Anti-collision method and system for quay crane lifting appliance

Abstract

The invention relates to the field of hoisting machinery, and particularly provides a quay crane sling anti-collision method and system. The quay crane sling anti-collision method comprises the steps that safety position information, recorded by an encoder, of a sling located at the position away from an obstacle by a preset safety distance is obtained; real-time position information, recorded by an encoder, of the lifting appliance in the running process is obtained; and when the absolute value of the difference value between the real-time position information and the safe position information is smaller than a safe threshold value, the lifting appliance is controlled to be braked, so that the lifting appliance stops at the preset safe distance. According to the anti-collision method for the quay crane lifting appliance, the speed reduction position of the lifting appliance can be quickly determined, and the safety and efficiency of quay crane operation are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hoisting machinery, in particular to a quay crane spreader anti-collision method and system. BACKGROUND

[0002] In the existing quay crane control system, in order to realize the anti-collision protection of the spreader during operation, especially for the sea side saddle beam and land side saddle beam area, it is usually necessary to manually set the actual position coordinates of each obstacle in the quay crane coordinate system in the PLC control program, and configure the safety protection threshold parameters in the corresponding direction. However, in the actual debugging process, this method has the problems of complex parameter setting and difficult-to-understand logic. Specifically, each obstacle needs to set absolute coordinates and corresponding threshold parameters in multiple directions, and these parameters are related to each other. The control system calculates the safe parking position of the spreader according to these parameters. Due to the large number of parameters and complex logic, ordinary debuggers are difficult to understand the calculation method and mutual relationship of each parameter, which makes it difficult to quickly locate problems and complete the debugging of the protection range during the test run. In addition, the existing scheme usually relies on fixed static threshold for anti-collision control, and cannot adaptively adjust according to the real-time running speed, acceleration of the spreader and the dynamic relative position with the obstacle, which is easy to cause the protection response to be delayed due to the too large threshold value, or the false braking caused by the too small threshold value, thereby affecting the safety and efficiency of the quay crane operation. SUMMARY

[0003] Therefore, the present application provides a quay crane spreader anti-collision method and system, which can quickly determine the braking position and improve the safety and efficiency of the quay crane operation.

[0004] To solve at least one of the above technical problems, the present application adopts the following technical solutions:

[0005] In a first aspect, the present application provides a quay crane spreader anti-collision method, comprising:

[0006] obtaining safety position information recorded by an encoder when the spreader is located at a preset safe distance from an obstacle;

[0007] obtaining real-time position information recorded by the encoder during the operation of the spreader;

[0008] when the absolute value of the difference between the real-time position information and the safety position information is less than a safety threshold, controlling the spreader to brake so that the spreader stops at the preset safe distance.

[0009] In an embodiment of the present application, the encoder includes a height encoder and a horizontal encoder; the preset safe distance includes a safe height distance, a first safe horizontal distance and a second safe horizontal distance; the safety position information includes safety height position information, first safety horizontal position information and second safety horizontal position information;

[0010] The safety position information of the hoist recorded by the height encoder when the hoist is located at a preset safety distance from the obstacle includes:

[0011] The hoist is controlled to move to a safety height distance above the obstacle, and the safety height position information of the hoist recorded by the height encoder when the hoist is located at the safety height distance is obtained.

[0012] The hoist is controlled to translate in a first direction to a first safety horizontal distance in front of the obstacle, and the first safety horizontal position information of the hoist recorded by the horizontal encoder when the hoist is located at the first safety horizontal distance is obtained.

[0013] The hoist is controlled to translate in a second direction to a second safety horizontal distance behind the obstacle, and the second safety horizontal position information of the hoist recorded by the horizontal encoder when the hoist is located at the second safety horizontal distance is obtained.

[0014] The first direction is opposite to the second direction.

[0015] In an embodiment of the present application, the real-time position information includes real-time height position information recorded by the height encoder and real-time horizontal position information recorded by the horizontal encoder.

[0016] In an embodiment of the present application, the safety threshold includes a first safety threshold and a second safety threshold.

[0017] When the absolute value of the difference between the real-time position information and the safety position information is less than the safety threshold, the hoist is controlled to brake.

[0018] When the absolute value of the difference between the real-time height position information and the safety height position information is less than the first safety threshold, or when the absolute value of the difference between the real-time horizontal position information and the first safety horizontal position information is less than the second safety threshold, or when the absolute value of the difference between the real-time horizontal position information and the second safety horizontal position information is less than the second safety threshold, the hoist is controlled to brake.

[0019] In an embodiment of the present application, when the absolute value of the difference between the real-time height position information and the safety height position information is less than the first safety threshold, the hoist is controlled to brake, including:

[0020] Obtaining obstacle horizontal position information.

[0021] In the case that the real-time horizontal position information is the same as the obstacle horizontal position information, determining a remaining height distance between the hoist and the safety height distance based on the real-time height position information and the safety height position information.

[0022] Obtaining a first real-time speed of the hoist when the absolute value of the difference between the real-time height position information and the safety height position information is less than the first safety threshold.

[0023] The first deceleration of the spreader in the height direction is determined based on the first real-time speed and the remaining height distance, and the first deceleration is inversely proportional to the remaining height distance.

[0024] The spreader is decelerated based on the first deceleration control until it stops at a safe height distance.

[0025] In one embodiment of the present invention, when the difference between the real-time horizontal position information and the first safe horizontal position information is less than a second safety threshold, or when the absolute value of the difference between the real-time horizontal position information and the second safe horizontal position information is less than the second safety threshold, controlling the spreader to brake includes:

[0026] Obtain obstacle height and location information;

[0027] When the real-time height position information is the same as the obstacle height position information, and the difference between the real-time horizontal position information and the first safe horizontal position information is less than the second safety threshold, or when the absolute value of the difference between the real-time horizontal position information and the second safe horizontal position information is less than the second safety threshold, the spreader is controlled to brake.

[0028] In one embodiment of the present invention, when the real-time height position information is the same as the obstacle height position information, and the absolute value of the difference between the real-time horizontal position information and the first safe horizontal position information is less than a second safety threshold, controlling the spreader to brake includes:

[0029] Based on real-time horizontal position information and first safe horizontal position information, determine the first remaining horizontal distance between the spreader and the first safe horizontal distance;

[0030] The second real-time speed is obtained when the absolute value of the difference between the real-time horizontal position information and the first safe horizontal position information of the spreader is less than the second safety threshold.

[0031] The second deceleration of the spreader in the horizontal direction is determined based on the second real-time speed and the first remaining horizontal distance. The second deceleration is inversely proportional to the first remaining horizontal distance.

[0032] The spreader is decelerated based on the second deceleration control until it stops at the first safe horizontal distance.

[0033] In one embodiment of the present invention, when the real-time height position information is the same as the obstacle height position information, and the absolute value of the difference between the real-time horizontal position information and the second safe horizontal position information is less than the second safe threshold, controlling the spreader to brake includes:

[0034] Based on real-time horizontal position information and second safe horizontal position information, determine the second remaining horizontal distance between the spreader and the second safe horizontal distance;

[0035] The third real-time speed is obtained when the absolute value of the difference between the real-time horizontal position information and the second safe horizontal position information of the spreader is less than the second safety threshold.

[0036] The third deceleration of the spreader in the horizontal direction is determined based on the third real-time speed and the second remaining horizontal distance. The third deceleration is inversely proportional to the second remaining horizontal distance.

[0037] The spreader is decelerated based on the third deceleration control until it stops at the second safe horizontal distance.

[0038] In one embodiment of the present invention, the quay crane spreader anti-collision method further includes:

[0039] When the absolute value of the difference between the real-time height position information and the safe height position information is less than the first emergency threshold, or when the absolute value of the difference between the real-time horizontal position information and the first safe horizontal position information is less than the second emergency threshold, or when the absolute value of the difference between the real-time horizontal position information and the second safe horizontal position information is less than the second emergency threshold, the spreader is controlled to perform an emergency stop.

[0040] Among them, the first emergency threshold is less than the first safety threshold, and the second emergency threshold is less than the second safety threshold.

[0041] A second aspect of the present invention also provides a quay crane spreader anti-collision system, comprising:

[0042] The safe position information acquisition module is used to acquire the safe position information of the lifting device at a preset safe distance from the obstacle, as recorded by the encoder;

[0043] The real-time position information acquisition module is used to acquire the real-time position information of the spreader recorded by the encoder during its operation.

[0044] The braking module is used to control the spreader to brake when the absolute value of the difference between the real-time position information and the safe position information is less than the safety threshold.

[0045] The above-described technical solution of the present invention has at least one of the following beneficial effects:

[0046] The anti-collision method for quay crane spreaders of the present invention obtains the braking position of the spreader by acquiring the safe position information of the spreader when it is at a preset safe distance from an obstacle, as recorded by an encoder. Furthermore, by acquiring the real-time position information of the spreader during operation through the encoder, when the absolute value of the difference between the real-time position information and the safe position information is less than a safety threshold, the spreader is controlled to brake, stopping the spreader at the preset safe distance. This eliminates the need to calculate the absolute coordinates of the obstacle and the spreader, and also eliminates the need for coordinate transformation between the absolute coordinates of the obstacle and the spreader. This allows for quick and flexible determination of the spreader's braking position, reducing debugging difficulty and improving the safety and efficiency of quay crane operations. Attached Figure Description

[0047] Figure 1 This is a schematic diagram of an implementation environment provided for one embodiment of the present invention;

[0048] Figure 2 A schematic diagram of the implementation environment provided for another embodiment of the present invention;

[0049] Figure 3 A flowchart illustrating a method for preventing collisions with quay crane spreaders according to an embodiment of the present invention;

[0050] Figure 4 A flowchart for obtaining secure location information is provided as an embodiment of the present invention;

[0051] Figure 5 A flowchart of controlling the spreader to brake when the absolute value of the difference between the real-time height position information and the safe height position information is less than a first safety threshold is provided as an embodiment of the present invention.

[0052] Figure 6 This is a flowchart of a method for controlling the spreader to brake when the real-time height position information is the same as the obstacle height position information and the absolute value of the difference between the real-time horizontal position information and the first safe horizontal position information is less than the second safety threshold, according to an embodiment of the present invention.

[0053] Figure 7 This is a flowchart of a method for controlling the spreader to brake when the real-time height position information is the same as the obstacle height position information and the absolute value of the difference between the real-time horizontal position information and the second safe horizontal position information is less than the second safe threshold, according to an embodiment of the present invention.

[0054] Figure 8 This is a schematic diagram of the anti-collision system for quay crane spreaders provided in one embodiment of the present invention. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention are within the scope of protection of the present invention.

[0056] Reference manual attached Figure 1 and Figure 2 , Figure 1 and Figure 2 The following are schematic diagrams illustrating the implementation environments provided by embodiments of the anti-collision method for quay crane spreaders of the present invention. Figure 1As shown, the implementation environment may include a computer device 100 and a lifting device 200. The lifting device 200 is equipped with an encoder for collecting real-time position information. The encoder may include a height encoder and a horizontal encoder, used to detect the position information of the lifting device 200 in the vertical and horizontal directions, respectively. Figure 1 As shown, the working area of ​​the spreader 200 can be located between the landside saddle 300 and the seaside saddle 400 of the quay crane, in which case the obstacles are the seaside saddle 400 and the landside saddle 300; or as... Figure 2 As shown, the working area of ​​the spreader 200 can also be located in the transfer platform area of ​​the double-trolley quay crane. In this case, obstacles include the sea-side saddle beam 400, the land-side saddle beam 300, and the locking pin channel 500 above the land-side saddle beam 300. Of course, obstacles can also be customized according to operational needs, such as work lanes, etc., and this application does not impose any restrictions. The spreader 200 and the computer device 100 can achieve direct or indirect data interaction through wired or wireless communication, so that the computer device 100 can receive the position information of the spreader 200 in real time and perform collision avoidance control. This embodiment of the invention does not specifically limit this aspect.

[0057] The computer device 100 may be, but is not limited to, various servers, personal computers, laptops, smartphones, tablets, and portable wearable devices. The server may be an independent server or a server cluster or distributed system composed of multiple servers. It may also be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDN), and big data and artificial intelligence platforms.

[0058] like Figure 1As shown, taking the working area of ​​the spreader 200 located between the landside saddle beam 300 and the seaside saddle beam 400 of the quay crane as an example, the collision avoidance control process of the spreader 200 can specifically include the following steps: First, control the spreader 200 to move to a preset safe distance from the landside saddle beam 300. Then, the computer device 100 can obtain the safe position information recorded by the encoder when the spreader is at the preset safe distance from the landside saddle beam 300. After obtaining the safe position information, the spreader 200 can carry out lifting operations normally. During the lifting operation, the computer device 100 can obtain the real-time position information of the spreader 200 during operation recorded by the encoder. When the absolute value of the difference between the real-time position information and the safe position information is less than a predetermined safety threshold, the computer device 100 can control the spreader 200 to brake, so that the spreader 200 stops at the preset safe distance. Therefore, there is no need to calculate the absolute coordinates of the obstacle and the spreader 200, nor is it necessary to perform coordinate transformation on the absolute coordinates of the obstacle and the spreader 200. This allows for quick and flexible determination of the braking position of the spreader 200, reducing debugging difficulty and improving the safety and efficiency of the quay crane operation. For the sea-side saddle beam 400, the same method as described above can be used to achieve collision avoidance control, which will not be elaborated here. See the attached manual below. Figure 3 This illustrates the flow chart of a quay crane spreader anti-collision method provided in an embodiment of the present invention, which can be applied to... Figure 1 The method is implemented in computer device 100. Specifically, the method may include the following steps:

[0059] S100: Obtain the safe position information of the lifting device when it is located at a preset safe distance from the obstacle, as recorded by the encoder.

[0060] In one embodiment of the present invention, the preset safety distance refers to the minimum safe interval set in advance to ensure operational safety when the lifting device approaches an obstacle, in order to prevent the lifting device from colliding with the obstacle. The safe position information is the specific position value recorded by the encoder when the lifting device moves to the preset safety distance. Since the encoder can record the cumulative displacement of the lifting device, it is not necessary to establish an absolute coordinate relationship between the lifting device and the obstacle. It is only necessary to obtain the safe position information of the lifting device when it is located at the preset safe distance from the obstacle by the encoder, so as to provide an accurate stopping position reference for subsequent collision avoidance control, thereby ensuring the safe operation of the lifting device when it approaches the obstacle.

[0061] S200: Obtain the real-time position information of the lifting device during operation recorded by the encoder.

[0062] In this embodiment, during the operation of the spreader, the computer equipment can continuously read the displacement data output by the encoder, i.e., the real-time position information of the spreader during operation. Therefore, the operating speed of the spreader can be adjusted based on the absolute value of the difference between the real-time position information and the safe position information, thereby achieving collision protection.

[0063] S300: When the absolute value of the difference between the real-time location information and the safe location information is less than the safety threshold, control the spreader to brake so that the spreader stops at a preset safe distance.

[0064] In this embodiment, the computer device can continuously compare the real-time position information of the spreader obtained in step S200 with the safe position information of the spreader. When the absolute value of the difference between the real-time position information and the safe position information is less than the safety threshold, the spreader is controlled to brake so that it can stop at a preset safe distance, thereby achieving anti-collision protection and avoiding collision risks.

[0065] Specifically, such as Figure 4 As shown, step S100 may include the following steps S110-S130:

[0066] S110. Control the spreader to move to a safe height distance above the obstacle, and obtain the safe height position information of the spreader when it is at the safe height distance recorded by the height encoder.

[0067] In this embodiment, the encoder may include a height encoder, which can be used to detect the position information of the spreading device in the height direction. The preset safety distance may include a safety height distance, which is the minimum safe interval between the spreading device and the top of an obstacle in the vertical direction. The safety position information may include safety height position information, which corresponds to the value recorded by the height encoder when the spreading device is located at the safety height distance.

[0068] like Figure 1 As shown, taking the example where the working area of ​​the spreader is located between the landside and seaside saddle beams of the quay crane, and the obstacle is the landside saddle beam, the computer equipment can first drive the spreader to move vertically downwards until it stops at a safe height distance set according to the technical specifications or supervisor requirements, for example, stopping 1 meter above the landside saddle beam. Then, the computer equipment can obtain the safe height position information of the spreader when it is at the safe height distance recorded by the height encoder, and use the safe height distance as the braking stop position of the spreader. This ensures that during subsequent vertical movement of the spreader, when the real-time height position approaches the safe height position, the brakes are triggered in advance, thereby avoiding collisions between the spreader and the landside saddle beam in the vertical direction.

[0069] S120: Control the spreader to move along the first direction to a first safe horizontal distance in front of the obstacle, and obtain the first safe horizontal position information recorded by the horizontal encoder when the spreader is located at the first safe horizontal distance.

[0070] Specifically, the encoder may further include a horizontal encoder, which can be used to detect the position information of the spreading device in the horizontal direction. The preset safety distance may further include a first safe horizontal distance, which is the minimum safe interval corresponding to when the spreading device approaches the front of the obstacle in a first horizontal direction. The safety position information may further include first safe horizontal position information, which corresponds to the recorded value of the horizontal encoder when the spreading device is located at the first safe horizontal distance.

[0071] In this embodiment, the computer device can drive the spreader to translate along a preset first direction until it stops at a first safe horizontal distance set according to the technical specifications or supervisor's requirements, for example, stopping 2 meters in front of the landside saddle beam. Then, the computer device can acquire the first safe horizontal position information of the spreader at the first safe horizontal distance, recorded by the horizontal encoder. This ensures that during subsequent horizontal movement of the spreader, braking is triggered in advance when it approaches the landside saddle beam from the front, preventing a collision between the spreader and the landside saddle beam in the horizontal direction.

[0072] S130: Control the spreader to move along the second direction to a second safe horizontal distance behind the obstacle, and acquire the second safe horizontal position information recorded by the horizontal encoder when the spreader is located at the second safe horizontal distance.

[0073] Specifically, the preset safety distance may further include a second safe horizontal distance, which is the minimum safe interval corresponding to the spreader approaching the rear of the obstacle in a second horizontal direction, and the first direction is opposite to the second direction. The safety position information may also include second safe horizontal position information, which corresponds to the value recorded by the horizontal encoder when the spreader is at the second safe horizontal distance. In this embodiment, the computer device can drive the spreader to translate in a second direction opposite to the first direction until it stops at the second safe horizontal distance set according to the technical specifications or supervision requirements, for example, stopping 2 meters behind the landside saddle. Then, the computer device can obtain the second safe horizontal position information recorded by the horizontal encoder, showing the spreader at the second safe horizontal distance. This ensures that during subsequent horizontal movement of the spreader, braking is triggered in advance when it approaches from behind the landside saddle, preventing a collision between the spreader and the landside saddle in the horizontal direction.

[0074] In step S300, the real-time position information may include real-time height position information recorded by the height encoder and real-time horizontal position information recorded by the horizontal encoder. The safety threshold may include a first safety threshold and a second safety threshold. The real-time height position information is the real-time cumulative displacement of the spreader in the vertical direction recorded by the height encoder, which can be used to reflect the current height of the spreader. The real-time horizontal position information is the real-time cumulative displacement of the spreader in the horizontal direction recorded by the horizontal encoder, which can be used to reflect the instantaneous position of the spreader in the horizontal running direction. When the computer device judges the difference between the real-time position information and the safety position information, if the absolute value of the difference in either direction is less than the corresponding safety threshold, the computer device controls the spreader to brake, so that the spreader stops at a preset safety distance, ensuring that the spreader stops reliably near obstacles and avoiding the risk of collision. Specifically, step S300 may include:

[0075] When the absolute value of the difference between the real-time height position information and the safe height position information is less than the first safety threshold, or when the absolute value of the difference between the real-time horizontal position information and the first safe horizontal position information is less than the second safety threshold, or when the absolute value of the difference between the real-time horizontal position information and the second safe horizontal position information is less than the second safety threshold, the spreader is controlled to brake.

[0076] In this embodiment, when the absolute value of the difference between the real-time height position information of the lifting device and the pre-recorded safe height position information is less than a first safety threshold, the computer equipment can issue a braking signal to prevent the lifting device from continuing to descend. Similarly, when the lifting device is moving along a first or second direction, if the absolute value of the difference between the real-time horizontal position information of the lifting device and the first safe horizontal position information is less than a second safety threshold, or if the absolute value of the difference between the real-time horizontal position information and the second safe horizontal position information is less than the second safety threshold, the computer equipment can also issue a braking signal to prevent the lifting device from continuing to move horizontally. Specifically, as... Figure 5 As shown, when the absolute value of the difference between the real-time height position information and the safe height position information is less than the first safety threshold, controlling the spreader to brake may include:

[0077] S311. Obtain the horizontal position information of the obstacle.

[0078] like Figure 1 As shown, continuing with the example where the working area of ​​the spreader is located between the landside and seaside saddles of the quay crane, and the obstacle is the landside saddle, the horizontal position information of the obstacle on the landside saddle can be obtained in advance by recording the readings of the horizontal encoder when the spreader reaches the edge of the landside saddle in the horizontal direction. By obtaining the horizontal position information of the obstacle on the landside saddle, a basis can be provided for subsequent real-time position comparison and collision avoidance judgment of the spreader.

[0079] S312. When the real-time horizontal position information is the same as the obstacle's horizontal position information, determine the remaining height distance between the lifting device and the safe height distance based on the real-time height position information and the safe height position information.

[0080] In this embodiment, when the real-time horizontal position information is the same as the horizontal position information of the obstacle on the landside saddle beam, that is, when the spreader is in the projection area directly above the landside saddle beam, the remaining height distance between the spreader and the safe height position can be determined by comparing the real-time height position information output by the height encoder with the preset safe height position information.

[0081] S313. Obtain the first real-time speed when the absolute value of the difference between the real-time height position information and the safe height position information of the lifting device is less than the first safety threshold.

[0082] In this embodiment, when the absolute value of the difference between the real-time height position information and the safe height position information of the spreader is less than the first safety threshold, it is necessary to start deceleration and braking operation on the spreader. At this time, the first real-time speed of the spreader can be recorded to provide a basis for determining the first deceleration in the future.

[0083] S314. Determine the first deceleration of the spreader in the height direction based on the first real-time speed and the remaining height distance. The first deceleration is inversely proportional to the remaining height distance.

[0084] In this embodiment, to ensure smooth deceleration of the spreader and prevent impact on the landside saddle when approaching it from above, a first deceleration rate is dynamically determined based on the spreader's first real-time speed and the remaining height distance. This causes the spreader's descent speed to decrease linearly as the remaining height distance decreases. Specifically, when the spreader's first real-time speed is low, the computer controls it to decelerate with a smaller deceleration rate; conversely, when the spreader's first real-time speed is high, the computer controls it to decelerate with a larger deceleration rate. Thus, this linear deceleration control, adaptively adjusted according to the magnitude of the first real-time speed, allows the spreader's descent speed to decrease linearly, ultimately achieving flexible braking and a smooth stop at a safe height distance. This improves operational smoothness while ensuring collision safety.

[0085] S315. Based on the first deceleration control, the spreader decelerates until it stops at a safe height distance.

[0086] In this embodiment, the computer equipment can control the spreader to decelerate at a first deceleration rate, gradually reducing the operating speed, and finally bringing the spreader to a smooth stop at a safe height.

[0087] In one embodiment of the present invention, controlling the spreader to brake when the difference between the real-time horizontal position information and the first safe horizontal position information is less than a second safety threshold, or when the absolute value of the difference between the real-time horizontal position information and the second safe horizontal position information is less than the second safety threshold, includes:

[0088] Obtain the height and location information of obstacles.

[0089] In this embodiment, the obstacle height and position information can be obtained in advance by recording the height encoder readings when the lifting device reaches the edge of the obstacle in the vertical direction. By acquiring the obstacle height and position information, a basis can be provided for subsequent real-time position comparison of the lifting device and collision avoidance judgment.

[0090] When the real-time height position information is the same as the obstacle height position information, and the difference between the real-time horizontal position information and the first safe horizontal position information is less than the second safety threshold, or when the absolute value of the difference between the real-time horizontal position information and the second safe horizontal position information is less than the second safety threshold, the spreader is controlled to brake.

[0091] In this embodiment, when the real-time height position information is the same as the obstacle height position information (i.e., the spreader is at the same horizontal plane as the obstacle), and the difference between the real-time horizontal position information and the first safe horizontal position information is less than the second safety threshold, or when the absolute value of the difference between the real-time horizontal position information and the second safe horizontal position information is less than the second safety threshold, the spreader is controlled to brake. Specifically, as shown... Figure 6 As shown, when the real-time height position information is the same as the obstacle height position information, and the absolute value of the difference between the real-time horizontal position information and the first safe horizontal position information is less than the second safety threshold, controlling the spreader to brake includes:

[0092] S321. Based on the real-time horizontal position information and the first safe horizontal position information, determine the first remaining horizontal distance between the spreader and the first safe horizontal distance.

[0093] In this embodiment, the first remaining horizontal distance between the lifting device and the first safe horizontal position can be determined by comparing the real-time horizontal position information output by the horizontal encoder with the preset first safe horizontal position information.

[0094] S322. Obtain the second real-time speed when the absolute value of the difference between the real-time horizontal position information and the first safe horizontal position information of the spreader is less than the second safety threshold.

[0095] In this embodiment, when the absolute value of the difference between the real-time horizontal position information of the spreader and the first safe horizontal position information is less than the second safety threshold, it is necessary to start deceleration and braking operation on the spreader. At this time, the second real-time speed of the spreader can be recorded to provide a basis for subsequent determination of the second deceleration.

[0096] S323. Determine the second deceleration of the spreader in the horizontal direction based on the second real-time speed and the first remaining horizontal distance. The second deceleration is inversely proportional to the first remaining horizontal distance.

[0097] In this embodiment, to ensure smooth deceleration of the spreader and prevent impact on the landside saddle when it approaches from the first horizontal direction, a second deceleration rate can be dynamically determined based on the second real-time speed of the spreader and the first remaining horizontal distance. This allows the spreader's translational speed to decrease linearly as the first remaining horizontal distance decreases. Specifically, when the second real-time speed of the spreader is low, the computer controls the spreader to decelerate with a smaller deceleration rate; conversely, when the second real-time speed is high, the computer controls the spreader to decelerate with a larger deceleration rate. Thus, this linear deceleration control, adaptively adjusted according to the magnitude of the second real-time speed, allows the spreader's translational speed to decrease linearly, ultimately achieving flexible braking and a smooth stop at the first safe horizontal distance. This ensures collision safety while improving operational smoothness.

[0098] S324. Based on the second deceleration control, the spreader decelerates until it stops at the first safe horizontal distance.

[0099] In this embodiment, the computer equipment can control the spreader to decelerate at a second deceleration rate, gradually reducing the operating speed, and finally bringing the spreader to a smooth stop at a first safe horizontal distance.

[0100] like Figure 7 As shown, when the real-time height position information is the same as the obstacle height position information, and the absolute value of the difference between the real-time horizontal position information and the second safe horizontal position information is less than the second safe threshold, controlling the spreader to brake includes:

[0101] S331. Based on the real-time horizontal position information and the second safe horizontal position information, determine the second remaining horizontal distance between the spreader and the second safe horizontal distance.

[0102] In this embodiment, the second remaining horizontal distance between the spreader and the second safe horizontal position can be determined by comparing the real-time horizontal position information output by the horizontal encoder with the preset second safe horizontal position information.

[0103] S332. Obtain the third real-time speed when the absolute value of the difference between the real-time horizontal position information and the second safe horizontal position information of the spreader is less than the second safe threshold.

[0104] In this embodiment, when the absolute value of the difference between the real-time horizontal position information of the spreader and the second safe horizontal position information is less than the third safety threshold, it is necessary to start deceleration and braking operation on the spreader. At this time, the third real-time speed of the spreader can be recorded to provide a basis for subsequent determination of the third deceleration.

[0105] S333. Determine the third deceleration of the spreader in the horizontal direction based on the third real-time speed and the second remaining horizontal distance. The third deceleration is inversely proportional to the second remaining horizontal distance.

[0106] In this embodiment, to ensure smooth deceleration of the spreader and prevent impact on the landside saddle when it approaches from the second direction opposite to the first direction, a third deceleration rate can be dynamically determined based on the spreader's third real-time speed and the second remaining horizontal distance. This allows the spreader's translational speed to decrease linearly as the second remaining horizontal distance decreases. Specifically, when the spreader's third real-time speed is low, the computer controls the spreader to decelerate with a smaller deceleration rate; conversely, when the spreader's third real-time speed is high, the computer controls the spreader to decelerate with a larger deceleration rate. Thus, this linear deceleration control, adaptively adjusted according to the magnitude of the third real-time speed, allows the spreader's translational speed to decrease linearly, ultimately achieving flexible braking and a smooth stop at the second safe horizontal distance. This ensures collision safety while improving operational smoothness.

[0107] S334. Based on the third deceleration control, the spreader decelerates until it stops at the second safe horizontal distance.

[0108] In this embodiment, the computer equipment can control the spreader to decelerate at a third deceleration rate, gradually reducing the operating speed, and finally bringing the spreader to a smooth stop at a second safe horizontal distance.

[0109] In one embodiment of the present invention, the quay crane spreader anti-collision method further includes:

[0110] When the absolute value of the difference between the real-time height position information and the safe height position information is less than a first emergency threshold, or when the absolute value of the difference between the real-time horizontal position information and the first safe horizontal position information is less than a second emergency threshold, or when the absolute value of the difference between the real-time horizontal position information and the second safe horizontal position information is less than a second emergency threshold, the computer equipment determines that it is necessary to immediately control the spreader to perform an emergency stop. Specifically, when the absolute value of the difference between the real-time height position information and the safe height position information is less than the first emergency threshold, the computer determines that the spreader has exceeded the safe height position, and the computer equipment can immediately cut off the control signal of the drum motor controlling the crane's lifting to brake the spreader, achieving a rapid stop in the height direction. Conversely, when the absolute value of the difference between the real-time horizontal position information and the first or second safe horizontal position information is less than the second emergency threshold, the computer determines that the spreader has exceeded the first or second safe horizontal position, and the computer equipment can immediately cut off the control signal of the trolley motor controlling the crane's translation to brake the spreader, achieving a rapid stop in the horizontal direction. This improves the reliability of collision avoidance control.

[0111] In summary, the anti-collision method for quay crane spreaders of the present invention can determine the braking position of the spreader by acquiring the safe position information of the spreader when it is at a preset safe distance from an obstacle, as recorded by an encoder. Furthermore, by acquiring the real-time position information of the spreader during operation through the encoder, when the absolute value of the difference between the real-time position information and the safe position information is less than a safety threshold, the spreader is controlled to brake, stopping it at the preset safe distance. This eliminates the need to calculate the absolute coordinates of the obstacle and the spreader, and also eliminates the need for coordinate transformation between the absolute coordinates of the obstacle and the spreader. Consequently, the braking position of the spreader can be determined quickly and flexibly, reducing debugging difficulty and improving the safety and efficiency of quay crane operations.

[0112] A second aspect of the present invention also provides a collision avoidance system for quay crane spreaders, such as... Figure 8 As shown, the crane boom anti-collision system 800 includes:

[0113] The safe position information acquisition module 810 is used to acquire the safe position information of the lifting device at a preset safe distance from the obstacle, as recorded by the encoder.

[0114] The real-time position information acquisition module 820 is used to acquire the real-time position information of the spreader recorded by the encoder during the operation process;

[0115] The braking module 830 is used to control the spreader to brake when the absolute value of the difference between the real-time position information and the safe position information is less than the safety threshold.

[0116] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms "an" or "a" and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms "connected" or "linked" and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up," "down," "left," "right," etc., are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship also changes accordingly.

[0117] The above are preferred embodiments of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for preventing collisions with quay crane spreaders, characterized in that, include: Obtain the safe position information of the lifting device when it is located at a preset safe distance from the obstacle, as recorded by the encoder; Obtain the real-time position information of the spreader during its operation, recorded by the encoder; When the absolute value of the difference between the real-time location information and the safe location information is less than a safety threshold, the lifting device is controlled to brake so that it stops at the preset safe distance.

2. The anti-collision method for quay crane spreaders according to claim 1, characterized in that, The encoder includes a height encoder and a horizontal encoder; the preset safety distance includes a safety height distance, a first safety horizontal distance, and a second safety horizontal distance; the safety position information includes safety height position information, first safety horizontal position information, and second safety horizontal position information. The acquisition of the safe position information recorded by the encoder when the lifting device is at a preset safe distance from the obstacle includes: Control the spreader to move to a safe height distance above the obstacle, and obtain the safe height position information of the spreader when it is at the safe height distance, as recorded by the height encoder; Control the spreader to translate along the first direction to a first safe horizontal distance in front of the obstacle, and obtain the first safe horizontal position information of the spreader when it is located at the first safe horizontal distance, as recorded by the horizontal encoder; Control the spreader to translate along the second direction to a second safe horizontal distance behind the obstacle, and acquire the second safe horizontal position information recorded by the horizontal encoder when the spreader is located at the second safe horizontal distance; The first direction is opposite to the second direction.

3. The anti-collision method for quay crane spreaders according to claim 2, characterized in that, The real-time location information includes the real-time height location information recorded by the height encoder and the real-time horizontal location information recorded by the horizontal encoder.

4. The anti-collision method for quay crane spreaders according to claim 3, characterized in that, The security threshold includes a first security threshold and a second security threshold; The step of controlling the spreader to brake when the absolute value of the difference between the real-time location information and the safe location information is less than a safety threshold includes: When the absolute value of the difference between the real-time height position information and the safe height position information is less than the first safety threshold, or when the absolute value of the difference between the real-time horizontal position information and the first safe horizontal position information is less than the second safety threshold, or when the absolute value of the difference between the real-time horizontal position information and the second safe horizontal position information is less than the second safety threshold, the spreader is controlled to brake.

5. The anti-collision method for quay crane spreaders according to claim 4, characterized in that, When the absolute value of the difference between the real-time height position information and the safe height position information is less than the first safety threshold, controlling the spreader to brake includes: Obtain the horizontal position information of the obstacle; If the real-time horizontal position information is the same as the obstacle horizontal position information, the remaining height distance between the lifting device and the safe height distance is determined based on the real-time height position information and the safe height position information. The first real-time speed of the lifting device is obtained when the absolute value of the difference between the real-time height position information and the safe height position information is less than the first safety threshold. Based on the first real-time speed and the remaining height distance, the first deceleration of the spreader in the height direction is determined, and the first deceleration is inversely proportional to the remaining height distance; Based on the first deceleration control, the lifting device is decelerated until it stops at the safe height distance.

6. The anti-collision method for quay crane spreaders according to claim 4, characterized in that, When the difference between the real-time horizontal position information and the first safe horizontal position information is less than the second safety threshold, or when the absolute value of the difference between the real-time horizontal position information and the second safe horizontal position information is less than the second safety threshold, controlling the spreader to brake includes: Obtain obstacle height and location information; When the real-time height position information is the same as the obstacle height position information, and the difference between the real-time horizontal position information and the first safe horizontal position information is less than the second safety threshold, or when the absolute value of the difference between the real-time horizontal position information and the second safe horizontal position information is less than the second safety threshold, the lifting device is controlled to brake.

7. The anti-collision method for quay crane spreaders according to claim 6, characterized in that, When the real-time height position information is the same as the obstacle height position information, and the absolute value of the difference between the real-time horizontal position information and the first safe horizontal position information is less than a second safety threshold, controlling the lifting device to brake includes: Based on the real-time horizontal position information and the first safe horizontal position information, a first remaining horizontal distance between the spreading device and the first safe horizontal distance is determined; The second real-time speed is obtained when the absolute value of the difference between the real-time horizontal position information and the first safe horizontal position information is less than the second safety threshold. The second deceleration of the spreader in the horizontal direction is determined based on the second real-time speed and the first remaining horizontal distance, and the second deceleration is inversely proportional to the first remaining horizontal distance. The spreader is decelerated based on the second deceleration control until it stops at the first safe horizontal distance.

8. The anti-collision method for quay crane spreaders according to claim 6, characterized in that, When the real-time height position information is the same as the obstacle height position information, and the absolute value of the difference between the real-time horizontal position information and the second safe horizontal position information is less than the second safety threshold, controlling the spreader to brake includes: Based on the real-time horizontal position information and the second safe horizontal position information, a second remaining horizontal distance between the spreading device and the second safe horizontal distance is determined; The third real-time speed is obtained when the absolute value of the difference between the real-time horizontal position information and the second safe horizontal position information is less than the second safety threshold. The third deceleration of the spreader in the horizontal direction is determined based on the third real-time speed and the second remaining horizontal distance, and the third deceleration is inversely proportional to the second remaining horizontal distance; The spreader is decelerated based on the third deceleration control until it stops at the second safe horizontal distance.

9. The anti-collision method for quay crane spreaders according to claim 4, characterized in that, Also includes: When the absolute value of the difference between the real-time height position information and the safe height position information is less than a first emergency threshold, or when the absolute value of the difference between the real-time horizontal position information and the first safe horizontal position information is less than a second emergency threshold, or when the absolute value of the difference between the real-time horizontal position information and the second safe horizontal position information is less than the second emergency threshold, the spreader is controlled to perform an emergency shutdown. Wherein, the first emergency threshold is less than the first safety threshold, and the second emergency threshold is less than the second safety threshold.

10. A collision avoidance system for quay crane spreaders, characterized in that, include: The safe position information acquisition module is used to acquire the safe position information of the lifting device at a preset safe distance from the obstacle, as recorded by the encoder; The real-time location information acquisition module is used to acquire the real-time location information of the spreader recorded by the encoder during its operation. The braking module is used to control the spreader to brake when the absolute value of the difference between the real-time position information and the safe position information is less than a safety threshold.

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