Anti-swing control method and system for unmanned trolley

Abstract

This invention relates to the field of unmanned overhead crane control technology, and discloses an anti-sway control method and system for unmanned overhead cranes. The method includes: initially determining the initial transport speed and initial wire rope length of the unmanned overhead crane based on the load mass information, the transport distance information, and historical information; adjusting the initial transport speed based on the load swing angle and load swing angular velocity to obtain the adjusted transport speed; adjusting the initial wire rope length based on the ambient wind speed and its variation to obtain the adjusted wire rope length; and storing the load mass information, the transport distance information, the initial transport speed, the initial wire rope length, the load swing angle, the load swing angular velocity, the ambient wind speed, its variation, the adjusted transport speed, and the adjusted wire rope length. This invention, through multi-parameter collaborative optimization, ensures transport efficiency, improves the anti-sway effect, and solves the problems of slow response and poor adaptability in traditional overhead crane control.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned trolley control, in particular to a swing prevention control method and system for an unmanned trolley. BACKGROUND

[0002] The trolley transportation device is a large automatic engineering handling device, which is widely used in industrial production sites of many industries and fields, and is responsible for production tasks such as cargo transportation and product processing. The trolley is a bridge structure that travels on an overhead track, and a trolley carrying car is installed on the bridge truss structure, which is lifted by a motor to realize automatic hoisting and placing of goods. The track erected at both ends and the car lifted by the lifting hook together form a three-dimensional working space, and the trolley can transport materials in this area.

[0003] The main function of the unmanned trolley is to realize vertical and horizontal transportation of materials, and its stability and efficiency directly affect the smoothness and safety of the entire production process. However, in actual operation, due to factors such as load quality, transportation distance, and environmental wind speed, the unmanned trolley often has load swing problems during transportation, which not only reduces transportation efficiency, but also may cause safety accidents. The traditional control method of the unmanned trolley usually uses fixed transportation parameters such as preset transportation speed and wire rope length. These methods often have a lag in response and poor adaptability when facing complex and variable working environments, and cannot effectively suppress load swing, resulting in low transportation efficiency and increased safety risks.

[0004] Therefore, it is necessary to provide a swing prevention control method and system for an unmanned trolley to solve the problem of lag in response, poor adaptability, low transportation efficiency, and increased safety risks of the unmanned trolley in the prior art. SUMMARY

[0005] In view of this, the present application provides a swing prevention control method and system for an unmanned trolley, aiming to solve the problem of lag in response, poor adaptability, low transportation efficiency, and increased safety risks of the unmanned trolley in the prior art.

[0006] In one aspect, the present application provides a swing prevention control method for an unmanned trolley, comprising:

[0007] Obtaining load quality information and transportation distance information, and preliminarily determining the initial speed and the initial length of the wire rope of the unmanned trolley according to the load quality information, the transportation distance information, and historical information;

[0008] Collecting a load swing angle and a load swing angular velocity during unmanned trolley transportation, judging whether to adjust the initial transportation speed according to the load swing angle, if it is judged to adjust, adjusting the initial transportation speed according to the load swing angle and the load swing angular velocity, obtaining an adjusted transportation speed;

[0009] Collecting an environmental wind speed and an environmental wind speed change value within a preset time, judging whether to adjust the initial steel wire rope length according to the environmental wind speed, if it is judged to adjust the initial steel wire rope length, adjusting the initial steel wire rope length according to the environmental wind speed and the environmental wind speed change value, obtaining an adjusted steel wire rope length;

[0010] Storing the to-be-loaded mass information, the to-be-transported distance information, the initial transportation speed, the initial steel wire rope length, the load swing angle, the load swing angular velocity, the environmental wind speed, the environmental wind speed change value, the adjusted transportation speed and the adjusted steel wire rope length.

[0011] Further, when the initial transportation speed and the initial steel wire rope length of the unmanned trolley are preliminarily determined according to the to-be-loaded mass information, the to-be-transported distance information and the historical information, the method comprises:

[0012] Setting a load mass interval and a transportation distance interval, grouping the historical information according to the load mass interval and the transportation distance interval, and establishing a working condition classification database of several intervals;

[0013] Obtaining the working condition classification database corresponding to the to-be-loaded mass information and the to-be-transported distance information, denoted as a to-be-used working condition classification database;

[0014] Calculating a historical initial transportation speed average value in the to-be-used working condition classification database, and taking the historical initial transportation speed average value as the initial transportation speed of the unmanned trolley;

[0015] Calculating a historical initial steel wire rope length average value in the to-be-used working condition classification database, and taking the historical initial steel wire rope length average value as the initial steel wire rope length of the unmanned trolley.

[0016] Further, when it is judged whether to adjust the initial transportation speed according to the load swing angle, the method comprises:

[0017] Setting a swing angle threshold value, if the load swing angle is greater than or equal to the swing angle threshold value, it is judged to adjust the initial transportation speed;

[0018] If the load swing angle is less than the swing angle threshold value, it is judged not to adjust the initial transportation speed.

[0019] Further, when the initial transportation speed is adjusted according to the load swing angle and the load swing angular velocity to obtain an adjusted transportation speed, the method further comprises:

[0020] calculating a product value of the load swing angle and the load swing angular velocity, and denoting the product value as a first product value;

[0021] adjusting the initial transportation speed according to the size of the first product value;

[0022] if the first product value is greater than zero, adjusting the initial transportation speed by a first adjustment coefficient;

[0023] if the first product value is equal to zero, adjusting the initial transportation speed by a second adjustment coefficient;

[0024] if the first product value is less than zero, adjusting the initial transportation speed by a third adjustment coefficient;

[0025] wherein the range of values of the adjustment coefficients is: 1> the third adjustment coefficient> the second adjustment coefficient> the first adjustment coefficient> 0, and the adjusted transportation speed is a product value of the adjustment coefficient and the initial transportation speed.

[0026] Further, when the initial transportation speed is adjusted according to the load swing angle and the load swing angular velocity to obtain an adjusted transportation speed, the method further comprises:

[0027] setting a first product threshold value, and if the first product value is greater than or equal to the first product threshold value, triggering an emergency brake to make the adjusted transportation speed equal to zero.

[0028] Further, when it is determined whether to adjust the initial length of the steel wire according to the environmental wind speed, the method comprises:

[0029] setting an environmental wind speed threshold value, and if the environmental wind speed is greater than or equal to the environmental wind speed threshold value, determining that the initial length of the steel wire needs to be adjusted;

[0030] if the environmental wind speed is less than the environmental wind speed threshold value, determining that the initial length of the steel wire does not need to be adjusted.

[0031] Further, when it is determined that the initial length of the steel wire needs to be adjusted, the initial length of the steel wire is adjusted according to the environmental wind speed and an environmental wind speed change value to obtain an adjusted length of the steel wire, and the method comprises:

[0032] calculating a wind speed influence factor according to the environmental wind speed and the environmental wind speed change value;

[0033] adjusting the initial length of the steel wire according to the wind speed influence factor.

[0034] Further, the wind speed influence factor is calculated according to the environmental wind speed and the environmental wind speed change value, including:

[0035] The wind speed influence factor is calculated by the following formula:

[0036]

[0037] In the above formula, k represents the wind speed influence factor, w represents the environmental wind speed, w0 represents the environmental wind speed threshold, △w represents the environmental wind speed change value within a preset time, △t represents the preset time length, a and b represent weight coefficients, the value range of a and b is both [0, 1], and a+b=1.

[0038] Further, the initial length of the steel wire is adjusted according to the wind speed influence factor, including:

[0039] A first factor and a second factor are set, the first factor is smaller than the second factor;

[0040] If the wind speed influence factor is smaller than the first factor, the initial length of the steel wire is adjusted by a first adjustment coefficient;

[0041] If the wind speed influence factor is greater than or equal to the first factor and smaller than the second factor, the initial length of the steel wire is adjusted by a second adjustment coefficient;

[0042] If the wind speed influence factor is greater than or equal to the second factor, the initial length of the steel wire is adjusted by a third adjustment coefficient;

[0043] Wherein, the value range of the adjustment coefficient is: 1>the first adjustment coefficient>the second adjustment coefficient>the third adjustment coefficient>0, and the adjusted length of the steel wire is the product of the initial length of the steel wire and the adjustment coefficient.

[0044] Compared with the prior art, the application has the beneficial effects that: the application precalculates the initial transportation speed and the wire rope length by comprehensively considering the load quality, transportation distance and historical information, realizes intelligent pre-configuration of transportation parameters, provides an optimal initial operating point, and greatly reduces the probability of swing occurrence. Secondly, the dynamic adjustment mechanism for real-time monitoring of the load swing angle and angular velocity can quickly identify the swing trend and accurately adjust the transportation speed, effectively suppresses the load swing amplitude, and improves the transportation stability and safety. The wire rope length adaptive adjustment strategy for environmental wind speed changes significantly improves the anti-wind interference capability of the unmanned overhead crane by quantifying the wind speed influence factor and using a nonlinear adjustment algorithm, ensuring reliable operation under complex working conditions. In addition, the storage function of the whole process data not only provides a basis for fault tracing, but also lays a foundation for historical data analysis and parameter self-learning optimization, enabling the unmanned overhead crane to have the ability of continuous improvement. The application combines static pre-configuration with dynamic real-time control, and realizes excellent anti-swing effect while ensuring transportation efficiency through multi-parameter collaborative optimization, solving the problems of response lag and poor adaptability in traditional crane control.

[0045] In another aspect, the application also provides an anti-swing control system for an unmanned overhead crane, comprising:

[0046] An initialization configuration module configured to obtain to-be-loaded mass information and to-be-transported distance information, and preliminarily determine an initial transportation speed and an initial wire rope length of the unmanned overhead crane according to the to-be-loaded mass information, the to-be-transported distance information and historical information;

[0047] A transportation speed adjustment module configured to collect a load swing angle and a load swing angular velocity when the unmanned overhead crane is transporting, determine whether to adjust the initial transportation speed according to the load swing angle, and if it is determined to adjust, adjust the initial transportation speed according to the load swing angle and the load swing angular velocity to obtain an adjusted transportation speed;

[0048] A wire rope adjustment module configured to collect an environmental wind speed and an environmental wind speed change value within a preset time, determine whether to adjust the initial wire rope length according to the environmental wind speed, and if it is determined to adjust the initial wire rope length, adjust the initial wire rope length according to the environmental wind speed and the environmental wind speed change value to obtain an adjusted wire rope length;

[0049] A storage module configured to store the to-be-loaded mass information, the to-be-transported distance information, the initial transportation speed, the initial wire rope length, the load swing angle, the load swing angular velocity, the environmental wind speed, the environmental wind speed change value, the adjusted transportation speed and the adjusted wire rope length.

[0050] It can be understood that the anti-swing control method and system for unmanned trolley provided by the present application have the same beneficial effects, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0051] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of preferred embodiments, and are not meant to limit the present application. Furthermore, the same reference numerals are intended to denote the same components throughout the accompanying drawings. In the drawings:

[0052] Figure 1 a flow chart of the anti-swing control method for unmanned trolley provided by the embodiments of the present application;

[0053] Figure 2 a function block diagram of the anti-swing control system for unmanned trolley provided by the embodiments of the present application. DETAILED DESCRIPTION

[0054] Exemplary embodiments of the present disclosure will be described in detail with reference to the drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it is understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure can be more thoroughly understood, and the scope of the present disclosure can be accurately conveyed to those skilled in the art. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0055] In some embodiments of the present application, referring to Figure 1 The present embodiment provides an anti-swing control method for unmanned trolley, which comprises the following steps:

[0056] S100, obtaining to-be-loaded mass information and to-be-transported distance information, and preliminarily determining a transport initial speed and a steel wire initial length of the unmanned trolley according to the to-be-loaded mass information, the to-be-transported distance information and historical information;

[0057] S200, collecting a load swing angle and a load swing angular velocity when the unmanned trolley is transporting, judging whether to adjust the transport initial speed according to the load swing angle, and if it is judged that adjustment is needed, adjusting the transport initial speed according to the load swing angle and the load swing angular velocity to obtain a transport adjusted speed;

[0058] S300, collect the environmental wind speed and the environmental wind speed change value in a preset time, judge whether to adjust the initial length of the steel wire rope according to the environmental wind speed, if it is judged that the initial length of the steel wire rope needs to be adjusted, adjust the initial length of the steel wire rope according to the environmental wind speed and the environmental wind speed change value, and obtain the adjusted length of the steel wire rope;

[0059] S400, store the to-be-loaded mass information, the to-be-transported distance information, the initial transportation speed, the initial length of the steel wire rope, the load swing angle, the load swing angular velocity, the environmental wind speed, the environmental wind speed change value, the adjusted transportation speed and the adjusted length of the steel wire rope.

[0060] It can be understood that, by comprehensively considering the load mass, the transportation distance and the historical information to pre-calculate the initial transportation speed and the length of the steel wire rope, the application realizes intelligent pre-configuration of transportation parameters, provides an optimal initial working point, and greatly reduces the probability of swing. Secondly, the dynamic adjustment mechanism for real-time monitoring of the load swing angle and the angular velocity can quickly identify the swing trend and accurately adjust the transportation speed, effectively suppresses the load swing amplitude, and improves the transportation stability and safety. The length self-adaptive adjustment strategy of the steel wire rope for the environmental wind speed change significantly improves the anti-wind interference ability of the unmanned overhead crane by quantifying the wind speed influence factor and using a nonlinear adjustment algorithm, and ensures reliable operation under complex working conditions. In addition, the storage function of the whole process data not only provides a basis for fault tracing, but also lays a foundation for historical data analysis and parameter self-learning optimization, so that the unmanned overhead crane has the ability of continuous improvement. The application combines static pre-configuration and dynamic real-time control, and realizes excellent anti-swing effect while ensuring transportation efficiency through multi-parameter collaborative optimization, solving the problems of response lag and poor adaptability in traditional crane control.

[0061] In some embodiments of the application, when the initial transportation speed and the initial length of the steel wire rope of the unmanned overhead crane are preliminarily determined according to the to-be-loaded mass information, the to-be-transported distance information and the historical information, the method comprises:

[0062] setting a load mass interval and a transportation distance interval, grouping the historical information according to the load mass interval and the transportation distance interval, and establishing a working condition classification database of several intervals;

[0063] obtaining the working condition classification database corresponding to the to-be-loaded mass information and the to-be-transported distance information, denoted as a to-be-used working condition classification database;

[0064] calculating the average historical transportation initial speed in the to-be-used working condition classification database, and taking the average historical transportation initial speed as the initial transportation speed of the unmanned overhead crane;

[0065] Calculate the average of the initial length of the historical steel wire rope in the standby condition classification database, and use the average of the initial length of the historical steel wire rope as the initial length of the steel wire rope of the unmanned trolley.

[0066] It can be understood that, by establishing a multi-dimensional classification database of load mass intervals and transportation distance intervals, the embodiment realizes the structured storage and rapid retrieval of historical operation data, greatly improving the parameter calculation efficiency. Secondly, the average of the initial speed of historical transportation and the initial length of the historical steel wire rope is used as the initial value, which not only retains the experience value of the historical optimal solution, but also effectively filters accidental errors through data averaging, ensuring the reliability of the initial parameters. The method can automatically identify the relevance of the current task and the historical data through the working condition matching mechanism, providing personalized initial parameters for different load and transportation distance combinations, and avoiding the "one-size-fits-all" parameter setting problem in traditional methods. This data-driven prediction method is closer to the actual working condition than theoretical calculation, significantly reducing the frequency and amplitude of subsequent real-time adjustments and improving overall stability. At the same time, the average calculation method has good scalability, making it easy to introduce weighted average and other optimization algorithms to further improve accuracy. This scheme combines big data analysis technology with traditional control theory, providing a practical implementation path for the intelligent upgrade of unmanned trolleys.

[0067] In some embodiments of the present application, when determining whether to adjust the initial transportation speed according to the load swing angle, the method comprises:

[0068] setting a swing angle threshold, if the load swing angle is greater than or equal to the swing angle threshold, it is determined that the initial transportation speed needs to be adjusted;

[0069] if the load swing angle is less than the swing angle threshold, it is determined that the initial transportation speed does not need to be adjusted.

[0070] In some embodiments of the present application, when adjusting the initial transportation speed according to the load swing angle and the load swing angular velocity to obtain the adjusted transportation speed, the method comprises:

[0071] calculating the product value of the load swing angle and the load swing angular velocity, denoted as the first product value;

[0072] adjusting the initial transportation speed according to the size of the first product value;

[0073] if the first product value is greater than zero, the initial transportation speed is adjusted by a first adjustment coefficient;

[0074] if the first product value is equal to zero, the initial transportation speed is adjusted by a second adjustment coefficient;

[0075] if the first product value is less than zero, adjusting the initial transportation speed by a third adjustment coefficient;

[0076] wherein the adjustment coefficient ranges from 1 to 0, and the adjusted transportation speed is the product of the adjustment coefficient and the initial transportation speed.

[0077] It can be understood that, by setting the swing angle threshold as the adjustment trigger condition, the embodiment avoids frequent speed adjustment and ensures timely intervention when the swing amplitude is large, achieving a balance between control accuracy and stability of the unmanned trolley. Specifically, the method judges the swing state by calculating the product value (first product value) of the load swing angle and angular velocity: when the product value is greater than zero (e.g., angle +5° and angular velocity +2° / s, indicating that the swing is intensifying), a smaller first adjustment coefficient (e.g., 0.8) is used for a larger amplitude deceleration; when the product value is equal to zero (e.g., angle +3° and angular velocity 0° / s), a moderate second adjustment coefficient (e.g., 0.9) is used for fine-tuning the speed; when the product value is less than zero (e.g., angle +2° and angular velocity -1° / s, indicating that the swing is decaying), a third adjustment coefficient close to 1 (e.g., 0.95) is used to maintain the basic speed. The embodiment can accurately identify the dynamic characteristics of the swing, achieve intelligent control of "strong intervention when intensifying and weak intervention when decaying", and has faster response speed and better control effect compared with traditional PID control with fixed parameters. At the same time, the hierarchical adjustment coefficient setting ensures the sensitivity of control and avoids mechanical impact caused by sudden speed changes, and is particularly suitable for high-precision handling scenarios.

[0078] In some embodiments of the present application, when the initial transportation speed is adjusted according to the load swing angle and load swing angular velocity, an adjusted transportation speed is obtained, and the method further comprises:

[0079] A first product threshold is set, and if the first product value is greater than or equal to the first product threshold, an emergency brake is triggered, and the adjusted transportation speed is zero.

[0080] It can be understood that the anti-swing control method proposed in the embodiment achieves intelligent response to sudden conditions through a multi-level safety mechanism. In terms of speed control, a first product threshold (e.g., angle 5° x angular velocity 2° / s = 10) is added as a trigger condition for emergency braking, and the trolley stops immediately when a severe swing (e.g., angle 6°, angular velocity 3° / s, product value 18) is detected, effectively preventing the accident from expanding.

[0081] In some embodiments of the present application, when it is determined whether to adjust the initial length of the steel wire rope according to the environmental wind speed, the method comprises:

[0082] setting an environmental wind speed threshold, and determining whether the initial length of the steel wire needs to be adjusted according to the environmental wind speed and a change value of the environmental wind speed.

[0083] If the environmental wind speed is less than the environmental wind speed threshold, it is determined that the initial length of the steel wire does not need to be adjusted.

[0084] In some embodiments of the present application, when it is determined that the initial length of the steel wire needs to be adjusted, the initial length of the steel wire is adjusted according to the environmental wind speed and the change value of the environmental wind speed to obtain an adjusted length of the steel wire.

[0085] The wind speed influence factor is calculated according to the environmental wind speed and the change value of the environmental wind speed.

[0086] The initial length of the steel wire is adjusted according to the wind speed influence factor.

[0087] In some embodiments of the present application, when the wind speed influence factor is calculated according to the environmental wind speed and the change value of the environmental wind speed, the following steps are included.

[0088] The wind speed influence factor is calculated by the following formula.

[0089]

[0090] In the above formula, k represents the wind speed influence factor, w represents the environmental wind speed, w0 represents the environmental wind speed threshold, Aw represents the change value of the environmental wind speed within a preset time, At represents the length of the preset time, a and b represent weight coefficients, the value range of a and b is [0, 1], and a+b=1.

[0091] In some embodiments of the present application, when the initial length of the steel wire is adjusted according to the wind speed influence factor, the following steps are included.

[0092] A first factor and a second factor are set, and the first factor is less than the second factor.

[0093] If the wind speed influence factor is less than the first factor, the initial length of the steel wire is adjusted by a first adjustment coefficient.

[0094] If the wind speed influence factor is greater than or equal to the first factor and less than the second factor, the initial length of the steel wire is adjusted by a second adjustment coefficient.

[0095] If the wind speed influence factor is greater than or equal to the second factor, the initial length of the steel wire is adjusted by a third adjustment coefficient.

[0096] The adjustment coefficient is in the range of 1> the first adjustment coefficient> the second adjustment coefficient> the third adjustment coefficient> 0, and the adjusted length of the steel wire rope is the product of the initial length of the steel wire rope and the adjustment coefficient.

[0097] It can be understood that, in terms of wind disturbance control, a hierarchical adjustment strategy based on a wind speed influence factor is adopted, and the wind disturbance intensity is quantified by a formula, wherein the square term highlights the danger of high wind speed, and the change rate term responds to the gust impact. For example, when the wind speed is 8 m / s (threshold value w0=5 m / s), the environmental wind speed change rate is When a=0.7 and b=0.3, k=0.7x(8 / 5)^2+0.3x1≈1.8. According to the intelligent selection of the k value interval, the adjustment intensity is: when k<1 (gentle wind), the coefficient is 0.95 for fine adjustment; when 1≤k<2 (such as k=1.8), the coefficient is 0.85 for moderate shortening; and when k≥2 (strong wind), the coefficient is 0.7 for substantial contraction. This "three-level wind condition-three-level response" mapping relationship not only ensures the continuity of operation under normal wind conditions, but also quickly enhances the system stability under extreme weather. In particular, the dynamic correlation between the length of the steel wire rope and the wind speed change rate can predict the deterioration of the wind condition in advance compared to the fixed threshold method, for example, when the wind speed change rate is detected to be Even if the current wind speed does not reach the threshold value, preventive adjustment will be started. The present application builds a complete control chain covering normal control and emergency treatment through the synergistic effect of emergency braking, wind speed factor calculation, and hierarchical adjustment.

[0098] On the other hand, referring to the Figure 2 The present application also provides a swing prevention control system for an unmanned trolley, which is used for the swing prevention control method for an unmanned trolley, and comprises:

[0099] The initialization configuration module is configured to obtain to-be-loaded mass information and to-be-transported distance information, and preliminarily determine a transport initial speed and an initial length of a steel wire rope according to the to-be-loaded mass information, the to-be-transported distance information and historical information;

[0100] The transport speed adjustment module is configured to collect a load swing angle and a load swing angular velocity when the unmanned trolley is transporting, determine whether to adjust the transport initial speed according to the load swing angle, adjust the transport initial speed according to the load swing angle and the load swing angular velocity if it is determined to adjust, and obtain a transport adjusted speed;

[0101] The steel wire rope adjustment module is configured to collect an environmental wind speed and an environmental wind speed change value within a preset time, determine whether to adjust the initial length of the steel wire rope according to the environmental wind speed, adjust the initial length of the steel wire rope according to the environmental wind speed and the environmental wind speed change value if it is determined to adjust the initial length of the steel wire rope, and obtain an adjusted length of the steel wire rope;

[0102] The storage module is configured to store the to-be-loaded mass information, the to-be-transported distance information, the initial transport speed, the initial length of the steel wire rope, the load swing angle, the load swing angular velocity, the environmental wind speed, the environmental wind speed change value, the adjusted transport speed, and the adjusted length of the steel wire rope.

[0103] It can be understood that the application adopts a four-module cooperative working mechanism: the initialization configuration module generates optimal initial parameters based on historical data matching and mean value calculation to provide the best starting conditions for the system; the transport speed adjustment module realizes accurate identification and rapid response to the swing state through angle threshold judgment and product value dynamic adjustment strategy; the steel wire rope adjustment module realizes predictive control against wind disturbance by using a wind speed influence factor calculation model; and the storage module builds a closed-loop learning mechanism to continuously optimize system performance. The application significantly improves the control accuracy and response speed by combining working condition prediction and real-time adjustment; adopts a hierarchical regulation strategy to ensure control effect while maximizing transport efficiency; and through data accumulation and learning mechanism, the system has the ability of continuous self-optimization. Compared with the traditional anti-swing system, the application has significantly improved in control stability, environmental adaptability and long-term reliability. Each module can work independently and cooperatively, which not only ensures the realization of the core anti-swing function, but also reserves space for system function expansion.

[0104] Those skilled in the art will appreciate that embodiments of the application can be provided as methods, systems or computer program products. Accordingly, the application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer readable program code thereon.

[0105] The application is described with reference to flowcharts and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing apparatus to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing apparatus produce a device that implements the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in a flow or multiple flows and / or blocks Figure 1 The functions specified in a flow or multiple flows and / or blocks

[0106] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the flow Figure 1 one or more flows and / or blocks Figure 1 one or more blocks or multiple blocks.

[0107] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the flow Figure 1 one or more flows and / or blocks Figure 1 one or more blocks or multiple blocks.

[0108] Finally, it should be noted that the above-mentioned embodiments are merely used to illustrate the technical solutions of the present application, rather than limit the present application. Although the present application has been described in detail with reference to the above-mentioned embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or equivalent replaced without departing from the spirit and scope of the present application, and any modification or equivalent replacement should be covered in the protection scope of the claims of the present application.

Claims

1. A method for preventing swaying in unmanned overhead cranes, characterized in that, include: Obtain the load mass information and the transport distance information. Based on the load mass information, the transport distance information, and historical information, preliminarily determine the initial transport speed and the initial wire rope length of the unmanned overhead crane: Set load mass intervals and transport distance intervals, group historical information according to load mass intervals and transport distance intervals, and establish a working condition classification database for several intervals; Obtain the working condition classification database corresponding to both the load mass information and the transport distance information, and denote it as the working condition classification database to be used; Calculate the average historical initial transport speed in the working condition classification database to be used, and use the average historical initial transport speed as the initial transport speed of the unmanned overhead crane; Calculate the average historical initial wire rope length in the working condition classification database to be used, and use the average historical initial wire rope length as the initial wire rope length of the unmanned overhead crane. The load swing angle and load swing angular velocity are collected during unmanned crane transportation. Based on the load swing angle, it is determined whether the initial transportation speed needs to be adjusted. If it is determined that adjustment is needed, the initial transportation speed is adjusted according to the load swing angle and load swing angular velocity to obtain the adjusted transportation speed. The product of the load swing angle and the load swing angular velocity is calculated and recorded as the first product value. The initial transport speed is adjusted according to the magnitude of the first product value; if the first product value is greater than zero, the initial transport speed is adjusted by a first adjustment coefficient. If the first product value is equal to zero, the initial transport velocity is adjusted by the second adjustment coefficient; If the first product value is less than zero, the initial transport speed is adjusted by a third adjustment coefficient; wherein the range of the adjustment coefficient is: 1 > third adjustment coefficient > second adjustment coefficient > first adjustment coefficient > 0, and the adjusted transport speed is the product of the adjustment coefficient and the initial transport speed. Collect ambient wind speed and its variation over a preset time period. Based on the ambient wind speed, determine whether to adjust the initial length of the wire rope. If adjustment is required, adjust the initial length of the wire rope according to the ambient wind speed and its variation, obtaining the adjusted length of the wire rope. Calculate the wind speed influence factor based on the ambient wind speed and its variation; adjust the initial length of the wire rope according to the wind speed influence factor. The wind speed influence factor is calculated using the following formula: ； In the above formula, k represents the wind speed influence factor, w represents the ambient wind speed, w0 represents the ambient wind speed threshold, Δw represents the change value of ambient wind speed within a preset time, Δt represents the preset time duration, a and b represent weight coefficients, and the values ​​of a and b are both in the range of [0, 1], and a+b=1. A first factor and a second factor are set, where the first factor is less than the second factor. If the wind speed influence factor is less than the first factor, the initial length of the wire rope is adjusted using a first adjustment coefficient. If the wind speed influence factor is greater than or equal to the first factor and less than the second factor, the initial length of the wire rope is adjusted using a second adjustment coefficient. If the wind speed influence factor is greater than or equal to the second factor, the initial length of the wire rope is adjusted using a third adjustment coefficient. The adjustment coefficients are set to the following range: 1 > first adjustment coefficient > second adjustment coefficient > third adjustment coefficient > 0, and the adjusted length of the wire rope is the product of the initial length of the wire rope and the adjustment coefficient. Store the information on the load mass, the transport distance, the initial transport speed, the initial length of the wire rope, the load swing angle, the load swing angular velocity, the ambient wind speed, the change in ambient wind speed, the adjusted transport speed, and the adjusted length of the wire rope.

2. The anti-sway control method for unmanned overhead cranes according to claim 1, characterized in that, When determining whether to adjust the initial transport speed based on the load swing angle, the following steps are included: Set a swing angle threshold. If the load swing angle is greater than or equal to the swing angle threshold, it is determined that the initial transport speed needs to be adjusted. If the load swing angle is less than the swing angle threshold, it is determined that no adjustment is needed to the initial transport speed.

3. The anti-sway control method for unmanned overhead cranes according to claim 1, characterized in that, When adjusting the initial transport speed based on the load swing angle and the load swing angular velocity to obtain the adjusted transport speed, the method further includes: A first product threshold is set. If the first product value is greater than or equal to the first product threshold, emergency braking is triggered to reduce the speed of the transport to zero after adjustment.

4. The anti-sway control method for unmanned overhead cranes according to claim 3, characterized in that, When determining whether to adjust the initial length of the wire rope based on the ambient wind speed, the following steps are included: Set an ambient wind speed threshold. If the ambient wind speed is greater than or equal to the ambient wind speed threshold, it is determined that the initial length of the wire rope needs to be adjusted. If the ambient wind speed is less than the ambient wind speed threshold, it is determined that no adjustment is needed to the initial length of the wire rope.

5. An anti-sway control system for unmanned overhead cranes, used to apply the anti-sway control method for unmanned overhead cranes as described in any one of claims 1-4, characterized in that, include: The initialization configuration module is configured to acquire the load mass information and the transport distance information, and preliminarily determine the initial transport speed and initial wire rope length of the unmanned crane based on the load mass information, the transport distance information and historical information. The transport speed adjustment module is configured to collect the load swing angle and load swing angular velocity during unmanned crane transport, determine whether to adjust the initial transport speed based on the load swing angle, and if adjustment is required, adjust the initial transport speed based on the load swing angle and load swing angular velocity to obtain the adjusted transport speed. The wire rope adjustment module is configured to collect the ambient wind speed and the change value of the ambient wind speed within a preset time, determine whether to adjust the initial length of the wire rope based on the ambient wind speed, and if it is determined that the initial length of the wire rope needs to be adjusted, the initial length of the wire rope is adjusted according to the ambient wind speed and the change value of the ambient wind speed to obtain the adjusted length of the wire rope. The storage module is configured to store information on the load mass, the transport distance, the initial transport speed, the initial length of the wire rope, the load swing angle, the load swing angular velocity, the ambient wind speed, the change in ambient wind speed, the adjusted transport speed, and the adjusted length of the wire rope.

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