Shore crane anti-swing control method and system with anti-collision protection function

Abstract

The invention discloses a quay crane anti-swing control method and system with anti-collision protection, and the method comprises the steps: detecting the position of a lifting appliance in real time, and obtaining the position offset of the lifting appliance; scanning obstacles of a wharf or a ship in real time to obtain obstacle contour data; acquiring operation state parameters of the quay crane trolley; according to the running state parameters, the position offset of the lifting appliance and the obstacle contour data, the trolley control speed for achieving anti-collision and anti-swing of the lifting appliance is obtained; and controlling the trolley to run according to the trolley control speed. According to the technical scheme, the anti-collision and anti-swing aims of the lifting appliance are achieved by obtaining the position of the lifting appliance in real time, scanning the outline of the obstacle, calculating the accurate control speed in real time and adjusting the speed of the quay crane trolley, the accident that the lifting appliance collides with the obstacle or a container slides down due to excessive swing of the lifting appliance is avoided, the safety of personnel and equipment is guaranteed, and the safety of the lifting appliance is improved. And the safety and the intelligent level of quay crane operation are improved.

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