A control system for a crane

Abstract

The application belongs to the technical field of automatic control, and provides a control system of a crane, which comprises: in a dynamic compensation period, performing a dynamic compensation operation according to a corresponding dynamic compensation amount, and monitoring and analyzing the speed change of a trolley of the crane in the dynamic compensation period in real time; if the speed change of the trolley of the crane fluctuates, obtaining a speed adjustment amount in the dynamic compensation period, and adjusting the speed of the trolley of the crane in the dynamic compensation period, so as to obtain the speed adjustment amount, which aims to help the crane to more accurately complete the lifting, carrying and placing operations of goods according to a predetermined track and speed, and because sudden changes in speed may cause damage to goods, especially for some fragile, easily damaged or precise goods, therefore, in the process of the lifting operation, the speed of the trolley is reasonably adjusted, so that the trolley can smoothly decelerate when approaching the target position, and positioning inaccuracy or overshoot caused by too high speed is avoided.

Description

Technical Field

[0001] This invention belongs to the field of automatic control technology, specifically a control system for a crane. Background Technology

[0002] In modern industrial production and logistics transportation, cranes, as an important type of heavy machinery, are widely used in operations such as lifting, handling, and placing goods. However, the accuracy, efficiency, and safety of crane operations are directly related to the smoothness of the entire production process and the integrity of the goods.

[0003] In existing technologies, traditional crane control systems often lack real-time monitoring and precise comparison analysis mechanisms for boom displacement changes. They cannot promptly identify whether the boom has horizontal displacement effects, making it difficult for operators to adjust the boom's motion parameters in a timely manner during boom extension operations. This results in a significant reduction in the accuracy of crane boom extension operations. Moreover, existing control systems typically monitor the boom trajectory in segments during historical boom extension phases in real time, making it difficult to accurately analyze the dynamic displacement changes of the crane boom during extension. This leads to the inability to extract the dynamic compensation period and the corresponding dynamic compensation amount in a timely manner, and to make targeted and timely compensation adjustments based on the actual deviation of the crane boom extension. Furthermore, during the dynamic compensation period, existing crane control systems often neglect the real-time monitoring and analysis of crane trolley speed changes. Because the crane trolley is difficult to decelerate smoothly when approaching the target position during operation, inaccurate positioning or overshooting is prone to occur, making it impossible for the crane to accurately complete operations such as lifting, handling, and placing goods according to the predetermined trajectory and speed.

[0004] Therefore, the present invention provides a control system for a crane. Summary of the Invention

[0005] In order to overcome the shortcomings of the prior art, at least one technical problem raised in the background art is solved.

[0006] The technical solution adopted by this invention to solve its technical problem is:

[0007] A control system for a crane, comprising:

[0008] Effect identification module: Real-time monitoring and comparative analysis of boom displacement changes during multiple historical boom extension phases of cranes to identify whether horizontal displacement effects have occurred in the boom;

[0009] Dynamic compensation module: If a horizontal displacement effect occurs, the boom trajectory of each historical crane boom extension stage is monitored in segments in real time, the dynamic displacement change of the crane boom extension is analyzed, the dynamic compensation period and the corresponding dynamic compensation amount are extracted, and dynamic compensation operation is performed according to the corresponding dynamic compensation amount.

[0010] Compensation stability assessment module: During the dynamic compensation period, the speed change of the crane trolley is monitored and analyzed in real time to assess whether the speed change of the crane trolley is stable during the dynamic compensation period.

[0011] Compensation speed adjustment module: If the speed of the crane trolley fluctuates, the speed adjustment amount during the dynamic compensation period is obtained, and the speed of the crane trolley during the dynamic compensation period is adjusted.

[0012] As a further aspect of the present invention, the process for identifying the horizontal displacement effect is as follows:

[0013] The boom extension stage of the historical crane is divided into several extension monitoring nodes. The actual displacement coordinates and the corresponding preset displacement coordinates of each extension monitoring node are obtained. The actual displacement coordinates and the corresponding preset displacement coordinates of each extension monitoring node are connected by a smooth curve to obtain the actual displacement trajectory and the preset displacement trajectory.

[0014] The actual displacement trajectory and each displacement coordinate on the preset displacement trajectory are combined according to the rules of the same monitoring node to obtain multiple comparison analysis groups. The actual displacement coordinates and preset displacement coordinates in each comparison analysis group are input into the Euclidean distance formula to output the horizontal displacement difference. If the horizontal displacement difference is greater than the horizontal displacement difference threshold, the horizontal displacement effect occurs.

[0015] As a further aspect of the present invention, the boom trajectory within each historical boom extension stage is monitored in real time in segments, and the dynamic displacement changes of the crane boom extension are analyzed. The process is as follows:

[0016] The time between adjacent extension monitoring nodes during the historical crane boom extension phase is taken as the extension monitoring period, resulting in multiple extension monitoring periods. The local actual displacement trajectory and local preset displacement trajectory corresponding to each extension monitoring period are extracted as the actual sub-trajectory and preset sub-trajectory of the period.

[0017] Using the same extension monitoring period as the analysis rule, the actual position sub-trajectory and the pre-position sub-trajectory of the same extension monitoring period are compared and overlapped. Non-overlapping local actual position sub-trajectory is extracted and sorted according to the occurrence time of the non-overlapping local actual position sub-trajectory to construct a non-overlapping sub-trajectory sequence. The angle between each non-overlapping local actual position sub-trajectory and the pre-position sub-trajectory of the time period in the non-overlapping sub-trajectory sequence is obtained as the sub-trajectory offset angle. After mean calculation and trigonometric function processing, the mean value of the time period offset angle is obtained.

[0018] The ratio of the total number of non-overlapping local real-position sub-trajectories within the non-overlapping sub-trajectory sequence to the total number of real-position sub-trajectories in the time period is obtained to determine the time period offset ratio.

[0019] As a further aspect of the present invention, the process for obtaining the dynamic compensation time period is as follows:

[0020] The dynamic compensation value is calculated by multiplying the ratio of time period offsets by the average time period offset angle. If the dynamic compensation value is greater than the dynamic compensation threshold, it is marked as a dynamic compensation period.

[0021] As a further aspect of the present invention, the process of obtaining the dynamic compensation amount is as follows:

[0022] During the dynamic compensation period, the sub-trajectory offset angle corresponding to each non-overlapping local real-position sub-trajectory in the non-overlapping sub-trajectory sequence is extracted as the first dynamic compensation amount.

[0023] As a further aspect of the present invention, the dynamic compensation operation process according to the corresponding dynamic compensation amount is as follows:

[0024] After obtaining the first dynamic compensation value, the actual displacement trajectory during the dynamic compensation period continues to be monitored in real time. If a large signal of boom trajectory deviation is displayed, real-time dynamic compensation is performed in the same way as obtaining the first dynamic compensation value.

[0025] As a further aspect of the present invention, the speed change of the crane during the dynamic compensation period is monitored and analyzed in real time to obtain the average value of adjacent trend deviations, as follows:

[0026] The dynamic compensation period is divided into several dynamic compensation monitoring nodes. The instantaneous speed of the crane at each dynamic compensation monitoring node is obtained, and a dynamic compensation speed change curve is constructed with the X-axis as time and the Y-axis as speed.

[0027] On the dynamic compensation velocity change curve, the local change curve between adjacent dynamic compensation monitoring nodes is extracted as a dynamic compensation velocity sub-curve. Adjacent dynamic compensation velocity sub-curves are combined to obtain multiple sets of dynamic compensation velocity analysis groups.

[0028] The slope of each dynamic compensation velocity sub-curve in each dynamic compensation velocity analysis group is obtained by using the slope calculation formula. The sub-slope of the dynamic compensation velocity is obtained by subtracting the sub-slopes in each dynamic compensation velocity analysis group and taking the absolute value. The sub-slope difference is then calculated by averaging the sub-slope differences of each dynamic compensation velocity analysis group and the average value of the adjacent trend deviation is output.

[0029] As a further aspect of the present invention, the speed change of the crane during the dynamic compensation period is monitored and analyzed in real time to obtain the average value of adjacent amplitude deviations, as follows:

[0030] The coordinates of the endpoints of each dynamic velocity sub-curve in each dynamic velocity analysis group are calculated using the coordinate point distance formula, and the ratio of the coordinates to the length of the dynamic velocity change curve is calculated to obtain the sub-curve amplitude ratio.

[0031] The difference between the sub-curve amplitude ratios within each dynamic speed compensation analysis group is calculated, and the absolute value is taken to output the sub-amplitude ratio difference. The sub-amplitude ratio difference of each dynamic speed compensation analysis group is then averaged to output the average value of adjacent amplitude deviations.

[0032] As a further aspect of the present invention, the process of evaluating whether the speed change of the crane trolley is stable during the dynamic compensation period is as follows:

[0033] The mean of adjacent trend deviations and the mean of adjacent amplitude deviations are summed to obtain the stable value of velocity change;

[0034] If the stable value of the velocity change is greater than the stable threshold of the velocity change, it will be displayed as a velocity change fluctuation signal.

[0035] As a further aspect of the present invention, the method for obtaining the speed adjustment amount is as follows:

[0036] Extract the sub-curve amplitude ratio of each dynamic compensation velocity sub-curve within each dynamic compensation velocity analysis group, input it into the Euclidean distance formula, and output the overall amplitude difference value;

[0037] If the overall amplitude difference value is greater than the overall amplitude difference threshold, the amplitude ratio of each dynamic compensation speed sub-curve is compared, the largest and smallest sub-curve amplitude ratios are selected, and the average value is calculated to output the speed adjustment amount.

[0038] If the overall amplitude difference value is less than or equal to the overall amplitude difference threshold, the average amplitude ratio of each dynamic compensation speed sub-curve is calculated and the speed adjustment amount is output.

[0039] The beneficial effects of this invention are as follows:

[0040] This invention monitors and compares the changes in boom displacement during multiple historical boom extension stages of a crane in real time. It identifies whether a horizontal displacement effect has occurred, providing data support for timely adjustments to the boom's motion parameters. This improves the accuracy of the crane boom extension operation and reduces operational errors caused by boom position deviations. If a horizontal displacement effect is observed, the boom trajectory is monitored in segments during each historical boom extension stage in real time. The dynamic displacement changes of the crane boom extension are analyzed, and the dynamic compensation period and corresponding dynamic compensation amount are extracted. By obtaining the dynamic compensation value, the control system can dynamically adjust the boom movement trajectory angle in a timely manner. Furthermore, based on the actual deviation of the crane boom extension, targeted compensation adjustments can be made to reduce repetitive operations and adjustment time caused by displacement deviations, thereby improving the actual operating efficiency of the crane.

[0041] This invention performs dynamic compensation operations according to corresponding dynamic compensation amounts during the dynamic compensation period, and monitors and analyzes the speed changes of the crane trolley in real time. If the crane trolley speed fluctuates, the speed adjustment amount within the dynamic compensation period is obtained, and the crane trolley speed is adjusted accordingly. The purpose is to help the crane more accurately complete the lifting, handling, and placement of goods according to a predetermined trajectory and speed. Furthermore, since sudden speed changes can damage goods, especially fragile, easily damaged, or delicate goods, the stability of the trolley speed has a significant impact on positioning accuracy during lifting operations. When the speed adjustment amount is reasonable, the trolley can smoothly decelerate when approaching the target position, avoiding inaccurate positioning or overshoot due to excessive speed. Attached Figure Description

[0042] The invention will now be further described with reference to the accompanying drawings.

[0043] Figure 1 This is a schematic diagram of the module system of a crane control system according to the present invention;

[0044] Figure 2 This is a flowchart of the steps of a crane control system according to the present invention;

[0045] Figure 3 This is a flowchart of the judgment process of a crane control system according to the present invention. Detailed Implementation

[0046] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0047] Example 1:

[0048] Please see Figure 1 - Figure 3 As shown in the figure, a crane control system according to an embodiment of the present invention includes the following steps:

[0049] Effect identification module: Real-time monitoring and comparative analysis of boom displacement changes during multiple historical boom extension phases of cranes to identify whether horizontal displacement effects have occurred in the boom;

[0050] In some embodiments, the historical crane boom extension phase is equally divided into several extension monitoring nodes, wherein the interval between adjacent extension monitoring nodes is equal.

[0051] Each of the analyzed extended monitoring nodes is sorted according to its time series to obtain the monitoring node sequence;

[0052] It should be noted that within the monitoring node sequence, the boom coordinates corresponding to the first extended monitoring node are the initial coordinates, i.e., the origin coordinates, while the boom coordinates corresponding to the last extended monitoring node are the endpoint coordinates, i.e., the coordinates where the crane boom finally stopped moving after being extended in the past.

[0053] The actual displacement coordinates and the corresponding preset displacement coordinates of each extended monitoring node are obtained respectively. The actual displacement coordinates and the corresponding preset displacement coordinates of each extended monitoring node are connected by a smooth curve to obtain the actual displacement trajectory and the preset displacement trajectory.

[0054] The actual displacement trajectory and each displacement coordinate on the preset displacement trajectory are combined according to the rules of the same monitoring node to obtain multiple comparison and analysis groups;

[0055] It should be noted that, according to the rule of the same monitoring node, that is, if there are five monitoring nodes A, B, C, D and E in the monitoring node sequence;

[0056] Obtain the actual displacement coordinates of monitoring nodes A, B, C, D, and E respectively;

[0057] Similarly, the preset displacement coordinates corresponding to monitoring nodes A, B, C, D, and E are obtained respectively.

[0058] The actual displacement coordinates and preset displacement coordinates corresponding to monitoring node A are combined to obtain a set of comparison and analysis groups;

[0059] The actual displacement coordinates and preset displacement coordinates corresponding to monitoring node B are combined to obtain a set of comparison and analysis groups;

[0060] The actual displacement coordinates and preset displacement coordinates corresponding to monitoring node C are combined to obtain a set of comparison and analysis groups;

[0061] The actual displacement coordinates and preset displacement coordinates corresponding to monitoring node D are combined to obtain a set of comparison and analysis groups;

[0062] The actual displacement coordinates and preset displacement coordinates corresponding to monitoring node E are combined to obtain a set of comparison and analysis groups;

[0063] Input the actual displacement coordinates and preset displacement coordinates in each comparison analysis group into the Euclidean distance formula, and output the horizontal displacement difference.

[0064] To help understand this, the physical meaning of the horizontal displacement difference is: the result calculated by inputting the actual displacement coordinates and preset displacement coordinates in each comparison analysis group into the Euclidean distance formula. In the boom extension stage of the crane, the preset displacement coordinates are the ideal position coordinates that the boom should reach at each extension monitoring node, while the actual displacement coordinates are the coordinates of the boom at the corresponding monitoring node during the actual extension process.

[0065] Specifically, obtaining the horizontal displacement difference can provide accurate feedback information for the crane control system. By understanding the deviation between the actual position of the boom and the preset position at each monitoring node in real time, it is possible to adjust the boom's motion parameters, such as extension speed and angle, in a timely manner, so that the boom can move more accurately according to the preset trajectory, improve the accuracy of the crane boom extension operation, and reduce the operation error caused by boom position deviation.

[0066] If the horizontal displacement difference is greater than the horizontal displacement difference threshold, it indicates that during the analyzed historical crane boom extension phase, the actual boom extension trajectory deviates significantly from the preset boom extension trajectory, resulting in a horizontal displacement effect.

[0067] If the horizontal displacement difference is less than or equal to the horizontal displacement difference threshold, it indicates that during the analyzed historical crane boom extension phase, the actual boom extension trajectory deviates little from the preset boom extension trajectory, and no horizontal displacement effect occurs.

[0068] Dynamic compensation module: If a horizontal displacement effect occurs, the boom trajectory of each historical crane boom extension stage is monitored in segments in real time, the dynamic displacement change of the crane boom extension is analyzed, the dynamic compensation period and the corresponding dynamic compensation amount are extracted, and dynamic compensation operation is performed according to the corresponding dynamic compensation amount.

[0069] In some embodiments, the time between adjacent extension monitoring nodes during the historical crane boom extension phase is taken as the extension monitoring period, resulting in multiple extension monitoring periods;

[0070] The actual displacement coordinates corresponding to the starting and ending monitoring nodes of the extended monitoring period are respectively called the actual coordinates at the beginning and end of the period. The local actual displacement trajectory between the actual coordinates at the beginning and end of the period is taken as the actual position sub-trajectory of the period.

[0071] Similarly, the preset displacement coordinates corresponding to the start and end monitoring nodes of the extended monitoring period are the preset coordinates of the start of the period and the preset coordinates of the end of the period, and the local preset displacement trajectory between the preset coordinates of the start of the period and the preset coordinates of the end of the period is taken as the preset sub-trajectory of the period.

[0072] Using the same extension monitoring period as the analysis rule, the actual position sub-trajectory and the pre-position sub-trajectory of the same extension monitoring period are compared and overlapped. Non-overlapping local actual position sub-trajectory is extracted and sorted according to the time sequence of the occurrence of non-overlapping local actual position sub-trajectory to construct a non-overlapping sub-trajectory sequence.

[0073] It should be noted that the non-overlapping local real-position sub-trajectories are sorted according to their occurrence time. For example, there are 3 non-overlapping local real-position sub-trajectories, namely A, B and C.

[0074] The starting point coordinates of the non-overlapping local real-position sub-trajectory A are closest to the actual coordinates of the start of the time period in the time dimension. The starting point coordinates of the non-overlapping local real-position sub-trajectory B are the next closest to the actual coordinates of the start of the time period in the time dimension. The starting point coordinates of the non-overlapping local real-position sub-trajectory C are the furthest from the actual coordinates of the start of the time period in the time dimension. Therefore, the order of the non-overlapping sub-trajectory sequence is non-overlapping local real-position sub-trajectory A, non-overlapping local real-position sub-trajectory B, and non-overlapping local real-position sub-trajectory C.

[0075] The angle between each non-overlapping local real-position sub-trajectory and the time-prepositioned sub-trajectory in the non-overlapping sub-trajectory sequence is obtained as the sub-trajectory offset angle.

[0076] After averaging all the sub-trajectory offset angles and performing trigonometric function processing, the average offset angle for each time period is obtained.

[0077] Among them, the non-overlapping sub-trajectory sequence can be understood as a set of all non-overlapping local real-position sub-trajectories within an extended monitoring period;

[0078] The ratio of the total number of non-overlapping local real-position sub-trajectories within the non-overlapping sub-trajector sequence to the total number of real-position sub-trajectories in the time period is obtained to determine the time period offset ratio.

[0079] The dynamic compensation value is calculated by multiplying the ratio of time period offsets by the average time period offset angle.

[0080] It is understandable that the dynamic compensation value means that the dynamic compensation value is calculated by multiplying the ratio of the number of time-period offsets by the average time-period offset angle. On the one hand, the ratio of the number of time-period offsets reflects the proportion of non-overlapping local real-position sub-trajectories (i.e., the part of the actual displacement trajectory that deviates from the preset displacement trajectory) to the number of time-period real-position sub-trajectories (the actual overall displacement trajectory in that time period) within the analyzed extension monitoring period. On the other hand, the average time-period offset angle reflects the degree of deviation of the actual movement trajectory of the boom from the preset movement trajectory within the analyzed extension monitoring period.

[0081] Specifically, the dynamic compensation value provides the crane control system with quantitative information about the dynamic displacement deviation of the boom. During the boom extension process, the actual movement trajectory is often affected by various factors (such as load changes, mechanical wear, environmental interference, etc.) and deviates from the preset trajectory. By obtaining the dynamic compensation value, the control system can dynamically adjust the boom movement trajectory angle in a timely manner.

[0082] Moreover, while adjusting the extension of the crane boom usually requires a certain amount of time and calculation, dynamic compensation adjustment can be performed to compensate for the actual deviation of the crane boom extension in a timely manner, reducing the repetitive operation and adjustment time caused by displacement deviation and improving the actual working efficiency of the crane.

[0083] If the dynamic compensation value is greater than the dynamic compensation threshold, it indicates that the deviation of the boom extension trajectory is large during the analyzed extension monitoring period, which is displayed as a large signal of boom trajectory deviation and marked as a dynamic compensation period.

[0084] If the dynamic compensation value is less than or equal to the dynamic compensation threshold, it indicates that the deviation of the boom extension trajectory is small during the analyzed extension monitoring period, and is displayed as a small signal of boom trajectory deviation.

[0085] During the dynamic compensation period, the sub-trajectory offset angle corresponding to each non-overlapping local real-position sub-trajectory in the non-overlapping sub-trajectory sequence is extracted as the first dynamic compensation amount.

[0086] After obtaining the first dynamic compensation value, the actual displacement trajectory during the dynamic compensation period continues to be monitored in real time. If a large signal of boom trajectory deviation is displayed, real-time dynamic compensation is performed in the same way as obtaining the first dynamic compensation value.

[0087] The specific solution in this embodiment is as follows: During multiple historical boom extension stages, the boom displacement changes are monitored in real time and compared and analyzed to identify whether a horizontal displacement effect has occurred. This provides data support for timely adjustment of the boom's motion parameters, improving the accuracy of the boom extension operation and reducing operational errors caused by boom position deviations. If a horizontal displacement effect occurs, the boom trajectory within each historical boom extension stage is monitored in segments in real time. The dynamic displacement changes of the boom extension are analyzed, and the dynamic compensation period and corresponding dynamic compensation amount are extracted. By obtaining the dynamic compensation value, the control system can dynamically adjust the boom movement trajectory angle in a timely manner. Furthermore, based on the actual deviation of the boom extension, targeted compensation adjustments can be made to reduce repetitive operations and adjustment time caused by displacement deviations, thereby improving the actual operating efficiency of the crane.

[0088] Example 2:

[0089] Please see Figure 1 - Figure 3 As shown in the figure, the control system for a crane according to an embodiment of the present invention further includes the following steps:

[0090] Compensation stability assessment module: During the dynamic compensation period, the speed change of the crane trolley is monitored and analyzed in real time to assess whether the speed change of the crane trolley is stable during the dynamic compensation period.

[0091] In some embodiments, the dynamic compensation period is equally divided into several dynamic compensation monitoring nodes, wherein the time interval between adjacent dynamic compensation monitoring nodes is equal;

[0092] The instantaneous speed of the crane at each dynamic compensation monitoring node is obtained, and a dynamic compensation speed change curve is constructed with the X-axis as time and the Y-axis as speed.

[0093] On the dynamic compensation velocity change curve, the local change curve between adjacent dynamic compensation monitoring nodes is extracted as the dynamic compensation velocity sub-curve;

[0094] By combining adjacent dynamic compensation velocity sub-curves, multiple sets of dynamic compensation velocity analysis groups are obtained;

[0095] The slope of each dynamic compensation velocity sub-curve in each dynamic compensation velocity analysis group is obtained by using the slope calculation formula, thus obtaining the dynamic compensation velocity sub-slope.

[0096] The difference between the sub-slopes of the dynamic compensation velocity analysis group is calculated, and the absolute value is taken to output the sub-slope difference.

[0097] The average value of the sub-slope difference of each dynamic compensation velocity analysis group is calculated and the average value of adjacent trend deviation is output.

[0098] The coordinates of the endpoints of each dynamic velocity sub-curve in each dynamic velocity analysis group are calculated using the coordinate point distance formula, and the ratio of the coordinates to the length of the dynamic velocity change curve is calculated to obtain the sub-curve amplitude ratio.

[0099] The difference between the sub-curve amplitude ratios within each dynamic speed compensation analysis group is calculated, and the absolute value is taken to output the sub-amplitude ratio difference.

[0100] The average value of the sub-amplitude ratio difference of each dynamic compensation speed analysis group is calculated and the average value of adjacent amplitude deviation is output.

[0101] The mean of adjacent trend deviations and the mean of adjacent amplitude deviations are summed to obtain the stable value of velocity change;

[0102] It is understandable that the meaning of the stable value of velocity change is: to measure the stability of the trend and amplitude of velocity change. On the one hand, the average deviation of adjacent trends reflects the degree of change of the slope of adjacent dynamic compensated velocity sub-curves. On the other hand, the average deviation of adjacent amplitudes reflects the change of the amplitude ratio of adjacent dynamic compensated velocity sub-curves.

[0103] Specifically, when the crane is controlled to compensate during the dynamic compensation period, the purpose is to make the crane trolley stable. By obtaining the stable value of the speed change, it is possible to understand the impact of the trolley speed stability on the current dynamic compensation operation, and adjust the dynamic compensation amount or compensation method based on the feedback information.

[0104] Because a stable trolley speed helps improve the efficiency and precision of lifting operations, it can more accurately complete the lifting, handling and placement of goods according to the predetermined trajectory and speed, reducing the repetitive operations and adjustment time caused by speed fluctuations, thereby improving work efficiency. At the same time, a stable speed also helps to ensure the integrity and quality of goods during the handling process, avoiding damage to goods due to sudden speed changes.

[0105] The stable value of velocity change is compared with the stable threshold of velocity change, as follows:

[0106] If the stable value of speed change is greater than the stable threshold of speed change, it indicates that the speed change trend deviates significantly within adjacent time periods, and the speed change amplitude deviates significantly, which is displayed as a speed change fluctuation signal.

[0107] If the stable value of speed change is less than or equal to the stable threshold of speed change, it indicates that the deviation of the speed change trend and the deviation of the speed change amplitude are small in adjacent time periods, which is displayed as a stable speed change signal.

[0108] Compensation speed adjustment module: If the speed of the crane trolley fluctuates, the speed adjustment amount during the dynamic compensation period is obtained, and the speed of the crane trolley during the dynamic compensation period is adjusted accordingly.

[0109] In some embodiments, the sub-curve amplitude ratio of each dynamic compensation velocity sub-curve within each dynamic compensation velocity analysis group is extracted, input into the Euclidean distance formula, and the overall amplitude difference value is output.

[0110] The overall amplitude difference value is compared with the overall amplitude difference threshold, as follows:

[0111] If the overall amplitude difference value is greater than the overall amplitude difference threshold, it indicates that the amplitude of each dynamic compensation speed sub-curve is relatively dispersed. In this case, the amplitude ratio of each dynamic compensation speed sub-curve is compared, the largest and smallest amplitude ratios are selected, and the average value is calculated to output the speed adjustment amount.

[0112] If the overall amplitude difference value is less than or equal to the overall amplitude difference threshold, it indicates that the amplitude of each dynamic compensation speed sub-curve is relatively concentrated. In this case, the amplitude ratio of each dynamic compensation speed sub-curve is averaged and the speed adjustment amount is output.

[0113] It's important to note that obtaining the speed adjustment amount is significant for two reasons: From the perspective of crane operation efficiency, the stability of the trolley speed directly affects the smoothness of the entire operation process during continuous lifting. Therefore, a stable trolley speed helps the crane more accurately complete operations such as lifting, handling, and placing goods according to the predetermined trajectory and speed. Large speed fluctuations may prevent goods from accurately reaching the target position, requiring multiple adjustments and repetitive operations, wasting considerable time and effort. By obtaining and adjusting the speed to maintain stability, repetitive operations caused by speed fluctuations can be reduced, improving operational efficiency. From the perspective of crane operation quality, sudden speed changes can damage goods, especially fragile, easily damaged, or delicate items. Therefore, the stability of the trolley speed has a significant impact on positioning accuracy during lifting operations. When the speed adjustment amount is appropriate, the trolley can smoothly decelerate as it approaches the target position, avoiding inaccurate positioning or overshoot due to excessive speed.

[0114] The specific solution in this embodiment is as follows: During the dynamic compensation period, dynamic compensation operations are performed according to the corresponding dynamic compensation amount, and the speed changes of the crane trolley are monitored and analyzed in real time. If the speed of the crane trolley fluctuates, the speed adjustment amount during the dynamic compensation period is obtained, and the speed of the crane trolley during the dynamic compensation period is adjusted accordingly. The purpose is to help the crane more accurately complete the lifting, handling, and placement of goods according to the predetermined trajectory and speed. Moreover, since sudden speed changes may damage goods, especially fragile, easily damaged, or precision goods, the stability of the trolley speed has a significant impact on positioning accuracy during lifting operations. When the speed adjustment amount is reasonable, the trolley can decelerate smoothly when approaching the target position, avoiding inaccurate positioning or overshoot due to excessive speed.

[0115] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A control system of a crane, characterized by: The method comprises the following steps: Effect recognition module: real-time monitoring of the displacement change of the boom during the multiple historical crane boom extension stages, and comparison analysis to identify whether the boom has horizontal displacement effect; Dynamic compensation module: if the horizontal displacement effect occurs, the boom trajectory during each historical crane boom extension stage is segmented and real-time monitored, the dynamic displacement change of the crane boom extension is analyzed, the dynamic compensation period and the corresponding dynamic compensation amount are extracted, and the dynamic compensation operation is performed according to the corresponding dynamic compensation amount; Compensation stability evaluation module: real-time monitoring and analysis of the speed change of the crane trolley during the dynamic compensation period to evaluate whether the speed change of the crane trolley during the dynamic compensation period is stable; Compensation speed adjustment module: if the speed change of the crane trolley fluctuates, the speed adjustment amount during the dynamic compensation period is obtained to adjust the speed of the crane trolley during the dynamic compensation period.

2. A control system for a crane according to claim 1, characterised in that: The identification process of the horizontal displacement effect is as follows: The historical crane boom extension stage is equally divided into several extension monitoring nodes, the actual displacement coordinates corresponding to each extension monitoring node and the corresponding preset displacement coordinates are obtained, and the actual displacement coordinates and the corresponding preset displacement coordinates of each extension monitoring node are connected by using a smooth curve respectively to obtain the actual displacement trajectory and the preset displacement trajectory; Each displacement coordinate on the actual displacement trajectory and the preset displacement trajectory is combined according to the same monitoring node rule to obtain multiple comparison analysis groups, the actual displacement coordinates and the preset displacement coordinates in each comparison analysis group are input into the Euclidean distance formula, and the horizontal displacement difference is output, if the horizontal displacement difference is greater than the horizontal displacement difference threshold, the horizontal displacement effect occurs.

3. A control system for a crane according to claim 1, characterised in that: The process of segmenting and real-time monitoring the boom trajectory during each historical crane boom extension stage to analyze the dynamic displacement change of the crane boom extension is as follows: The time between adjacent extension monitoring nodes in the historical crane boom extension stage is taken as the extension monitoring period to obtain multiple extension monitoring periods, and the local actual displacement trajectory and the local preset displacement trajectory corresponding to each extension monitoring period are extracted as the period actual sub-trajectory and the period preset sub-trajectory; The period actual sub-trajectory and the period preset sub-trajectory in the same extension monitoring period are overlapped and compared according to the same extension monitoring period as the analysis rule, the non-overlapping local actual sub-trajectory is intercepted, and the non-overlapping local actual sub-trajectory is sorted according to the time sequence of the non-overlapping local actual sub-trajectory to construct a non-overlapping sub-trajectory sequence, the angle between each non-overlapping local actual sub-trajectory in the non-overlapping sub-trajectory sequence and the period preset sub-trajectory is taken as the sub-trajectory deflection angle, which is subjected to mean value calculation and trigonometric function processing to obtain the mean value of the period deflection angle; The ratio of the total number of non-overlapping local actual sub-trajectories in the non-overlapping sub-trajectory sequence to the number of period actual sub-trajectories is obtained to obtain the period deflection quantity ratio.

4. A control system for a crane according to claim 3, characterised in that: The process of obtaining the dynamic compensation period is as follows: The period deflection quantity ratio and the mean value of the period deflection angle are multiplied to obtain the dynamic compensation value, if the dynamic compensation value is greater than the dynamic compensation threshold, it is marked as the dynamic compensation period.

5. A control system for a crane according to claim 1, characterized in that: The process of obtaining the dynamic compensation amount is as follows: During the dynamic compensation period, the sub-track offset angle corresponding to each non-overlapping local real bit sub-track in the non-overlapping sub-track sequence is extracted as the first dynamic compensation amount.

6. A control system for a crane according to claim 1, characterized in that: The process of dynamic compensation operation according to the corresponding dynamic compensation amount is as follows: After obtaining the first dynamic compensation amount, the actual displacement track during the dynamic compensation period is continuously monitored in real time, and if a large signal of the boom track offset is displayed, the real-time dynamic compensation is performed according to the manner of obtaining the first dynamic compensation amount.

7. A control system for a crane according to claim 1, characterized in that: The process of real-time monitoring and analysis of the speed change of the crane trolley during the dynamic compensation period is as follows: The dynamic compensation period is equally divided into several dynamic compensation monitoring nodes, the instantaneous speed of the crane trolley at each dynamic compensation monitoring node is obtained, and a dynamic compensation speed change curve is constructed with the X-axis as the time and the Y-axis as the speed. On the dynamic compensation speed change curve, the local change curve between adjacent dynamic compensation monitoring nodes is extracted as a dynamic compensation speed sub-curve, and adjacent dynamic compensation speed sub-curves are combined to obtain a plurality of dynamic compensation speed analysis groups. The slope of each dynamic compensation speed sub-curve in each dynamic compensation speed analysis group is obtained by using the slope calculation formula, and the dynamic compensation speed sub-slope is obtained. The dynamic compensation speed sub-slope in each dynamic compensation speed analysis group is subtracted, the absolute value is taken, and the sub-slope difference is output. The sub-slope difference of each dynamic compensation speed analysis group is calculated by averaging, and the adjacent trend bias average is output.

8. A control system for a crane according to claim 7, characterised in that: The process of real-time monitoring and analysis of the speed change of the crane trolley during the dynamic compensation period is as follows: The end point coordinates of each dynamic compensation speed sub-curve in each dynamic compensation speed analysis group are calculated by using the coordinate point distance formula, and the length of the dynamic compensation speed change curve is calculated by ratio, to obtain the sub-curve amplitude ratio. The sub-curve amplitude ratio in each dynamic compensation speed analysis group is subtracted, the absolute value is taken, and the sub-amplitude ratio difference is output. The sub-amplitude ratio difference of each dynamic compensation speed analysis group is calculated by averaging, and the adjacent amplitude bias average is output.

9. A control system for a crane according to claim 8, characterised in that: The process of evaluating whether the speed change of the crane trolley during the dynamic compensation period is stable is as follows: The adjacent trend bias average and the adjacent amplitude bias average are summed to obtain the speed change stability value. If the speed change stability value is greater than the speed change stability threshold, a speed change fluctuation signal is displayed.

10. A control system for a crane according to claim 7, characterised in that: The speed adjustment amount is obtained as follows: The sub-curve amplitude ratio of each dynamic compensation speed sub-curve in each dynamic compensation speed analysis group is extracted and input into the Euclidean distance formula, and the overall amplitude difference value is output. If the overall amplitude difference value is greater than the overall amplitude difference threshold, the sub-curve amplitude ratio of each dynamic compensation speed sub-curve is compared, the maximum sub-curve amplitude ratio and the minimum sub-curve amplitude ratio are selected, and the average is calculated to output the speed adjustment amount. If the overall amplitude difference value is less than or equal to the overall amplitude difference threshold, the sub-curve amplitude ratio of each dynamic compensation speed sub-curve is calculated by averaging to output the speed adjustment amount.

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