Four-rope sling automatic case landing control method and system

Abstract

The application discloses a four-rope sling automatic box landing control method and system. The method comprises the following steps: acquiring visual image point cloud data of the four-rope sling, and acquiring target box position information and attitude information; obtaining the initial pose of the four-rope sling based on the visual image of the four-rope sling and the point cloud data of the four-rope sling; constructing a sling swing model, predicting the swing trajectory of the four-rope sling within T seconds in the future according to the sling swing model and using Kalman filtering, obtaining the current position information of the four-rope sling based on the swing trajectory, constructing an extended state equation based on the target box position information, the target box attitude information and the current position information of the four-rope sling, and correcting the current position information of the four-rope sling; and controlling the four-rope sling to reach the target box position based on the corrected position information of the four-rope sling. The application can realize high-precision control of the four-rope sling, improve the box landing accuracy, has strong noise resistance and can adapt to harsh weather environments.

Description

Technical Field

[0001] This application relates to the field of container handling technology, and in particular to an automatic container placement control method, system, storage medium and electronic equipment for a four-rope spreader. Background Technology

[0002] Four-rope spreaders are core equipment for container handling in ports and are widely used in rail-mounted gantry cranes (RMG) and tire-mounted gantry cranes (RTG). With the surge in global trade volume and increasing pressure on port throughput, traditional manual operation methods can no longer meet the demands for efficient and precise operations.

[0003] Currently, the relevant technology uses PID control to lower a four-rope spreader to the container. However, due to the complexity of the dynamic balance algorithm for four-rope tension, traditional PID control is difficult to adapt to multi-degree-of-freedom coupled motion. Furthermore, dock operations are often affected by weather conditions such as strong winds, rain, and fog, which can cause the spreader to swing uncontrollably and increase the difficulty of lowering the container. Summary of the Invention

[0004] This application provides an automatic box-setting control method, system, storage medium, and electronic equipment for four-rope slings, which can achieve high-precision control of four-rope slings, improve box-setting accuracy, and has strong noise resistance and can adapt to harsh weather environments.

[0005] This application provides an automatic box-setting control method for a four-rope lifting device, including:

[0006] Acquire visual images and point cloud data of the four-rope lifting device, and obtain the target box position and attitude information;

[0007] The initial pose of the four-rope lifting device is obtained based on the visual image and point cloud data of the four-rope lifting device.

[0008] Construct a sway model for the spreader, and use Kalman filtering to predict the sway trajectory of the four-rope spreader within the next T seconds based on the sway model. Obtain the current position information of the four-rope spreader based on the sway trajectory.

[0009] An extended state equation is constructed based on the target box position information, the target box attitude information, and the current position information of the four-rope lifting device, and the current position information of the four-rope lifting device is corrected accordingly.

[0010] The four-rope sling is controlled to reach the target box position based on the corrected position information of the four-rope sling.

[0011] Furthermore, in the above-mentioned four-rope sling automatic box-setting control method, the construction of the sling swing model includes:

[0012] Calculate the kinetic energy of the four-rope lifting device:

[0013]

[0014] Calculate the potential energy of the four-rope lifting device:

[0015]

[0016] in, As kinetic energy, As potential energy, For the quality of four-rope lifting equipment, To make the pendulum longer, For swing angle, It is the acceleration due to gravity;

[0017] According to the Lagrange equation ,in, It is a Lagrange function. It is a generalized coordinate system;

[0018] Calculate the relevant partial derivatives:

[0019]

[0020]

[0021]

[0022] in, This represents the first derivative of the pendulum angle with respect to time t. This represents the second derivative of the pendulum angle with respect to time t;

[0023] Substituting into the Lagrange equation, we obtain the swing model of the lifting device as follows:

[0024]

[0025] Under small-angle oscillation conditions Then the swing model of the lifting device is simplified to:

[0026] .

[0027] Furthermore, in the above-mentioned automatic box-setting control method for four-rope slings, the step of predicting the swing trajectory of the four-rope sling within the next T seconds based on the sling swing model and using Kalman filtering includes:

[0028] Let the state vector be ,in, and They are The swing angle and angular velocity at any given moment;

[0029] The state transition equation is ,in, , It is the sampling period. It is process noise, assuming the process noise has a mean of 0 and a covariance of... Gaussian distribution;

[0030] The observation equation is , , in, It is an observed value, that is, a measured value of the swing angle. It is observation noise, and follows the mean of covariance is Gaussian distribution;

[0031] The prediction steps include:

[0032] State prediction:

[0033] Covariance prediction:

[0034] The update steps include:

[0035] Kalman gain:

[0036] Status Update:

[0037] Covariance update:

[0038] Repeat the above prediction and update steps to predict the swing trajectory of the four-rope sling within the next T seconds based on the current state estimate and observations.

[0039] Furthermore, in the above-mentioned four-rope sling automatic container landing control method, the step of constructing an extended state equation based on the target container's position information, the target container's attitude information, and the current position information of the four-rope sling includes:

[0040] Constructing the basic state equations for a four-rope lifting device:

[0041]

[0042] in, q The coordinate system is a generalized coordinate system, including the position and orientation of the lifting device. The term "velocity" is used in a generalized sense, encompassing both the linear velocity and angular velocity of a four-rope sling. The inertia matrix, The matrix represents the centripetal force and Coriolis force. For gravity, For control input;

[0043] The goal of establishing extended state equations;

[0044] Establish the extended state equations:

[0045] Define the extended state vector:

[0046]

[0047] in, Indicates the location information of the target container. θt=[θtx,θty,θtz] Indicates the target box attitude information;

[0048] Construct the observation equation:

[0049]

[0050] in, The observation function describes the geometric relationship between the four-rope sling and the target box. To observe noise.

[0051] Furthermore, in the above-mentioned automatic box-setting control method for four-rope slings, the step of correcting the current position information of the four-rope sling includes:

[0052] The target box position information and target box attitude information are used as feedback data. An extended dynamic equation is constructed based on the feedback data to correct the current position information of the four-rope lifting device.

[0053] Furthermore, in the above-mentioned four-rope lifting device automatic box-setting control method, the extended dynamic equation is:

[0054]

[0055]

[0056]

[0057]

[0058] in, and These are the proportional and differential gain matrices, used to correct the deviation between the position of the four-rope sling and the target box, f( ) and g( Describe the motion dynamics of the target box.

[0059] Furthermore, in the above-mentioned automatic box-setting control method for four-rope lifting devices, the method further includes:

[0060] When the deviation of the box drop exceeds the preset deviation distance, the four-rope lifting device is controlled to rise, and the swing trajectory of the four-rope lifting device is re-predicted and corrected.

[0061] This application also provides an automatic box-setting control system for a four-rope lifting device, including:

[0062] The spreader attitude detection subsystem is used to acquire visual images and point cloud data of the four-rope spreader, obtain the initial pose of the four-rope spreader based on the visual images and point cloud data of the four-rope spreader; and to construct a spreader swing model, predict the swing trajectory of the four-rope spreader in the next T seconds based on the spreader swing model and using Kalman filtering, and obtain the current position information of the four-rope spreader based on the swing trajectory.

[0063] The target box detection subsystem is used to acquire the target box's position and attitude information.

[0064] The spreader attitude control subsystem is used to construct an extended state equation based on the target box position information, the target box attitude information, and the current position information of the four-rope spreader, and to correct the current position information of the four-rope spreader; and to control the four-rope spreader to reach the target box position based on the corrected position information of the four-rope spreader.

[0065] This application also provides a computer-readable storage medium storing a plurality of instructions adapted to be loaded by a processor to execute any of the above-described four-rope sling automatic box-setting control methods.

[0066] This application also provides an electronic device, including a processor and a memory, wherein the processor is electrically connected to the memory, the memory is used to store instructions and data, and the processor is used in the steps of the four-rope sling automatic box-setting control method described in any of the above claims.

[0067] This application provides an automatic box-setting control method, system, storage medium, and electronic equipment for a four-rope sling. By constructing a sling swing model, this application accurately predicts the motion trajectory of the four-rope sling and constructs a state-extended information equation to correct the position of the sling, thereby improving the control accuracy and reducing computational complexity. Furthermore, this application uses a Kalman filter in the process of predicting the motion trajectory of the four-rope sling to effectively suppress noise in visual and lidar data, improving the robustness of the system. Attached Figure Description

[0068] The technical solution and other beneficial effects of this application will become apparent from the following detailed description of specific embodiments in conjunction with the accompanying drawings.

[0069] Figure 1 A flowchart of the automatic box-setting control method for a four-rope lifting device provided in an embodiment of this application.

[0070] Figure 2This is a schematic diagram of the structure of the four-rope lifting automatic box-laying control system provided in the embodiments of this application.

[0071] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0072] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0073] The existing technology has the following technical problems: poor rope synchronization, which is attributed to the complexity of the four-rope tension dynamic balance algorithm, making it difficult for traditional PID control to adapt to multi-degree-of-freedom coupled motion; weak anti-interference capability, which is attributed to the failure to incorporate external disturbances such as wind speed and cargo center of gravity shift into the real-time control model, leading to prediction failure; and visual positioning delay, which is attributed to the high false detection rate of traditional image processing algorithms under complex lighting conditions, and the impact of data transmission and processing delays on control response.

[0074] To address the aforementioned problems, embodiments of this application provide an automatic four-rope sling loading control method, system, storage medium, and electronic device. The automatic four-rope sling loading control system provided in this application can be integrated into an electronic device, which can be a terminal, server, or other device. The terminal can include a tablet computer, laptop computer, personal computer (PC), microprocessor box, or other devices.

[0075] Please see Figure 1 , Figure 1 The flowchart illustrates an automatic box-setting control method for a four-rope lifting device provided in this application embodiment. This method, applied in electronic equipment, includes the following steps:

[0076] S1, acquire the visual image and point cloud data of the four-rope lifting device, and acquire the target box position information and target box attitude information.

[0077] Specifically, visual images of the four-rope sling are acquired through multi-view cameras, and point cloud data of the four-rope sling is obtained through LiDAR scanning.

[0078] In one embodiment, a Time-of-Flight (ToF) lidar is used to penetrate dust in the yard and directly measure the relative position of the container to the ground. Specifically, the ToF lidar scans the yard and outputs point cloud data with intensity information in real time. Then, the container point cloud clusters are extracted by using an intensity threshold (e.g., >80) and clustering. Finally, the ground is fitted and the coordinates of the corner points of the container's bottom surface are calculated to obtain the target container's position information and attitude information.

[0079] S2, the initial pose of the four-rope sling is obtained based on the visual image and point cloud data of the four-rope sling.

[0080] Specifically, step S2 includes the following steps:

[0081] S21, Camera intrinsic parameter calibration: Determine the camera's focal length and other parameters; extrinsic parameter calibration: Calibrate the relative pose between the camera and the lidar to ensure that the image and point cloud are in the same coordinate system.

[0082] S22, Time Synchronization and Alignment: Ensures that the timestamps of the image and point cloud are synchronized.

[0083] S23, target detection is performed on the visual image using the YOLO detection algorithm to obtain bounding boxes. The point cloud data is projected onto the image plane, and 3D points that match the bounding boxes are found. The weighted average of the matching 3D points is then used to obtain the coordinates of the center point of the bounding box as the initial pose.

[0084] S3. Construct a sway model for the spreader. Based on the sway model and using Kalman filtering, predict the sway trajectory of the four-rope spreader within the next T seconds. Obtain the current position information of the four-rope spreader based on the sway trajectory.

[0085] In one embodiment, constructing the lifting device swing model in step S3 includes:

[0086] S31, Calculate the kinetic energy of the four-rope lifting device:

[0087]

[0088] S32, Calculate the potential energy of the four-rope lifting device:

[0089]

[0090] in, As kinetic energy, As potential energy, For the quality of four-rope lifting equipment, To make the pendulum longer, For swing angle, It is the acceleration due to gravity;

[0091] S33, according to the Lagrange equation ,in, It is a Lagrange function. It is a generalized coordinate system;

[0092] S34, Calculate the relevant partial derivatives:

[0093]

[0094]

[0095]

[0096] in, This represents the first derivative of the pendulum angle with respect to time t, i.e., the rate at which the pendulum angle changes with time; its physical meaning is the angular velocity of the oscillation of the lifting device. It represents the second derivative of the swing angle with respect to time t, that is, the rate at which the angular velocity changes with time, and its physical meaning is the angular acceleration of the swing of the lifting device;

[0097] S35, substituting into the Lagrange equation, yields the following model for the lifting device's oscillation:

[0098]

[0099] S36, under small-angle oscillation conditions Then the lifting device swing model simplifies to:

[0100] .

[0101] In one embodiment, step S3, which involves predicting the swing trajectory of the four-rope spreader within the next T seconds based on the spreader swing model and using Kalman filtering, includes:

[0102] S37, Let the state vector be... ,in, and They are The swing angle and angular velocity at any given moment;

[0103] The state transition equation is ,in, , It is the sampling period. It is process noise, assuming the process noise has a mean of 0 and a covariance of... Gaussian distribution;

[0104] The observation equation is , , in, It is an observed value, that is, a measured value of the swing angle. It is observation noise, and follows the mean of covariance is Gaussian distribution;

[0105] S38, the prediction steps include:

[0106] State prediction:

[0107] Covariance prediction:

[0108] S39, the update steps include:

[0109] Kalman gain:

[0110] Status Update:

[0111] Covariance update:

[0112] S3A, repeat the above prediction and update steps to predict the swing trajectory of the four-rope sling within the next T seconds based on the current state estimate and observations.

[0113] Specifically, the state vector estimate for future moments can be obtained through the state prediction formula, where the swing angle... The predicted value is the predicted result of the oscillation trajectory. It should be noted that in practical applications, the process noise covariance Q and the observation noise covariance R need to be reasonably selected according to the specific situation to obtain a better filtering effect.

[0114] S4. Based on the target box position information, target box attitude information and the current position information of the four-rope sling, an extended state equation is constructed to correct the current position information of the four-rope sling.

[0115] In one embodiment, step S4, which involves constructing an extended state equation based on the target box position information, target box attitude information, and the current position information of the four-rope sling, includes:

[0116] S41, Construct the basic state equations for the four-rope lifting device:

[0117]

[0118] in, q The coordinate system is a generalized coordinate system, including the position and orientation of the lifting device. The term "velocity" is used in a generalized sense, encompassing both the linear velocity and angular velocity of a four-rope sling. The inertia matrix, The matrix represents the centripetal force and Coriolis force. For gravity, For control input;

[0119] S42, the objective of establishing the extended state equations;

[0120] Specifically, without considering the effects of wind, the main objective of the extended equation of state is:

[0121] (1) Fusion of TCD data: The target box position information and target box attitude information are used as observation inputs to correct the motion state of the four-rope lifting device in real time.

[0122] (2) Compensate for sensor noise: Reduce the noise impact of visual and lidar data through filtering algorithms (such as Kalman filtering).

[0123] (3) Improve control accuracy: Utilize the high-precision observation data of TCD to optimize the motion trajectory of the lifting device and ensure that the landing deviation is ≤3cm.

[0124] S43, Establish the extended state equations:

[0125] Define the extended state vector:

[0126]

[0127] in, Indicates the location information of the target container. θt=[θtx,θty,θtz] Indicates the target box attitude information;

[0128] Construct the observation equation:

[0129]

[0130] in, The observation function describes the geometric relationship between the four-rope sling and the target box. To observe noise.

[0131] In one embodiment, the correction of the current position information of the four-rope lifting device in step S4 includes:

[0132] The target box position information and target box attitude information are used as feedback data. An extended dynamic equation is constructed based on the feedback data to correct the current position information of the four-rope lifting device.

[0133] The extended dynamic equation is as follows:

[0134]

[0135]

[0136]

[0137]

[0138] in, and These are the proportional and differential gain matrices, used to correct the deviation between the position of the four-rope sling and the target box, f( ) and g( Describe the dynamic movement of the target container (such as the change in the position of the target container in the yard).

[0139] S5 controls the four-rope sling to reach the target box position based on the corrected position information of the four-rope sling.

[0140] Specifically, the control input is calculated through the extended state equation. The movement trajectory of the four-rope lifting device gradually converges to the target box position.

[0141] In one embodiment, the method further includes:

[0142] When the deviation of the box drop exceeds the preset deviation distance, the four-rope lifting device is controlled to rise, and the swing trajectory of the four-rope lifting device is re-predicted and corrected.

[0143] Based on the method described in the above embodiments, this embodiment will further describe the four-rope sling automatic box-laying control system. The four-rope sling automatic box-laying control system can be implemented as an independent entity or integrated into an electronic device. The electronic device can be a terminal, server, or other device. The terminal can include a tablet computer, laptop computer, personal computer (PC), microprocessor box, or other devices.

[0144] Please see Figure 2 , Figure 2 This application provides a detailed description of an automatic four-rope lifting device box-setting control system, which is applied in electronic devices. The automatic four-rope lifting device box-setting control system may include:

[0145] The spreader attitude detection subsystem (SPD) is used to acquire visual images and point cloud data of the four-rope spreader, obtain the initial pose of the four-rope spreader based on the visual images and point cloud data of the four-rope spreader; and to construct a spreader swing model, predict the swing trajectory of the four-rope spreader in the next T seconds based on the spreader swing model and Kalman filtering, and obtain the current position information of the four-rope spreader based on the swing trajectory.

[0146] The target box detection subsystem (TCD) is used to acquire target box position information and target box attitude information;

[0147] The spreader attitude control subsystem (SPC) is used to construct an extended state equation based on the target box position information, target box attitude information and the current position information of the four-rope spreader, and to correct the current position information of the four-rope spreader; and to control the four-rope spreader to reach the target box position based on the corrected position information of the four-rope spreader.

[0148] The following is a brief description of the control flow of the four-rope lifting device automatic box-setting control system:

[0149] Step 1: Predictive control triggered by four-rope sling descent

[0150] When the spreader descends to height B (e.g., 2 meters from the target container), the SPC subsystem is activated, receiving the target container coordinates from the TCD. ) .

[0151] The spreader's position and orientation are acquired in real time through the SPD subsystem. (representing the offset around X, the rotation angle around Y, and the rotation angle around X, respectively), predict the swing trajectory within the next 3 seconds.

[0152] Step 2: Multi-sensor data fusion

[0153] SPC integrates the following data:

[0154] Spreader pose: Visual and lidar point cloud data from SPD.

[0155] Target box location: Stereo vision and laser scanning results from TCD.

[0156] Environmental interference: Real-time wind disturbance data from the wind speed sensor (converted into equivalent torques through a fluid dynamics model). ).

[0157] Construct the extended state equation:

[0158] Step 3: Real-time trajectory correction

[0159] The model predictive control (MPC) algorithm is used to generate an optimal control sequence (i.e., swing trajectory) every 25ms, and adjust the acceleration of the hoisting motor so that the spreader reaches the predetermined position at the target time.

[0160] Vision-control closed loop: SPD continuously provides feedback on the position and posture of the spreader. If the prediction deviation exceeds the threshold (e.g., 5mm), trajectory replanning is immediately triggered.

[0161] Step 4: Boxing Confirmation and Anomaly Handling

[0162] When the spreader approaches the target box, the TCD initiates a secondary fine scan (accuracy ±2mm), and the SPC switches to micron-level control mode.

[0163] If a deviation of more than 3cm is detected in the box, the system will automatically execute the "lift-repositioning" process to ensure that the final deviation meets the standard.

[0164] The automatic box-laying control method and system for four-rope lifting provided in this application can achieve the following technical effects.

[0165] (1) Sub-centimeter level accuracy: success rate of empty lifting tool grabbing box ≥98%, success rate of box placement with box ≥90%.

[0166] The longitudinal deviation of the container landing is ≤25mm, and the lateral deviation is ≤20mm (better than the industry standard of 50mm). Robustness in extreme environments: It maintains a success rate of over 80% even under winds of force 8 (17.2-20.7m / s). LiDAR point cloud fusion technology enables the system to operate normally in dense fog (visibility <50m).

[0167] (2) Millisecond-level response: The entire process from data acquisition to control command issuance has a latency of ≤20ms.

[0168] In specific implementation, the above modules and / or units can be implemented as independent entities, or they can be arbitrarily combined and implemented as the same or several entities. For the specific implementation of the above modules and / or units, please refer to the previous method embodiments. For the specific beneficial effects that can be achieved, please also refer to the beneficial effects in the previous method embodiments, which will not be repeated here.

[0169] In addition, this application also provides an electronic device, which may be a computer, tablet computer, or other similar device. This electronic device can implement the steps of any embodiment of the four-rope sling automatic box-setting control method provided in this application. Therefore, it can achieve the beneficial effects that any of the four-rope sling automatic box-setting control methods provided in this invention can achieve, as detailed in the preceding embodiments, and will not be repeated here.

[0170] Figure 3 A specific structural block diagram of an electronic device provided in an embodiment of the present invention is shown. This electronic device can be used to implement the four-rope hoist automatic box-laying control method provided in the above embodiments. The electronic device 500 can be a terminal, server, or other device. The terminal can include a tablet computer, laptop computer, personal computer (PC), microprocessor box, or other devices.

[0171] RF circuit 510 is used to receive and transmit electromagnetic waves, converting electromagnetic waves into electrical signals and vice versa, thereby enabling communication with communication networks or other devices. RF circuit 510 may include various existing circuit elements used to perform these functions, such as antennas, radio frequency transceivers, digital signal processors, encryption / decryption chips, subscriber identity modules (SIM cards), memory, etc. RF circuit 510 can communicate with various networks such as the Internet, corporate intranets, and wireless networks, or communicate with other devices via wireless networks. The aforementioned wireless networks may include cellular telephone networks, wireless local area networks (WLANs), or metropolitan area networks (MANs). The aforementioned wireless networks may use various communication standards, protocols, and technologies, including but not limited to Global System for Mobile Communication (GSM), Enhanced Data GSM Environment (EDGE), Wideband Code Division Multiple Access (WCDMA), Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Wireless Fidelity (Wi-Fi) (such as IEEE 802.11a, IEEE 802.11b, IEEE 802.11g, and / or IEEE 802.11n), Voice over Internet Protocol (VoIP), Worldwide Interoperability for Microwave Access (Wi-Max), other protocols for email, instant messaging, and short messages, and any other suitable communication protocols, including those that have not yet been developed.

[0172] The memory 520 can be used to store software programs and modules, such as the program instructions / modules corresponding to those in the above embodiments. The processor 580 executes various functional applications and data processing by running the software programs and modules stored in the memory 520, such as taking pictures with the front-facing camera, processing the captured images, and switching the display colors of the content displayed on the screen. The memory 520 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 520 may further include memory remotely located relative to the processor 580, and these remote memories can be connected to the electronic device 500 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0173] The input unit 530 can be used to receive input numeric or character information, and to generate a keyboard and mouse related to user settings and function control.

[0174] Display unit 540 can be used to display information input by the user or information provided to the user, as well as various graphical user interfaces, which can be composed of graphics, text, icons, video, and any combination thereof. Display unit 540 may include display panel 541, which may optionally be configured in the form of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), or other similar forms.

[0175] Audio circuitry 560, speaker 561, and microphone 562 provide an audio interface between the user and electronic device 500. Audio circuitry 560 converts received audio data into electrical signals and transmits them to speaker 561, where speaker 561 converts them into sound signals for output. Conversely, microphone 562 converts collected sound signals into electrical signals, which are then received by audio circuitry 560, converted back into audio data, and processed by processor 580. The audio data is then transmitted via RF circuitry 510 to, for example, another terminal, or output to memory 520 for further processing. Audio circuitry 560 may also include an earphone jack to facilitate communication between external headphones and electronic device 500.

[0176] Electronic device 500, through transmission module 570 (e.g., Wi-Fi module), can help users receive requests, send information, etc., providing users with wireless broadband internet access. Although transmission module 570 is shown in the figure, it is understood that it is not an essential component of electronic device 500 and can be omitted as needed without changing the essence of the invention.

[0177] The processor 580 is the control center of the electronic device 500. It connects to various parts of the phone via various interfaces and lines, and performs various functions and processes data of the electronic device 500 by running or executing software programs and / or modules stored in the memory 520, and by calling data stored in the memory 520, thereby providing overall monitoring of the electronic device. Optionally, the processor 580 may include one or more processing cores; in some embodiments, the processor 580 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may also not be integrated into the processor 580.

[0178] Electronic device 500 also includes a power supply 590 (such as a battery) that supplies power to various components. In some embodiments, the power supply may be logically connected to processor 580 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. The power supply 590 may also include one or more DC or AC power supplies, recharging systems, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0179] Although not shown, the electronic device 500 also includes cameras (such as front-facing cameras and rear-facing cameras), Bluetooth modules, etc., which will not be described in detail here. Specifically, in this embodiment, the display unit of the electronic device is a touch screen display, and the mobile terminal also includes a memory and one or more programs, wherein one or more programs are stored in the memory and configured to be executed by one or more processors. One or more programs contain instructions for performing the following operations:

[0180] Acquire visual images and point cloud data of the four-rope lifting device, and obtain the target box position and attitude information;

[0181] The initial pose of the four-rope lifting device is obtained based on the visual image and point cloud data of the four-rope lifting device.

[0182] Construct a sway model for the spreader, and use Kalman filtering to predict the sway trajectory of the four-rope spreader within the next T seconds based on the sway model. Obtain the current position information of the four-rope spreader based on the sway trajectory.

[0183] An extended state equation is constructed based on the target box position information, the target box attitude information, and the current position information of the four-rope lifting device, and the current position information of the four-rope lifting device is corrected accordingly.

[0184] The four-rope sling is controlled to reach the target box position based on the corrected position information of the four-rope sling.

[0185] In practice, the above modules can be implemented as independent entities or combined in any way to be implemented as the same or several entities. For the specific implementation of the above modules, please refer to the previous method implementation examples, which will not be repeated here.

[0186] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by instructions, or by instructions controlling related hardware. These instructions can be stored in a computer-readable storage medium and loaded and executed by a processor. Therefore, embodiments of the present invention provide a storage medium storing multiple instructions that can be loaded by a processor to execute the steps of any embodiment of the four-rope sling automatic box-setting control method provided by the present invention.

[0187] The computer-readable storage medium may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0188] Since the instructions stored in the storage medium can execute the steps in any embodiment of the four-rope sling automatic box-setting control method provided in the embodiments of the present invention, the beneficial effects that the four-rope sling automatic box-setting control method provided in the embodiments of the present invention can achieve can be realized. For details, please refer to the previous embodiments, which will not be repeated here.

[0189] The above provides a detailed description of the automatic box-laying control method, system, storage medium, and electronic device for a four-rope lifting device provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for automatic box-laying control of a four-rope lifting device, characterized in that, The method includes: Acquire visual images and point cloud data of the four-rope lifting device, and obtain the target box position and attitude information; The initial pose of the four-rope lifting device is obtained based on the visual image and point cloud data of the four-rope lifting device. Construct a sway model for the spreader, and use Kalman filtering to predict the sway trajectory of the four-rope spreader within the next T seconds based on the sway model. Obtain the current position information of the four-rope spreader based on the sway trajectory. An extended state equation is constructed based on the target box position information, the target box attitude information, and the current position information of the four-rope lifting device, and the current position information of the four-rope lifting device is corrected accordingly. The four-rope sling is controlled to reach the target box position based on the corrected position information of the four-rope sling.

2. The automatic box-setting control method for four-rope lifting devices according to claim 1, characterized in that, The construction of the lifting device swing model includes: Calculate the kinetic energy of the four-rope lifting device: Calculate the potential energy of the four-rope lifting device: in, As kinetic energy, As potential energy, For the quality of four-rope lifting equipment, To make the pendulum longer, For swing angle, It is the acceleration due to gravity; According to the Lagrange equation ,in, It is a Lagrange function. It is a generalized coordinate system; Calculate the relevant partial derivatives: in, This represents the first derivative of the pendulum angle with respect to time t. This represents the second derivative of the pendulum angle with respect to time t; Substituting into the Lagrange equation, we obtain the swing model of the lifting device as follows: Under small-angle oscillation conditions Then the swing model of the lifting device is simplified to: 。 3. The automatic box-setting control method for four-rope lifting devices according to claim 2, characterized in that, The step of predicting the swing trajectory of the four-rope spreader within the next T seconds based on the spreader swing model and using Kalman filtering includes: Let the state vector be ,in, and They are The swing angle and angular velocity at any given moment; The state transition equation is ,in, , It is the sampling period. It is process noise, assuming the process noise has a mean of 0 and a covariance of... Gaussian distribution; The observation equation is , , in, It is an observed value, that is, a measured value of the swing angle. It is observation noise, and follows the mean of covariance is Gaussian distribution; The prediction steps include: State prediction: Covariance prediction: The update steps include: Kalman gain: Status Update: Covariance update: Repeat the above prediction and update steps to predict the swing trajectory of the four-rope sling within the next T seconds based on the current state estimate and observations.

4. The automatic box-setting control method for four-rope lifting devices according to claim 1, characterized in that, The construction of the extended state equation based on the target box position information, the target box attitude information, and the current position information of the four-rope lifting device includes: Constructing the basic state equations for a four-rope lifting device: in, q The coordinate system is a generalized coordinate system, including the position and orientation of the lifting device. The term "velocity" is used in a generalized sense, encompassing both the linear velocity and angular velocity of a four-rope sling. The inertia matrix, The matrix represents the centripetal force and Coriolis force. For gravity, For control input; The goal of establishing extended state equations; Establish the extended state equations: Define the extended state vector: in, Indicates the location information of the target container. θt=[θtx,θty,θtz] Indicates the target box attitude information; Construct the observation equation: in, The observation function describes the geometric relationship between the four-rope sling and the target box. To observe noise.

5. The automatic box-setting control method for four-rope lifting devices according to claim 1, characterized in that, The correction of the current position information of the four-rope lifting device includes: The target box position information and target box attitude information are used as feedback data. An extended dynamic equation is constructed based on the feedback data to correct the current position information of the four-rope lifting device.

6. The automatic box-setting control method for four-rope lifting devices according to claim 5, characterized in that, The extended dynamic equation is: in, For generalized coordinates, Let M be the generalized velocity and M be the inertia matrix. To control the input, The matrix represents the centripetal force and Coriolis force. For gravity, Indicates the location information of the target container. This indicates the target box's attitude information. and These are the proportional and differential gain matrices, used to correct the deviation between the position of the four-rope sling and the target box, f( ) and g( Describe the motion dynamics of the target box.

7. The automatic box-setting control method for four-rope lifting devices according to claim 1, characterized in that, The method further includes: When the deviation of the box drop exceeds the preset deviation distance, the four-rope lifting device is controlled to rise, and the swing trajectory of the four-rope lifting device is re-predicted and corrected.

8. An automatic box-laying control system for a four-rope lifting device, characterized in that, include: The spreader posture detection subsystem is used to acquire visual images and point cloud data of the four-rope spreader, and to obtain the initial posture of the four-rope spreader based on the visual images and point cloud data of the four-rope spreader. In addition, a model for constructing a swaying device is used to predict the swaying trajectory of the four-rope swaying device within the next T seconds based on the swaying model and using Kalman filtering, and the current position information of the four-rope swaying device is obtained based on the swaying trajectory. The target box detection subsystem is used to acquire the target box's position and attitude information. The spreader attitude control subsystem is used to construct an extended state equation based on the target box position information, the target box attitude information, and the current position information of the four-rope spreader, and to correct the current position information of the four-rope spreader; and to control the four-rope spreader to reach the target box position based on the corrected position information of the four-rope spreader.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a plurality of instructions adapted to be loaded by a processor to execute the four-rope sling automatic box-setting control method according to any one of claims 1 to 7.

10. An electronic device, characterized in that, It includes a processor and a memory, the processor being electrically connected to the memory, the memory being used to store instructions and data, and the processor being used to execute the steps in the four-rope sling automatic box-setting control method according to any one of claims 1 to 7.

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