second law, acceleration is proportional to force. When the sling undergoes angular acceleration, an inertia moment in the opposite direction of the acceleration will be generated, which will affect the swing of the sling. The magnitude of this inertia moment is related to the rotational inertia of the sling (related to the mass and suspension length) and the magnitude of the angular acceleration. L·α'' is actually the product of the moment of inertia and the angular acceleration. 2ζwn·(α'-θ') where ζ represents the damping ratio and w n Represents the natural frequency of the system, α' represents the preset angular velocity, θ' represents the target angular velocity, and this item represents the damping torque related to the speed deviation. In the actual system, there will always be a certain amount of damping, which will cause the swing speed of the spreader to gradually decay. The damping torque is proportional to the swing speed of the spreader, and its direction is opposite to the speed. 2ζwn·(α'-θ') is actually a damping torque proportional to the speed deviation. When the actual swing speed (target angular velocity) of the spreader is greater than the preset angular velocity (θ'>α'), this torque is positive and has a deceleration effect; when the actual swing speed (target angular velocity) is less than the preset angular velocity (θ'<α'), this torque is negative and has an acceleration effect. ζ and wn are parameters related to the damping characteristics and natural frequency of the system, which determine the size of the damping torque. w n ²·(θ-α) in w nRepresents the natural frequency of the system, θ represents the target swing angle, α represents the preset swing angle, and this term represents the elastic torque related to the angular deviation. In the swing system of the sling, there is usually a linearized elastic restoring torque that attempts to pull the sling back to the equilibrium position. This torque is proportional to the angular deviation of the sling from the equilibrium position. wn²·(θ-α) is actually an elastic torque proportional to the angular deviation. When the actual swing angle (target swing angle) of the sling is greater than the preset swing angle (θ>α), this torque is positive and has a pulling effect; when the actual swing angle (target swing angle) is less than the preset swing angle (θ<α), this torque is negative and has a pushing effect. wn² represents the elastic coefficient, which determines the size of the elastic torque. It is related to the natural frequency of the system and reflects the stiffness characteristics of the system. Adding these four terms together, we get the complete expression of the compensation force F. This compensation force comprehensively considers the gravity effect, inertia effect, damping effect and elastic effect during the swing of the spreader, and can generate corresponding control torque according to the actual swing state of the spreader to effectively compensate and correct the swing of the spreader.

[0057] After step S106, the method further includes: obtaining historical swing angle differences; judging the swing trend of the spreader based on the historical swing angle differences, and constructing a fitting curve based on the swing trend; predicting the predicted swing angle difference of the spreader within a preset time based on the fitting curve; and generating a predicted compensation force based on the predicted swing angle difference.

[0058] Specifically, the controller obtains historical swing angle difference data. The historical swing angle difference data can come from the swing angle difference calculated in real time in the previous step, and is accumulated and managed through the data acquisition and storage mechanism. The controller sorts the historical swing angle difference data according to the timestamp to form a time series reflecting the change of the swing state of the spreader. For example, the controller can collect the swing angle difference every 0.1 seconds and store it in a circular buffer, retaining the most recent 100 data points, and the controller obtains a historical swing angle difference sequence covering the past 10 seconds. Next, the controller analyzes the historical swing angle difference data to determine the change trend of the swing state of the spreader. The controller implements this by smoothing the historical swing angle difference data and performing differential operations. For example, the controller can apply a sliding average filter to the historical swing angle difference data to remove high-frequency noise and short-term disturbances and extract the smooth trend of the swing angle difference. The controller can perform first-order difference on the smoothed historical swing angle difference data to obtain the change rate of the swing angle difference, and judge the development trend of the swing state of the hanger according to the sign and size of the change rate, such as swinging to the left, swinging to the right, and tending to be stable.

[0059] After determining the changing trend of the swing state of the spreader, the controller establishes a mathematical model to describe the law of the swing angle difference changing over time. The controller achieves this by curve fitting the historical swing angle difference data. Specifically, the controller selects a function form that is compatible with the historical swing angle difference data, such as a polynomial function, exponential function, or trigonometric function, and determines the order or parameters of the function based on the distribution of the historical swing angle difference data. The controller uses the least squares method and gradient descent optimization algorithm to estimate the coefficients or parameter values ​​of the function by minimizing the error between the fitting curve and the actual data points.

[0060] After determining the fitting curve model, the controller uses the current moment as the starting point for extrapolation, selects a suitable prediction time length, such as 0.5 seconds, and substitutes it into the fitting curve function to calculate the predicted swing angle difference corresponding to the predicted time point. The predicted swing angle difference reflects the possible deviation degree of the swing state of the spreader when it develops along the current change trend to the predicted time point.

[0061] For example, assuming that the swing angle difference at the current moment t0 is 2°, the quadratic polynomial function fitted by the controller based on the historical swing angle difference data is y=0.1x²+0.5x+2. The controller substitutes the predicted time point t1=t0+0.5 into the function and calculates the predicted swing angle difference y1=0.1×(t0+0.5)²+0.5×(t0+0.5)+2=2.6°. The controller predicts that after 0.5 seconds, the swing angle difference of the spreader may increase from 2° to 2.6°. Finally, the controller generates the corresponding predicted compensation force based on the predicted swing angle difference, and the controller substitutes the predicted swing angle difference into the previous compensation force calculation formula.

[0062] By fitting and extrapolating the historical swing angle difference data, the swing state of the spreader in the future is predicted, and the predicted compensation force is generated accordingly to predictively control and correct the swing of the spreader. This method utilizes the historical change law of the swing state of the spreader, has a certain degree of foresight and continuity, and can achieve a smoother and more accurate control effect.

[0063] Reference Figure 2The present application also provides a crane control device for a sling, which is a controller. The controller includes an acquisition module 201 and a processing module 202. The acquisition module 201 is used to acquire an image sequence of the sling, and the image sequence includes multiple continuous images; the processing module 202 is used to perform feature extraction and target detection on each image to obtain the pixel coordinates of the two ends of the sling; the processing module 202 is also used to calculate the inclination angle of the sling in each image according to the pixel coordinates to obtain a swing angle sequence; the processing module 202 is also used to determine whether the sling is in an abnormal swing state according to the swing angle sequence, and determine the target swing angle from the swing angle sequence; the processing module 202 is also used to calculate the swing angle difference of the target swing angle relative to the preset swing angle range if it is determined that the sling is in an abnormal swing state, and the swing angle difference is the offset of the target swing angle relative to the preset swing angle range; the processing module 202 is also used to generate a compensation force according to the swing angle difference, and apply the compensation force to the sling, and the compensation direction of the compensation force is opposite to the swing direction of the sling.

[0064] In a possible implementation, the processing module 202 determines whether the sling is in an abnormal swing state based on the swing angle sequence, and determines a target swing angle from the swing angle sequence, specifically including: the processing module 202 calculates the statistical characteristic values ​​of the swing angle sequence, and the statistical characteristic values ​​include a mean, a square, a maximum value, and a minimum value; if the swing angle values ​​included in the swing angle sequence are all within a preset swing angle range, and the variance is less than a preset variance threshold, the processing module 202 determines that the sling is in a normal swing state, and uses the mean as the target swing angle; if the swing angle values ​​included in the swing angle sequence are all within a preset swing angle range, and the variance is greater than or equal to a preset variance threshold, the processing module 202 determines that the sling is in an abnormal swing state, and uses the sum of the mean and the variance weighted by a preset weight as the target swing angle; if the maximum value or the minimum value is not within the preset swing angle range, the processing module 202 determines that the sling is in an abnormal swing state, and uses the maximum value or the minimum value as the target swing angle.

[0065] In a possible implementation, the processing module 202 calculates the inclination angle of the sling in each image based on the pixel coordinates to obtain a swing angle sequence, which specifically includes: the processing module 202 converts the pixel coordinates at both ends of the sling into spatial coordinates in the world coordinate system; the processing module 202 calculates the swing angle corresponding to the sling in each image based on the spatial coordinates to obtain a swing angle sequence.

[0066] In a possible implementation, the processing module 202 converts the pixel coordinates at both ends of the sling into spatial coordinates in the world coordinate system, specifically including: the processing module 202 establishes a conversion relationship between the camera coordinate system and the world coordinate system; the acquisition module 201 obtains the camera's extrinsic parameter matrix, and converts the pixel coordinates into coordinates in the camera coordinate system according to the extrinsic parameter matrix; the processing module 202 converts the coordinates in the camera coordinate system into a spatial coordinate system in the world coordinate system according to the conversion relationship.

[0067] In a possible implementation, if the processing module 202 determines that the sling is in an abnormal swinging state, then before the processing module 202 calculates the swing angle difference between the target swing angle and the preset swing angle range, it also includes: the acquisition module 201 acquires the upper limit value and the lower limit value of the preset swing angle range; the processing module 202 calculates the average value of the upper limit value and the lower limit value, and determines the average value as the preset swing angle; the processing module 202 subtracts the preset swing angle from the target swing angle to obtain the swing angle difference.

[0068] In a possible implementation manner, the formula for generating the compensation force according to the swing angle difference is specifically: F=m(g·tanα+L·α''+2ζwn·(θ'-α')+wn²·(θ-α)) Wherein, F is the compensation force, m is the total mass of the sling and the load, g is the gravitational acceleration, L is the equivalent suspension length of the sling, θ is the target swing angle, α is the preset swing angle, θ-α is the swing angle difference, θ' is the target angular velocity, α' is the preset angular velocity, α'' is the preset angular acceleration, ζ is the damping ratio, and wn is the natural frequency of the system.

[0069] In a possible implementation, after the processing module 202 generates a compensation force according to the swing angle difference and applies the compensation force to the sling, it also includes: the acquisition module 201 acquires the historical swing angle difference; the processing module 202 determines the swing trend of the sling according to the historical swing angle difference, and constructs a fitting curve according to the swing trend; the processing module 202 predicts the predicted swing angle difference of the sling within a preset time according to the fitting curve; and generates a predicted compensation force according to the predicted swing angle difference.

[0070] It should be noted that: when the device provided in the above embodiment realizes its function, only the division of the above functional modules is used as an example. In actual application, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device and method embodiments provided in the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0071] The present application also provides an electronic device. Figure 3 , Figure 3 The electronic device 300 may include: at least one processor 301 , at least one network interface 304 , a user interface 303 , a memory 305 , and at least one communication bus 302 .

[0072] The communication bus 302 is used to realize the connection and communication between these components.

[0073] The user interface 303 may include a display screen (Display) and a camera (Camera). Optionally, the user interface 303 may also include a standard wired interface and a wireless interface.

[0074] The network interface 304 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0075] Among them, the processor 301 may include one or more processing cores. The processor 301 uses various interfaces and lines to connect various parts in the entire server, and executes various functions of the server and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 305, and calling data stored in the memory 305. Optionally, the processor 301 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The processor 301 can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU) and a modem. Among them, the CPU mainly processes the operating system, user interface and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 301, and it can be implemented separately through a chip.

[0076] Among them, the memory 305 may include a random access memory (Random Access Memory, RAM) and may also include a read-only memory (Read-Only Memory). Optionally, the memory 305 includes a non-transitory computer-readable storage medium. The memory 305 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 305 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 305 may optionally also be at least one storage device located away from the aforementioned processor 301. Refer to Figure 3 The memory 305 as a computer storage medium may include an operating system, a network communication module, a user interface module and an application program of a crane hoisting device control method.

[0077] exist Figure 3 In the electronic device 300 shown, the user interface 303 is mainly used to provide an input interface for the user and obtain the data input by the user; and the processor 301 can be used to call the application program of a crane hoist control method stored in the memory 305, and when executed by one or more processors 301, the electronic device 300 executes one or more of the methods described in the above embodiments. It should be noted that for the aforementioned method embodiments, for the sake of simple description, they are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required for the present application.

[0078] The present application also provides a computer-readable storage medium, which stores instructions. When executed by one or more processors 301, the electronic device 300 executes one or more of the methods described in the above embodiments.

[0079] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0080] In the several embodiments provided in this application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0081] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0082] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0083] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a memory and includes several instructions for a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned memory includes: various media that can store program codes, such as USB flash drives, mobile hard drives, magnetic disks or optical disks.

[0084] The above is only an exemplary embodiment of the present disclosure and cannot be used to limit the scope of the present disclosure. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the disclosure of the specification and the truth of practice, those skilled in the art will easily think of other embodiments of the present disclosure.

[0085] This application is intended to cover any variation, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the art not described in the present disclosure. The description and examples are to be regarded as exemplary only, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A method for controlling a crane sling, characterized in that: The method comprises: Acquire an image sequence of the spreader, wherein the image sequence includes a plurality of continuous images; Performing feature extraction and target detection on each of the images to obtain pixel coordinates of both ends of the spreader; According to the pixel coordinates, calculating the tilt angle of the spreader in each of the images to obtain a swing angle sequence; judging whether the spreader is in an abnormal swing state according to the swing angle sequence, and determining a target swing angle from the swing angle sequence; If it is determined that the spreader is in an abnormal swing state, then calculating a swing angle difference between the target swing angle and a preset swing angle range, wherein the swing angle difference is an offset of the target swing angle relative to the preset swing angle range; A compensation force is generated according to the swing angle difference, and the compensation force is applied to the spreader, wherein a compensation direction of the compensation force is opposite to a swing direction of the spreader.

2. The method according to claim 1, characterized in that The step of judging whether the spreader is in an abnormal swing state according to the swing angle sequence and determining a target swing angle from the swing angle sequence specifically includes: Calculating statistical characteristic values ​​of the swing angle sequence, wherein the statistical characteristic values ​​include a mean value, a square value, a maximum value, and a minimum value; If the swing angle values ​​included in the swing angle sequence are all within the preset swing angle range, and the variance is less than the preset variance threshold, it is determined that the spreader is in a normal swing state, and the mean is used as the target swing angle; If the swing angle values ​​included in the swing angle sequence are all within the preset swing angle range, and the variance is greater than or equal to the preset variance threshold, it is determined that the spreader is in an abnormal swing state, and the sum of the mean and the variance weighted according to the preset weight is used as the target swing angle; If the maximum value or the minimum value is not within the preset swing angle range, it is determined that the hanger is in an abnormal swing state, and the maximum value or the minimum value is used as the target swing angle.

3. The method according to claim 1, characterized in that Calculating the tilt angle of the sling in each of the images according to the pixel coordinates to obtain a swing angle sequence specifically includes: Convert the pixel coordinates of the two ends of the spreader into spatial coordinates in a world coordinate system; The swing angle of the hanger corresponding to each of the images is calculated according to the space coordinates to obtain the swing angle sequence.

4. The method according to claim 3, characterized in that The pixel coordinates at both ends of the sling are converted into spatial coordinates in a world coordinate system, specifically including: Establish the conversion relationship between the camera coordinate system and the world coordinate system; Obtaining the extrinsic parameter matrix of the camera, and converting the pixel coordinates into coordinates in the camera coordinate system according to the extrinsic parameter matrix; According to the conversion relationship, the coordinates in the camera coordinate system are converted into the space coordinate system in the world coordinate system.

5. The method according to claim 1, characterized in that If it is determined that the sling is in an abnormal swing state, before calculating the swing angle difference between the target swing angle and the preset swing angle range, the method further includes: Obtaining an upper limit value and a lower limit value of the preset swing angle range; Calculating an average value of the upper limit value and the lower limit value, and determining the average value as a preset swing angle; The preset swing angle is subtracted from the target swing angle to obtain the swing angle difference.

6. The method according to claim 5, characterized in that The formula for generating the compensation force according to the swing angle difference is specifically: F=m(g·tanα+L·α''+2ζw n ·(θ'-α')+w n ²·(θ-α)) Wherein, F is the compensation force, m is the total mass of the sling and the hoisted object, g is the gravitational acceleration, L is the equivalent suspension length of the sling, θ is the target swing angle, α is the preset swing angle, θ-α is the swing angle difference, θ' is the target angular velocity, α' is the preset angular velocity, α'' is the preset angular acceleration, ζ is the damping ratio, w n is the natural frequency of the system.

7. The method according to claim 1, characterized in that After generating a compensation force according to the swing angle difference and applying the compensation force to the spreader, the method further includes: Get the historical swing angle difference; According to the historical swing angle difference, the swing trend of the spreader is determined, and a fitting curve is constructed according to the swing trend; Predicting a predicted swing angle difference of the spreader within a preset time according to the fitting curve; A predicted compensation force is generated according to the predicted swing angle difference.

8. A crane hoisting device control device, characterized in that: The device comprises an acquisition module (201) and a processing module (202), wherein: The acquisition module (201) is used to acquire an image sequence of the spreader, wherein the image sequence includes a plurality of continuous images; The processing module (202) is used to perform feature extraction and target detection on each of the images to obtain pixel coordinates of the two ends of the sling; The processing module (202) is further used to calculate the tilt angle of the sling in each of the images according to the pixel coordinates to obtain a swing angle sequence; The processing module (202) is further used to determine whether the spreader is in an abnormal swing state according to the swing angle sequence, and determine a target swing angle from the swing angle sequence; The processing module (202) is further configured to calculate a swing angle difference between the target swing angle and a preset swing angle range if it is determined that the sling is in an abnormal swing state, wherein the swing angle difference is an offset of the target swing angle relative to the preset swing angle range; The processing module (202) is further used to generate a compensation force according to the swing angle difference, and apply the compensation force to the sling, wherein the compensation direction of the compensation force is opposite to the swing direction of the sling.

9. An electronic device, characterized in that: The electronic device (300) comprises a processor (301), a memory (305), a user interface (303) and a network interface (304), wherein the memory (305) is used to store instructions, the user interface (303) and the network interface (304) are used to communicate with other devices, and the processor (301) is used to execute the instructions stored in the memory (305) so that the electronic device (300) executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed, the method according to any one of claims 1 to 7 is executed.

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