A control system of electric single-beam suspension crane for container trailer

Abstract

The present application relates to the technical field of crane intelligent hoisting, and relates to a control system of an electric single-beam suspension crane special for a container trailer. The present application identifies and acquires attribute information of goods through a visual sensor, determines hoisting operation space richness and placement state regularity of each goods, comprehensively determines and analyzes hoisting priority of the goods, realizes intelligent planning of hoisting sequence, significantly improves overall efficiency of loading and unloading of goods in the container, selects attribute information of goods with the highest hoisting priority to determine spatial position coordinates of a hoisting position corresponding to the attribute information, generates mechanism cooperative control instructions together with real-time position of the suspension crane mechanism, and executes the instructions, realizes accurate hoisting operation of the crane in the long and narrow space of the container trailer, and monitors swing state data of the goods in real time during hoisting of the goods by the suspension crane, generates mechanism stable control driving instructions for swing suppression, and improves stability and safety of the hoisting process.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent crane hoisting, in particular to a control system of a special electric single-beam suspension crane for a container trailer. Background Art

[0002] During cargo loading and unloading operations on container trailers, traditional lifting equipment often faces problems such as illogical lifting sequences and collisions due to the enclosed interior and densely stacked cargo. This leads to low loading and unloading efficiency and poses safety risks. With the development of artificial intelligence and automation technologies, there is an urgent need for specialized lifting equipment that can adapt to container trailer scenarios to improve the safety, efficiency, and accuracy of lifting operations.

[0003] In the existing technology, Chinese patent publication No. CN119660564A discloses a high-precision autonomous lifting posture control system and method based on SLAM technology. The system combines cameras, IMUs and lidars to build an environmental map in real time, determine the position and posture of the cargo, improve the posture estimation accuracy through multi-sensor fusion, and autonomously adjust the cargo posture to prevent collisions. It is suitable for lifting operations of small weight and high value cargo in confined spaces and unknown environments.

[0004] Chinese Patent Publication No. CN113148845A discloses a crane anti-sway control method. By collecting cargo motion parameters and calculating the simple pendulum period, this method controls the acceleration, constant speed, and deceleration of the hoisting platform to suppress cargo sway and improve hoisting stability. This method provides an effective solution for crane anti-sway through refined control of speed and acceleration.

[0005] However, existing technologies have the following issues: 1. While they can identify the position of individual items, they fail to consider the priority and order of lifting multiple items within a container. Containers are densely packed with items, and improper lifting sequences can easily lead to subsequent items being unable to be lifted due to insufficient space or collide with each other, reducing operational efficiency.

[0006] 2. The existing technology suppresses swing through a preset speed curve, but does not couple the cargo swing state with the mechanism control instructions in real time, and cannot adapt to the dynamic disturbances of the lifting process, resulting in untimely swing suppression, increased collision risk, and reduced stability and safety of the cargo lifting process. Summary of the Invention

[0007] The purpose of the present invention is to overcome the above-mentioned defects and provide a control system for an electric single-beam suspension crane dedicated to container trailers, which realizes integrated control of cargo attribute identification, priority sorting, precise lifting and dynamic anti-sway through artificial intelligence, significantly improving loading and unloading efficiency and operational safety.

[0008] The technical solution adopted by the present invention to solve its technical problems is: a control system for an electric single-beam suspension crane dedicated to container trailers, which crane includes a cargo information recognition module, a cargo lifting priority analysis module, a cargo lifting position determination module, a lifting operation control execution module and a dynamic stability control module.

[0009] The connection relationship between each module is that the cargo information identification module is connected to the cargo lifting priority analysis module, the cargo lifting position determination module is connected to the cargo lifting priority analysis module, the lifting operation control execution module is connected to the cargo lifting position determination module, and the dynamic stability control module is connected to the lifting operation control execution module.

[0010] The cargo information recognition module is used to collect three-dimensional point cloud data inside the container trailer box through a visual sensor, and identify and obtain the attribute information of the cargo from the three-dimensional point cloud data inside the box.

[0011] The cargo lifting priority analysis module is used to determine the corresponding lifting operation space adequacy and placement state regularity of each cargo based on the cargo attribute information, and comprehensively judge and analyze the lifting priority of the cargo based on the lifting operation space adequacy and placement state regularity.

[0012] The cargo lifting position determination module is used to screen the cargo with the highest lifting priority and determine the spatial position coordinates of the corresponding lifting position based on the attribute information of the cargo.

[0013] The hoisting operation control execution module is used to obtain the real-time position of the corresponding walking mechanism and lifting mechanism of the suspension crane, generate the coordinated control instructions of the walking mechanism and lifting mechanism according to the spatial position coordinates of the hoisting position, and drive the walking mechanism and lifting mechanism to execute.

[0014] The dynamic stability control module is used to monitor the swing state data of the cargo in real time during the process of lifting the cargo by the suspension crane, and generate a mechanism stability control drive instruction to suppress the swing based on the swing state data.

[0015] Compared with the existing technology, the present invention has the following beneficial effects: (1) The present invention converts a two-dimensional image sequence into three-dimensional point cloud data, segments different independent cargo point cloud clusters and extracts the external edge contours, dimensions and center position coordinates, thereby achieving accurate positioning and attribute description of dense cargo in the container through refined three-dimensional feature extraction, providing reliable data support for subsequent lifting priority analysis and position determination.

[0016] (2) The present application determines the hoisting operation space richness and the placement state regularity of each cargo based on the attribute information of the cargo, comprehensively determines and analyzes the hoisting priority of the cargo by the hoisting operation space richness and the placement state regularity, realizes intelligent planning of the hoisting sequence, preferentially hoists the cargo with sufficient space and regular shape, can avoid subsequent cargo operation due to limited space, and significantly improves the overall efficiency of cargo loading and unloading in the container.

[0017] (3) The present application generates and optimizes the collaborative route trajectory according to the spatial position coordinates of the hoisting position by acquiring the real-time positions of the corresponding walking mechanism and the lifting mechanism of the suspension crane, and determines the collaborative control instructions of the walking mechanism and the lifting mechanism, realizes the precise hoisting operation of the crane in the narrow space of the container trailer, and produces collision-free and one-time precise hoisting effect.

[0018] (4) The present application solves the problem of difficult suppression of three-dimensional complex swing by real-time monitoring the maximum swing angle and angular velocity of the cargo in the three-dimensional space, calculating the swing energy index combined with the length of the hoisting rope, and dynamically adjusting the mechanism control amount, significantly reduces the swing amplitude of the cargo, produces full-process self-adaptive anti-swing, significantly reduces the safety improvement effect of cargo damage, and improves the stability and safety of the hoisting process. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0020] Figure 1 It is a schematic diagram of the system module connection of the present application.

[0021] Figure 2 It is a schematic diagram of the analysis process of the hoisting operation control execution module in the present application.

[0022] Figure 3 It is a schematic diagram of the specific content steps of the dynamic stability control module in the present application. DETAILED DESCRIPTION

[0023] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement, numerical expression and numerical value of the components and steps set forth in these embodiments do not limit the scope of the present application, unless otherwise specifically stated. At the same time, it should be understood that, in order to facilitate description, the sizes of the various parts shown in the drawings are not drawn in accordance with the actual proportional relationship.

[0024] The following description of at least one example embodiment is merely exemplary in nature and is in no way intended to limit the application or its application or uses.

[0025] In all the examples shown and discussed herein, any specific values should be interpreted as merely exemplary, and not as a limitation. Thus, other examples of the example embodiments can have different values.

[0026] Referring to Figure 1 As shown, the application provides a container trailer dedicated electric single-beam suspension crane control system, which comprises a cargo information identification module, a cargo hoisting priority analysis module, a cargo hoisting position determination module, a hoisting operation control execution module and a dynamic stability control module.

[0027] The connection relationship between the modules is that the cargo information identification module is connected with the cargo hoisting priority analysis module, the cargo hoisting position determination module is connected with the cargo hoisting priority analysis module, the hoisting operation control execution module is connected with the cargo hoisting position determination module, and the dynamic stability control module is connected with the hoisting operation control execution module.

[0028] The cargo information identification module is used to acquire the attribute information of the cargo from the three-dimensional point cloud data in the container trailer box through a visual sensor.

[0029] It should be noted that the specific content of the cargo information identification module is as follows: the two-dimensional image sequence of the container trailer box collected by the visual sensor in real time is converted into three-dimensional point cloud data.

[0030] Different independent cargo point cloud clusters are segmented from the three-dimensional point cloud data, and the minimum circumscribed edge contour is fitted for different independent cargo point cloud clusters to generate attribute information containing the circumscribed edge contour and size.

[0031] A three-dimensional space coordinate system is established with the set position corner of the container as the origin, and the center position coordinates of different cargos are determined based on the circumscribed edge contour of different cargos.

[0032] In one specific embodiment, the visual sensor can be a binocular camera, mounted beneath the crane's main beam, with a field of view covering the entire interior of the container. A 2D image sequence from different perspectives within the container is synchronously captured at a fixed frame rate. These captured 2D images are subjected to denoising and distortion correction, and a binocular stereo matching algorithm is used to generate a depth image. A point cloud registration algorithm is then employed to achieve multi-perspective image fusion and stitching, ensuring the accuracy and integrity of the 3D point cloud data. The aforementioned algorithms are all prior art and are not further detailed in this disclosure.

[0033] The set position corner of the container can be the lower left corner of the container near the cab end, and the X axis, Y axis, and Z axis in the three-dimensional space coordinate system correspond to the length, width, and height directions of the container respectively.

[0034] The present invention converts two-dimensional image sequences into three-dimensional point cloud data, segments different independent cargo point cloud clusters, and extracts the circumscribed edge contours, dimensions, and center position coordinates. This allows for precise positioning and attribute description of dense cargo in containers through refined three-dimensional feature extraction, providing reliable data support for subsequent lifting priority analysis and position determination.

[0035] The cargo lifting priority analysis module is used to determine the corresponding lifting operation space adequacy and placement state regularity of each cargo based on the cargo attribute information, and comprehensively judge and analyze the lifting priority of the cargo based on the lifting operation space adequacy and placement state regularity.

[0036] It should be noted that the method for determining the abundance of the lifting operation space corresponding to each cargo is: based on the center position coordinates and circumscribed edge contours of different cargoes, the minimum safe distance between each cargo contour and the nearest obstacle is calculated.

[0037] The weight of each cargo item is obtained from the container trailer waybill. The corresponding lifting acceleration is then matched to the weight of each item. This is then integrated with the standard crane rope length for analysis to determine the safe hoisting swing offset. The weight-acceleration matching table for each cargo item is obtained from the equipment manual for electric single-girder suspension cranes designed for container trailers.

[0038] The minimum safe distance between each cargo outline and the nearest obstacle is compared with the safe hoisting swing offset to determine the corresponding hoisting operation space surplus of each cargo. The hoisting operation space surplus is the ratio of the minimum safe distance to the safe hoisting swing offset.

[0039] In a specific embodiment, the minimum safe distance between each cargo contour and the nearest obstacle is the minimum distance selected from the shortest straight-line distances between the cargo contour and all the obstacle contours around it. All the obstacles around it include the contours inside the cargo or container box.

[0040] The hoisting safety swing offset refers to the horizontal offset of the cargo due to the swing of the connection point between the hook and the cargo under the action of hoisting, which directly affects the lateral allowance and is a key dynamic parameter to ensure hoisting safety. The hoisting safety swing offset is the product of the standard hoisting rope length of the crane and the sine value of the horizontal swing angle.

[0041] The calculation formula of the horizontal swing angle is , wherein is the horizontal swing angle, is the acceleration of gravity, is the hoisting acceleration corresponding to the weight of the cargo. If the hoisting acceleration is too large during hoisting, the cargo will slightly swing due to the inertia in the vertical direction, but the main impact is the up-and-down bouncing.

[0042] It should be noted that the determination method of the placement state regularity of each cargo is to identify the placement type of each cargo from the container trailer cargo transport list, and the placement type includes a single placement type and a stacked placement type.

[0043] When the placement type of a certain cargo is the single placement type, the circumscribed edge contour of the cargo is analyzed for fitting with the standard reference geometric body contour, and the shape regularity of the cargo is determined based on the fitting analysis result, and the placement state regularity is determined by analyzing the coincidence of the center of gravity and the geometric center of the cargo.

[0044] When the placement type of a certain cargo is the stacked placement type, the circumscribed edge contour of the cargo is analyzed for coincidence with the initial circumscribed edge contour during cargo loading, and the placement state regularity of the cargo is obtained. The ratio of the coincident volume to the volume of the initial circumscribed edge contour is taken as the placement state regularity.

[0045] In a specific embodiment, the standard reference geometric body contour includes but is not limited to a cube, a cylinder, a cuboid, etc. The circumscribed edge contour of the cargo is scaled to the same volume as all the standard reference geometric body contours. If the circumscribed edge contour of the cargo completely fits with a certain standard reference geometric body contour, the shape regularity of the cargo is recorded as 1. If the circumscribed edge contour of the cargo does not fit with all the standard reference geometric body contours, the maximum fitting volume is selected from the fitting volumes of the circumscribed edge contour of the cargo and all the standard reference geometric body contours, and the ratio of the maximum fitting volume to the total volume of the corresponding standard reference geometric body contour is taken as the shape regularity.

[0046] The placement state regularity analysis determination mode is that if the gravity center of the goods coincides with the geometric gravity center, the goods structure symmetry degree is recorded as 1, otherwise the goods structure symmetry degree is recorded as 0. The sum of the shape regularity and the structure symmetry degree of the goods is taken as the placement state regularity.

[0047] Further, the hoisting priority analysis mode of the goods is that the hoisting operation space richness degree and the placement state regularity corresponding to each goods are arranged in descending order to obtain the richness degree sorting sequence number and the regularity sorting sequence number corresponding to each goods, and the richness priority score and the regularity priority score are assigned according to the richness degree sorting sequence number and the regularity sorting sequence number.

[0048] The richness priority score and the regularity priority score of each goods are added to obtain the hoisting priority score, and the hoisting priority scores of each goods are sorted in descending order of the score to obtain the hoisting priority of each goods.

[0049] For example, the richness priority total score is set to 10 points, if the richness sorting sequence number has 5, the richness priority score of the first sorting sequence number is recorded as 10, the richness priority score of the second sorting sequence number is recorded as 8, the richness priority score of the third sorting sequence number is recorded as 6, the richness priority score of the fourth sorting sequence number is recorded as 4, and the richness priority score of the fifth sorting sequence number is recorded as 2.

[0050] If the richness sorting sequence number has 10, the richness priority score of the first sorting sequence number is recorded as 10, the richness priority score of the second sorting sequence number is recorded as 9,..., and the richness priority score of the tenth sorting sequence number is recorded as 1.

[0051] The present application determines the hoisting operation space richness degree and the placement state regularity corresponding to each goods based on the attribute information of the goods, comprehensively determines and analyzes the hoisting priority of the goods by the hoisting operation space richness degree and the placement state regularity, realizes intelligent planning of the hoisting sequence, preferentially hoists the goods with sufficient space and regular shape, can avoid subsequent goods from being unable to operate due to limited space, and significantly improves the overall efficiency of the container goods loading and unloading.

[0052] The goods hoisting position determination module is used for screening the goods with the highest hoisting priority, and determining the spatial position coordinates of the corresponding hoisting position based on the attribute information of the goods.

[0053] It should be noted that the analysis content of the goods hoisting position determination module is as follows: the circumscribed edge contour in the attribute information of the goods with the highest hoisting priority is extracted, and the gravity center position coordinates of the goods in the established three-dimensional space coordinate system are determined by a gravity center calculation algorithm. The gravity center calculation algorithm is prior art, and the present application will not be described in detail.

[0054] Project the gravity center position coordinates in the opposite direction of gravity to the hoisting surface at a set distance from the top surface of the cargo to obtain a preliminary hoisting position, and take the coordinate point as the spatial position coordinates of the hoisting position.

[0055] The hoisting operation control execution module is used for acquiring real-time positions of the corresponding walking mechanism and the lifting mechanism of the suspension crane, generating a cooperative control instruction of the walking mechanism and the lifting mechanism according to the spatial position coordinates of the hoisting position, and driving the walking mechanism and the lifting mechanism to execute.

[0056] As shown in Figure 2 The hoisting operation control execution module analyzes the real-time positions of the corresponding walking mechanism and the lifting mechanism of the suspension crane in the established three-dimensional coordinate system to obtain real-time position coordinates, and compares the real-time position coordinates with the spatial position coordinates of the hoisting position to obtain the theoretical displacement distance that the walking mechanism and the lifting mechanism need to move.

[0057] The theoretical displacement distance is dynamically generated into a cooperative route trajectory according to a set motion cooperative strategy, and it is verified whether the cooperative route trajectory exists static obstacles, and if the static obstacles exist, the cooperative route trajectory optimization is triggered.

[0058] The cooperative control instruction of the walking mechanism and the lifting mechanism is determined according to the optimized cooperative route trajectory, and the corresponding mechanism is driven to move according to the cooperative control instruction through the motor driver of the walking mechanism and the lifting mechanism.

[0059] Further, the set motion cooperative strategy can be that the walking mechanism is first moved in the x-axis direction by a corresponding direction theoretical displacement distance, then moved in the y-axis direction by a corresponding direction theoretical displacement distance, and finally the lifting mechanism is vertically moved in the z-axis direction by a theoretical displacement distance.

[0060] The cooperative route trajectory optimization mode is that when the cooperative route trajectory exists static obstacles, the lifting mechanism is raised in the vertical direction by more than the height distance of the static obstacles when approaching the static obstacles, and the subsequent route of the cooperative route trajectory is maintained after the lifting mechanism avoids the static obstacles.

[0061] In a specific embodiment, the walking mechanism x-direction instruction is sent to the cart drive motor driver, the walking mechanism y-direction instruction is sent to the trolley drive motor driver, and the lifting mechanism z-direction instruction is sent to the hoist motor driver.

[0062] The present application realizes the precise hoisting operation of the crane in the long and narrow space of the container trailer by acquiring the real-time positions of the corresponding walking mechanism and the lifting mechanism of the suspension crane, generating and optimizing the cooperative route trajectory according to the spatial position coordinates of the hoisting position, and determining the cooperative control instruction of the walking mechanism and the lifting mechanism, and produces the hoisting effect of no collision and one-time precise positioning.

[0063] The dynamic stability control module is used to monitor the swing state data of the cargo in real time during the process of lifting the cargo by the suspension crane, and generate a mechanism stability control drive instruction to suppress the swing based on the swing state data.

[0064] It should be noted that the specific contents of the dynamic stability control module also include: when the suspension crane lifts the cargo off the container ground, real-time monitoring of the tension value of each lifting rope corresponding to the cargo, and performing stability deviation analysis on the lifting force deviation based on the tension value of each lifting rope.

[0065] The current center of gravity coordinates of the cargo and the spatial coordinates of the current lifting position are obtained in real time, and the distance is compared and analyzed to determine the posture deviation.

[0066] If the hoisting force deviation is greater than the set force deviation threshold or the posture offset is greater than the set posture offset threshold, the hoisting position is optimized and adjusted.

[0067] The method for optimizing and adjusting the lifting position is as follows: when the lifting force deviation is greater than the set force deviation threshold, the set distance between the lifting surface and the top surface of the cargo is adjusted, and the spatial position coordinates of the lifting position are re-determined. The above operation is repeated until the lifting force deviation is less than or equal to the set force deviation threshold.

[0068] When the posture deviation is greater than the set posture deviation threshold, the hoisting position is adjusted on the hoisting surface, and the spatial position coordinates of the hoisting position are re-determined. The above operation is repeated until the posture deviation is less than or equal to the set posture deviation threshold.

[0069] In a specific embodiment, the hoisting force deviation is the ratio of the standard deviation of the tension value of each hoisting rope to the average value of the tension value of each hoisting rope.

[0070] The posture offset is obtained by substituting the horizontal coordinates of the current center of gravity position coordinates of the cargo and the spatial position coordinates of the current lifting position into the coordinate distance formula to obtain the horizontal position coordinate spacing, and taking the ratio of the horizontal position coordinate spacing to the set position coordinate deviation distance as the posture offset.

[0071] The present invention monitors the hoisting force deviation and posture offset in real time when the cargo leaves the container ground. When the lifting rope tension is uneven or the offset distance between the center of gravity and the lifting point exceeds the limit, it triggers secondary optimization adjustment, thereby solving the problem of sudden imbalance risk during cargo lifting, and achieving continuous closed-loop stability and reliability enhancement effect without the need for human intervention.

[0072] like Figure 3 As shown, the specific content of the dynamic stability control module is as follows: during the process of lifting cargo by the suspension crane, the maximum swing angle and angular velocity of the cargo in three-dimensional space are collected in real time.

[0073] The current sling length is obtained, coupled with the maximum swing angle and the angular velocity to calculate a swing energy index, and the swing energy index is matched with the swing energy index corresponding to each risk level to obtain the risk level corresponding to the swing energy index.

[0074] A hoisting mechanism control amount for suppressing swing is determined according to the risk level corresponding to the swing energy index, and a hoisting mechanism stable control driving instruction for suppressing swing is generated.

[0075] In a specific embodiment, the swing energy index is calculated in the following manner: , wherein is the swing energy index, is the weight of the cargo, is the current sling length, is the angular velocity, is the maximum swing angle. Wherein is the kinetic energy term of cargo swing, where the cargo can be regarded as a mass point in circular motion around the hoisting point, reflecting the kinetic energy possessed by the cargo due to the swing angular velocity, and embodying the contribution of dynamic motion speed to energy; is the gravitational potential energy term of cargo swing, taking the lowest point of cargo swing as the potential energy zero point, when the swing reaches the maximum angle , the height of the cargo is increased , according to the gravitational potential energy formula , this term embodies the gravitational potential energy possessed by the cargo due to the swing height difference, and reflects the energy change brought by the swing amplitude.

[0076] It should be noted that the hoisting mechanism control amount for suppressing swing is determined in the following manner: according to the risk level corresponding to the swing energy index, a displacement compensation coefficient corresponding to the risk level is selected, which is synergistically combined and analyzed with the current sling length, the ratio of the maximum swing angle to the set safe swing angle, and the ratio of the angular velocity to the set safe angular velocity to obtain the compensation displacement control amount of the hoisting mechanism for suppressing swing.

[0077] The synergistic combination analysis is a product calculation, and the set safe swing angle is a safe critical angle set based on the equipment safety threshold and the cargo stability requirement. The larger the ratio of the maximum swing angle to the set safe swing angle, the more obvious the current swing exceeds the safe range, and stronger compensation is needed, reflecting the danger level of the swing amplitude and guiding the control amount to be enhanced as needed. The set safe angular velocity is the upper limit of the angular velocity to ensure the stability of the equipment and the cargo. The larger the ratio of the angular velocity to the set safe angular velocity, the stronger the dynamic impact of the cargo swing, embodying the danger level of the swing speed, and synergistically combining with the angle ratio to comprehensively judge the energy threat of the swing.

[0078] Different swing energy indicators correspond to risk levels, with low, medium, and high risk levels corresponding to swing energy ranges. For example, low risk corresponds to small, low-energy swings, while high risk corresponds to large swings that can easily cause cargo to fall or equipment to damage.

[0079] The displacement compensation coefficient for each risk level is pre-calibrated by simulating swings and testing the effectiveness of displacement suppression in various lifting mechanisms and load scenarios. Displacement compensation coefficients for low-risk levels can be suppressed with minimal adjustments, while those for high-risk levels require more robust compensation. These coefficients serve as the fundamental adjustment factor for subsequent calculations.

[0080] The present invention solves the problem of difficult-to-suppress three-dimensional complex swings by monitoring the maximum swing angle and angular velocity of the cargo in three-dimensional space in real time, calculates the swing energy index in combination with the length of the lifting rope, and dynamically adjusts the mechanism control amount, thereby significantly reducing the swing amplitude of the cargo, producing a safety-enhancing effect of fully adaptive anti-swaying and significantly reducing cargo damage, thereby improving the stability and safety of the lifting process.

[0081] The above formulas are all dimensionless and numerical calculations. The formulas are obtained by collecting a large amount of data and performing software simulation to obtain the most recent real situation. The preset parameters in the formulas are set by technicians in this field according to actual conditions.

[0082] The above embodiments may be implemented in whole or in part through software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments may be implemented in whole or in part in the form of a computer program product.

[0083] Those skilled in the art will appreciate that the modules and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0084] In addition, each functional module in each embodiment of the present application may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.

[0085] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0086] Finally, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A control system for a container trailer electric single-beam suspension crane, characterized in that: include: The cargo information recognition module is used to collect three-dimensional point cloud data inside the container trailer through a visual sensor, and identify and obtain the attribute information of the cargo from the three-dimensional point cloud data inside the box; The cargo information recognition module specifically involves the following steps: converting a two-dimensional image sequence of the container trailer, captured in real time by a visual sensor, into three-dimensional point cloud data; segmenting the three-dimensional point cloud data into distinct independent cargo point cloud clusters, fitting minimum circumscribed edge contours to each of the clusters, and generating attribute information including the contours and dimensions of the contours; establishing a three-dimensional spatial coordinate system with the corners of the container as the origin, and determining the center coordinates of each cargo based on its contours; The cargo lifting priority analysis module is used to determine the lifting operation space adequacy and placement state regularity corresponding to each cargo based on the cargo attribute information, and comprehensively judge and analyze the lifting priority of the cargo based on the lifting operation space adequacy and placement state regularity; The method for determining the hoisting operation space surplus corresponding to each cargo is as follows: based on the center position coordinates and circumscribed edge contours of different cargoes, the minimum safe distance between each cargo contour and the nearest obstacle is calculated; the weight of each cargo is obtained from the container trailer waybill, and the lifting acceleration corresponding to the weight of each cargo is matched based on the weight of each cargo. The weight is then combined with the standard lifting rope length for analysis to obtain a hoisting safety swing offset; the minimum safe distance between each cargo contour and the nearest obstacle is compared with the hoisting safety swing offset to determine the hoisting operation space surplus corresponding to each cargo; A cargo hoisting position determination module is used to screen cargo with the highest hoisting priority and determine the spatial coordinates of the corresponding hoisting position based on the attribute information of the cargo; The hoisting operation control execution module is used to obtain the real-time position of the corresponding traveling mechanism and hoisting mechanism of the suspension crane, generate the coordinated control instructions of the traveling mechanism and hoisting mechanism according to the spatial position coordinates of the hoisting position, and drive the traveling mechanism and hoisting mechanism to execute; A dynamic stability control module is used to monitor the swing state data of the cargo in real time during the process of the suspension crane lifting the cargo, and generate a mechanism stability control drive instruction to suppress the swing based on the swing state data; The specific contents of the dynamic stability control module also include: when the suspension crane lifts the cargo off the container ground, real-time monitoring of the tension value of each lifting rope corresponding to the cargo, and analyzing the lifting force deviation based on the tension value of each lifting rope; real-time acquisition of the current center of gravity position coordinates of the cargo and the spatial position coordinates of the current lifting position, and performing a distance comparison to analyze the posture deviation; if the lifting force deviation is greater than a set force deviation threshold or the posture deviation is greater than a set posture deviation threshold, optimizing and adjusting the lifting position; The specific contents of the dynamic stability control module are as follows: during the process of lifting cargo by the suspension crane, the maximum swing angle and angular velocity of the cargo in three-dimensional space are collected in real time; the current length of the lifting rope is obtained, and the maximum swing angle and angular velocity are coupled to calculate a swing energy index, and the swing energy index is matched with the swing energy index corresponding to each risk level to obtain the risk level corresponding to the swing energy index; based on the risk level corresponding to the swing energy index, a hoisting mechanism control variable for suppressing swing is determined, and a hoisting mechanism stabilization control drive instruction for suppressing swing is generated; The method for determining the control amount of the lifting mechanism that suppresses swing is as follows: according to the risk level corresponding to the swing energy index, the displacement compensation coefficient corresponding to the risk level is screened, and the coefficient is synergistically combined and analyzed with the current rope length, the ratio of the maximum swing angle to the set safe swing angle, and the ratio of the angular velocity to the set safe angular velocity to obtain the compensating displacement control amount of the lifting mechanism that suppresses swing.

2. The control system for a container trailer-specific electric single-beam suspension crane according to claim 1, characterized in that: The method for determining the regularity of the placement state of each cargo is as follows: Identify the placement type corresponding to each item, which includes single placement type and stacked placement type; When the placement type corresponding to a certain item is the single-unit placement type, the circumscribed edge contour of the item is analyzed for fit with the contour of the standard reference geometric body. Based on the fit analysis results, the regularity of the item's shape is determined. The regularity of the placement state is then determined by combining the coincidence of the center of gravity of the item with the geometric center. When the placement type corresponding to a certain cargo is the stacking placement type, the outer edge contour of the cargo is overlapped with the initial outer edge contour when the cargo is loaded to obtain the placement regularity of the cargo.

3. The control system for a container trailer-specific electric single-beam suspension crane according to claim 1, characterized in that: The lifting priority analysis method of the cargo is as follows: Arrange the hoisting operation space abundance and placement state regularity corresponding to each cargo in descending order to obtain the abundance sorting number and regularity sorting number corresponding to each cargo, and assign the abundance priority score and regularity priority score according to the abundance sorting number and regularity sorting number; The abundance priority score and regularity priority score of each cargo are accumulated to obtain the lifting priority score, and the lifting priority scores of each cargo are sorted in descending order to obtain the lifting priority of each cargo.

4. The control system for a container trailer-specific electric single-beam suspension crane according to claim 1, characterized in that: The cargo hoisting position determination module analyzes the following: Extract the circumscribed edge contour from the attribute information of the cargo with the highest lifting priority, and determine the center of gravity position coordinates of the cargo in the established three-dimensional space coordinate system through the center of gravity calculation algorithm; The coordinates of the center of gravity position are projected in the opposite direction of gravity onto the lifting surface at a set distance from the top surface of the cargo to obtain the preliminary lifting position, and its coordinate point is used as the spatial position coordinate of the lifting position.

5. The control system for a container trailer-specific electric single-beam suspension crane according to claim 1, characterized in that: The analysis method of the hoisting operation control execution module is as follows: Substituting the real-time positions of the traveling mechanism and the hoisting mechanism of the suspension crane into the established three-dimensional spatial coordinate system to obtain the real-time position coordinates, and comparing them with the spatial position coordinates of the hoisting position to obtain the theoretical displacement distance that the traveling mechanism and the hoisting mechanism need to move; The theoretical displacement distance is dynamically generated according to the set motion coordination strategy to verify whether there are static obstacles in the collaborative trajectory. If there are static obstacles, the collaborative trajectory optimization is triggered. The coordinated control instructions of the walking mechanism and the lifting mechanism are determined according to the optimized coordinated route trajectory, and the motor drivers of the walking mechanism and the lifting mechanism drive the corresponding mechanisms to move according to the coordinated control instructions.

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