Anti-swing method and device for a crane spreader and crane

Abstract

The application discloses a crane sling anti-swing method and device and a crane. The method comprises the following steps: calculating the anti-swing duration of a translation mechanism based on the effective swing arm length of a sling load relative to the sling; in the acceleration process and deceleration process of the translation mechanism moving towards a target position, controlling the translation mechanism to perform first-stage speed change at a first acceleration, and after the translation mechanism reaches an intermediate speed, controlling the translation mechanism to move at a constant speed at the intermediate speed; when the duration of the constant speed movement is greater than or equal to the anti-swing duration, controlling the translation mechanism to perform second-stage speed change at a second acceleration until the translation mechanism reaches a target speed, so as to minimize the difference in oscillation energy generated in the two-stage speed change process; wherein the intermediate speed is determined based on a nonlinear proportional relationship between the first acceleration and the second acceleration. The method can accurately calculate the anti-swing duration and optimize the speed control logic, effectively suppresses the load swing, and improves the precision of the anti-swing control and the operation efficiency.

Description

Technical Field

[0001] This application relates to the field of crane control technology, and in particular to a method, device and crane for preventing swaying of a crane lifting device. Background Technology

[0002] Currently, cranes are widely used in industrial production and logistics transportation for material handling and hoisting. During crane operation, when the trolley or crane starts, brakes, or changes speed, the load suspended on the lifting assembly often swings due to inertia. This swing not only reduces the positioning accuracy and efficiency of loading and unloading operations, affecting the safety and smooth progress of subsequent steps such as lowering or lifting goods, but may also cause collision accidents, posing a threat to on-site operational safety.

[0003] To eliminate or suppress load sway, anti-sway control technology is commonly used in existing technologies. Most existing control methods require accurate sway angle information from the lifting equipment components. However, in practical applications, the length of the lifting rope and the position of the load's center of gravity often vary depending on the shape and size of the object being lifted, resulting in sway angle detection signals that often contain biases that are difficult to eliminate, leading to poor performance in practical applications. Summary of the Invention

[0004] In view of this, this application provides a method, device and crane for anti-swaying of crane spreaders, which achieves effective suppression of load swaying by accurately calculating the anti-swaying time based on the effective boom length and adopting a segmented speed control strategy.

[0005] According to a first aspect of this application, a method for preventing swaying of a crane lifting device is provided, the method comprising: The anti-sway duration of the translation mechanism is calculated based on the effective swing arm length of the object being lifted by the lifting device assembly relative to the translation mechanism. During the acceleration and deceleration phases of the translation mechanism moving toward the target position, the translation mechanism is controlled to perform the first-level speed change with a first acceleration, and after the translation mechanism reaches the intermediate speed, the translation mechanism is controlled to move at the intermediate speed at a constant speed. When the uniform movement time is greater than or equal to the anti-sway time, the translation mechanism is controlled to perform the second-stage speed change with the second acceleration until the translation mechanism reaches the target speed, so as to minimize the difference in oscillation energy generated by the two-stage speed change process; The intermediate speed is determined based on the nonlinear proportional relationship between the first acceleration and the second acceleration.

[0006] Optionally, calculating the anti-sway duration of the translation mechanism based on the effective boom length of the load being lifted relative to the translation mechanism, using the spreader assembly, includes: The swing period of the lifting device assembly is calculated based on the effective swing arm length; The odd-numbered half-cycles of the oscillation period shall be used as the anti-sway duration; The oscillation period is expressed as:

[0007] In the formula, The oscillation period of the spreader assembly; Effective swing arm length; This is the acceleration due to gravity.

[0008] Optionally, the method further includes: Obtain the rope length of the lifting device assembly, and the compensation distance between the center of gravity of the lifted object and the loading part of the lifting device assembly; The sum of the rope length and the compensation distance is calculated as the effective swing arm length.

[0009] Optionally, obtaining the distance between the center of gravity of the hoisted object and the loading section of the spreader assembly includes: The compensation distance is matched based on the weight value of the hoisted object collected by the gravity sensor; or, The compensation distance is collected based on a visual sensor when the lifting device assembly lifts the load; or... The lifting device, positioned at an initial height, is controlled to raise the load, and the lifting distance at which the load on the lifting device changes from its initial value to the weight of the load is used as the compensation distance; or, In response to a configuration command, the compensation distance indicated by the configuration command is read.

[0010] Optionally, the nonlinear proportional relationship is expressed as:

[0011] In the formula, This is the first acceleration; This is the second acceleration; This is the intermediate speed; For target speed; This refers to the oscillation period of the spreader assembly.

[0012] Optionally, in the acceleration phase, the target speed is a preset speed, and in the deceleration phase, the target speed is zero. The method further includes: Calculate the first-stage deceleration distance based on the preset speed, the intermediate speed, and the first acceleration; Calculate the constant speed distance based on the intermediate speed and the anti-shake duration; Calculate the second-stage deceleration distance based on the intermediate velocity and the second acceleration; The sum of the first-stage deceleration distance, the constant speed distance, and the second-stage deceleration distance is calculated as the total deceleration distance; Based on the total deceleration distance and the target position, the deceleration position of the translation mechanism is located; When the translation mechanism moves to the deceleration position, it is determined that the translation mechanism has entered the deceleration phase.

[0013] Optionally, the method further includes: When the target speed is greater than or equal to the preset trigger speed, or the effective swing arm length is within the preset length range, or a start command is received, the anti-sway function of the translation mechanism is activated to calculate the anti-sway duration of the translation mechanism based on the effective swing arm length. When the lifting assembly is in the lifting state, or when the duration of the translation mechanism's movement speed being zero exceeds the preset closing duration, or when a closing command is received, the anti-sway function of the translation mechanism is turned off to stop calculating the anti-sway duration.

[0014] Optionally, the lifting device assembly includes a lifting mechanism for performing a lifting action and a loading section for grabbing or suspending the load. The lifting mechanism is connected to the loading section. The lifting mechanism includes a main lifting mechanism and a secondary lifting mechanism, which jointly drive the lifting action of the loading section. The method further includes: Obtain the first position information of the main lifting mechanism and the second position information of the slave lifting mechanism; Calculate the synchronization error between the first position information and the second position information, and correct the speed of the slave lifting mechanism based on the synchronization error, so that the main lifting mechanism and the slave lifting mechanism operate in a preset synchronization mode; The synchronization mode includes a direct mode or an offset mode. In the direct mode, the slave lifting mechanism and the main lifting mechanism operate at the same position. In the offset mode, the slave lifting mechanism and the main lifting mechanism operate with a controlled positional deviation.

[0015] Optionally, the target speed during the acceleration phase is a preset speed, and the method further includes: Based on the correspondence between the weight of the hoisted object and the rated data of the crane, the speed limit value of the translation mechanism is calculated; The preset speed is set according to the speed limit value so that the preset speed of the translation mechanism under low load is higher than its preset speed under high load. When the preset speed exceeds the rated speed of the motor, the motor is controlled to operate in the weak magnetic region, wherein the motor is used to drive the translation mechanism to move.

[0016] According to a second aspect of this application, an anti-sway device for a crane lifting device is provided, the device comprising: The data processing module is used to calculate the anti-sway duration of the translation mechanism based on the effective swing arm length of the object being lifted by the spreader assembly relative to the translation mechanism. The control module is configured to control the translation mechanism to perform a first-stage speed change with a first acceleration during the acceleration and deceleration phases as the translation mechanism moves toward the target position, and to control the translation mechanism to move at a constant speed at the intermediate speed after the translation mechanism reaches an intermediate speed; and to control the translation mechanism to perform a second-stage speed change with a second acceleration when the duration of constant speed movement is greater than or equal to the anti-sway duration, until the translation mechanism reaches the target speed, so as to minimize the difference in oscillation energy generated by the two-stage speed change process; The intermediate speed is determined based on the nonlinear proportional relationship between the first acceleration and the second acceleration.

[0017] Optionally, the data processing module is specifically used to calculate the swing period of the spreader assembly based on the effective swing arm length; and to use an odd multiple of half a period of the swing period as the anti-sway duration; The oscillation period is expressed as:

[0018] In the formula, The oscillation period of the spreader assembly; Effective swing arm length; This is the acceleration due to gravity.

[0019] Optionally, the device includes: The acquisition module is used to acquire the rope length of the lifting device assembly and the compensation distance between the center of gravity of the hoisted object and the loading part of the lifting device assembly; The data processing module is also used to calculate the sum of the rope length and the compensation distance as the effective swing arm length.

[0020] Optionally, the acquisition module is specifically configured to match the compensation distance based on the weight value of the hoisted object collected by the gravity sensor; or, to collect the compensation distance when the lifting device assembly lifts the hoisted object based on the vision sensor; or, to control the lifting device assembly located at the initial height to lift the hoisted object, and to use the lifting distance when the load of the lifting device assembly changes from the initial value to the weight value of the hoisted object as the compensation distance; or, in response to a configuration command, to read the compensation distance indicated by the configuration command.

[0021] Optionally, the nonlinear proportional relationship is expressed as:

[0022] In the formula, This is the first acceleration; This is the second acceleration; This is the intermediate speed; For target speed; This refers to the oscillation period of the spreader assembly.

[0023] Optionally, in the acceleration phase, the target speed is a preset speed, and in the deceleration phase, the target speed is zero. The data processing module is further configured to: calculate a first-stage deceleration distance based on the preset speed, the intermediate speed, and the first acceleration; calculate a constant-speed distance based on the intermediate speed and the anti-shake duration; calculate a second-stage deceleration distance based on the intermediate speed and the second acceleration; calculate the sum of the first-stage deceleration distance, the constant-speed distance, and the second-stage deceleration distance as the total deceleration distance; locate the deceleration position of the translation mechanism based on the total deceleration distance and the target position; and determine that the translation mechanism has entered the deceleration phase when the translation mechanism moves to the deceleration position.

[0024] Optionally, the device further includes: The management module is used to activate the anti-sway function of the translation mechanism when the target speed is greater than or equal to the preset trigger speed, or the effective swing arm length is within the preset length range, or a start command is received, so as to calculate the anti-sway duration of the translation mechanism based on the effective swing arm length; and to deactivate the anti-sway function of the translation mechanism when the lifting assembly is in the lifting state, or the duration of the translation mechanism's movement speed being zero is greater than the preset closing duration, or a closing command is received, so as to stop calculating the anti-sway duration.

[0025] Optionally, the lifting device assembly includes a lifting mechanism for performing a lifting action and a loading section for grabbing or suspending the load. The lifting mechanism is connected to the loading section. The lifting mechanism includes a main lifting mechanism and a secondary lifting mechanism, which together drive the lifting action of the loading section. The device further includes: The positioning module is used to acquire the first position information of the main lifting mechanism and the second position information of the slave lifting mechanism; The data processing module is also used to calculate the synchronization error between the first location information and the second location information; The control module is also used to correct the speed of the slave lifting mechanism based on the synchronization error, so that the main lifting mechanism and the slave lifting mechanism operate in a preset synchronization mode; The synchronization mode includes a direct mode or an offset mode. In the direct mode, the slave lifting mechanism and the main lifting mechanism operate at the same position. In the offset mode, the slave lifting mechanism and the main lifting mechanism operate with a controlled positional deviation.

[0026] Optionally, during the acceleration phase, the target speed is a preset speed, and the data processing module is further configured to calculate the speed limit value of the translation mechanism based on the correspondence between the weight value of the hoisted object and the rated data of the crane. The control module is further configured to set the preset speed according to the speed limit value, so that the preset speed of the translation mechanism under low load is higher than its preset speed under high load; and, when the preset speed exceeds the rated speed of the motor, control the motor to operate in the weak magnetic region; wherein the motor is used to drive the translation mechanism to move.

[0027] According to a third aspect of this application, a readable storage medium is provided having a program or instructions stored thereon, which, when executed by a processor, implement the steps of the above-described anti-sway method for crane lifting devices.

[0028] According to a fourth aspect of this application, a crane is provided, comprising: A cable tray, on which rails are mounted; At least one translation mechanism is configured to move along the track; A lifting device assembly is connected to the bottom of the translation mechanism. The lifting device assembly includes a lifting mechanism for performing lifting actions and a loading part for grabbing or suspending the load. The lifting mechanism is connected to the loading part. The anti-sway device of the aforementioned crane lifting device is communicatively connected to the translation mechanism and the lifting mechanism, respectively.

[0029] By employing the aforementioned technical solution, the translation mechanism first accelerates (or decelerates) to an intermediate speed with a first acceleration, then moves at a constant speed for a distance, allowing the load to gradually fall back from its highest swing point. A second acceleration (or deceleration) is then applied to the target speed, applying a second thrust opposite to the load's direction of motion. The inertial force generated by this second-stage speed change counteracts the potential energy accumulated at the maximum swing angle and the subsequent swaying potential, thus canceling out the swaying kinetic energy generated by the two speed changes. This effectively suppresses the swing amplitude and residual oscillations of the lifting equipment and the load during the translation mechanism's movement, ensuring smooth operation of the crane lifting equipment after stopping or maintaining a constant speed. Especially under complex conditions such as asymmetrical acceleration and varying load height, it effectively suppresses load swaying during movement, improving operational stability, positioning accuracy, and safety, reducing the collision risk caused by load swaying, and avoiding the mechanical shock to the motor caused by frequent adjustments in traditional anti-sway solutions.

[0030] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0031] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 A schematic flowchart of the anti-sway method for crane lifting devices provided in an embodiment of this application is shown; Figure 2 This paper shows a schematic diagram comparing the speed signals of the anti-sway method for crane lifting devices provided in an embodiment of this application; Figure 3 A schematic diagram illustrating the calculation of the effective swing arm length provided in an embodiment of this application is shown; Figure 4 A structural block diagram of the anti-sway device for a crane lifting device provided in an embodiment of this application is shown; Figure 5 A partial structural schematic diagram of the crane provided in an embodiment of this application is shown. Detailed Implementation

[0032] The present application will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in the embodiments of the present application can be combined with each other.

[0033] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0034] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in this application means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should be understood that when we say an element is “connected” or “attached” to another element, it can be directly connected or attached to the other element, or there may be intermediate elements present. Furthermore, the term “and / or” as used herein includes all or any units and all combinations of one or more associated listed items.

[0035] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art.

[0036] This embodiment provides a method for preventing the swaying of a crane lifting device, such as... Figure 1 As shown, the method includes: Step 101: Calculate the anti-sway duration of the translation mechanism based on the effective swing arm length of the lifting object relative to the lifting assembly.

[0037] It should be understood that the crane is equipped with a bridge and a translation mechanism, the translation mechanism being movable along the bridge, for example, a trolley or crane that can run along the bridge tracks. A lifting assembly is connected to the bottom of the translation mechanism, the lifting assembly including a loading section and a lifting mechanism. For example, the loading section is suspended below the translation mechanism by wire ropes or rigid linkages to carry and release the lifted load. The translation mechanism is also equipped with sensors for detecting the length of the ropes lowered and the weight of the load.

[0038] The effective swing arm length refers to the actual swing radius of the center of gravity of the hoisted object relative to the suspension point of the translation mechanism (such as the center of the rope pulley block). The anti-sway duration is the swing period or its related time parameters calculated based on the effective swing arm length. In this embodiment, by accurately calculating the effective swing arm length, the actual swing characteristics of the load can be accurately reflected, providing a precise time reference for subsequent segmented speed control, thereby avoiding anti-sway failure or residual swing caused by swing arm length estimation errors.

[0039] In this embodiment, the anti-sway time required for the translation mechanism to complete the inertial motion of the suspended object at a constant speed during movement is calculated based on the effective swing arm length. This ensures that the control curve generated by the anti-sway device is highly matched with the swing period at the current specific height, eliminating anti-sway phase shifts caused by length estimation errors from the initial stage of the algorithm.

[0040] Furthermore, for irregularly shaped objects or those with an unstable center of gravity, the center of gravity is often lower than the suspension point of the load, resulting in an effective swing length greater than the actual rope length. Therefore, as... Figure 3 As shown, the embodiment of this application comprehensively considers the rope length and the equivalent length (compensation distance) after considering the vertical distance between the center of gravity of the hoisted object and the loading part, that is, the sum of the rope length and the compensation distance, as the effective swing arm length. Therefore, by accurately calculating the effective swing arm length, the actual swing characteristics of the load are accurately reflected, providing a precise time reference for subsequent segmented speed control, thereby avoiding anti-sway failure or residual sway caused by swing arm length estimation deviations.

[0041] Understandably, rope length can usually be read directly by the encoder or sensor of the lifting mechanism, indicating the vertical suspension distance of the loading section relative to the drum or frame.

[0042] In one embodiment, the distance between the center of gravity of the load and the loading section of the spreader assembly can be obtained in the following manner: Method 1: Matching and compensating distance based on the weight value of the hoisted object collected by the gravity sensor.

[0043] Specifically, gravity sensors are installed on the crane's lifting mechanism to collect the weight of the load in real time. The processor pre-stores a weight-center-of-gravity mapping table or function relationship, typically established based on extensive historical data or load specification tables. Once the gravity sensor collects the weight of the load, the processor matches the corresponding compensation distance through interval lookup or linear calculation. For example, for standard containers or grabs of specific specifications, there is a definite correspondence between their weight and center-of-gravity position. This method has low hardware costs, requires no additional vision system, and offers high matching accuracy for regularly shaped and highly standardized loads. The calculation process is simple and fast, meeting the needs of real-time control.

[0044] Method 2: Based on visual sensors, collect the compensation distance when the lifting device assembly lifts the load.

[0045] Specifically, vision sensors (such as industrial cameras or LiDAR) are installed on the crane's translation mechanism or bridge, with the field of view covering the spreader assembly and the area of ​​the load below. Once the spreader assembly lifts and stabilizes the load, the vision sensors acquire on-site images or point cloud data. Through image processing algorithms such as edge detection and contour fitting, the position of the loading part of the spreader assembly and the geometric center or center of gravity of the load are identified, and the vertical distance between them is calculated as the compensation distance. This method is suitable for irregularly shaped, non-standardized loads, or for operational scenarios requiring extremely high anti-sway accuracy. This method directly measures the actual center of gravity shift, unaffected by uneven load distribution or shape changes, providing the highest accuracy compensation distance data, thus achieving optimal anti-sway control.

[0046] Method 3: Control the lifting device at the initial height to lift the load, and use the lifting distance when the load of the lifting device changes from the initial value to the weight of the load as the compensation distance.

[0047] Specifically, this applies to scenarios involving lifting from the ground or a fixed height. The processor first controls the spreader assembly to descend to its initial height (e.g., the ground). At this point, the spreader assembly is not yet under load, and the load is at its initial value, i.e., zero or empty hook weight. Subsequently, the spreader assembly is slowly raised. When the load just leaves the ground, the load on the spreader assembly abruptly changes from its initial value to the actual weight of the load. During this process, the controller records the lifting distance of the spreader assembly from the start of lifting until the load abruptly changes. Since the rope is not fully taut or the center of gravity of the load has not yet fully shifted to directly below the loading point when the load just leaves the ground, this lifting distance is physically approximately equal to the rope slack or the vertical distance between the center of gravity and the loading point. Therefore, it can be directly used as the compensation distance or its primary component. This method requires no additional sensors and can be achieved using the crane's own lifting motion and load detection functions. It has a high degree of automation and adaptability, making it particularly suitable for automated docks or unmanned workshops.

[0048] Method 4: Respond to the configuration command and read the compensation distance indicated by the configuration command.

[0049] Specifically, operators can manually determine the type, specifications, and corresponding center of gravity of the object to be lifted. Before lifting, operators input configuration commands through a human-machine interface (HMI), or the host computer management system automatically issues configuration commands, which directly include the compensation distance value corresponding to the object being lifted. The processor responds to the configuration command, directly reading and using this value for subsequent calculations. This method does not consume sensor resources and, given known load parameters, offers extremely high reliability, effectively reducing the complexity and cost of anti-sway devices. It is suitable for situations where the types of objects to be lifted are limited and their characteristics are clearly defined, such as lifting steel coils of specific specifications in a steel mill or lifting containers of known dimensions in a port.

[0050] In practical application scenarios, step 101, namely, calculating the anti-sway duration of the translation mechanism based on the effective swing arm length of the lifting object relative to the translation mechanism, specifically includes: calculating the swing period of the lifting assembly based on the effective swing arm length; and taking the odd-numbered half-cycles of the swing period as the anti-sway duration.

[0051] Specifically, the oscillation period is expressed as:

[0052] In the formula, The oscillation period of the spreader assembly; Effective swing arm length; This is the acceleration due to gravity.

[0053] It is worth mentioning that the anti-sway duration can be 0.5T, 1.5T, 2.5T, etc., but considering the movement efficiency and the swing attenuation error caused by the unavoidable mechanical resistance during the swing process, the preferred anti-sway duration is 0.5T.

[0054] Step 102: During the acceleration and deceleration phases of the translation mechanism moving toward the target position, control the translation mechanism to perform the first-stage speed change with the first acceleration, and control the translation mechanism to move at a constant speed with the intermediate speed after the translation mechanism reaches the intermediate speed.

[0055] In this embodiment, a transient stabilization phase based on an intermediate speed is forcibly introduced before reaching the target speed. Specifically, at the beginning of the acceleration or deceleration phase, the translation mechanism undergoes variable speed movement with a preset first acceleration; this phase is called the first-stage speed change. When the speed reaches a specific intermediate speed, the translation mechanism stops changing speed and enters a uniform speed movement phase. This allows for a necessary phase evolution window to be reserved for the initial inertial oscillation of the lifting device assembly generated by the first-stage acceleration, so that subsequent secondary impacts can precisely act on the opposite phase pole of the oscillation.

[0056] Step 103: When the uniform movement time is greater than or equal to the anti-sway time, control the translation mechanism to perform the second-stage speed change with the second acceleration until the translation mechanism reaches the target speed, so as to minimize the difference in oscillation energy generated by the two-stage speed change process.

[0057] The target speed, as a known parameter, can be set manually, or the anti-sway device can be reasonably selected based on the set speed limit.

[0058] It should be noted that the intermediate speed is not the final target speed, but a transitional speed. By inserting a period of uniform motion during the acceleration change, a time window can be created to offset the subsequent oscillation energy. This intermediate speed has a nonlinear proportional relationship with the first and second accelerations. The intermediate speed can be obtained from the acceleration or can be manually specified. This nonlinear relationship takes into account the coupling effect between the magnitude of acceleration, the duration of action, and the load oscillation dynamics model, so as to adapt to different acceleration configurations and ensure optimal anti-sway performance under various operating conditions. This solves the problem that the anti-sway effect of traditional linear control strategies drops sharply when acceleration changes.

[0059] The anti-sway method for crane lifting devices provided in this application embodiment first accelerates (or decelerates) the translation mechanism to a certain intermediate speed with a first acceleration, then moves at a constant speed for a period of time to allow the load to gradually fall back from the highest point of sway. Then, a second acceleration (or deceleration) is applied to the target speed to apply a second thrust to the load in the opposite direction of its movement. The inertial force generated by the second-stage speed change counteracts the potential energy accumulated at the maximum sway angle and the subsequent swaying potential, thus canceling out the swaying kinetic energy generated by the two speed changes. This effectively suppresses the swaying amplitude and residual oscillation of the lifting device components and the load during the translation mechanism's movement, achieving smooth operation of the crane lifting device after stopping or stabilizing. Especially under complex working conditions such as asymmetrical acceleration and varying load height, it effectively suppresses the swaying of the load during movement, improving the stability, positioning accuracy, and operational safety of lifting operations, reducing the collision risk caused by the swaying of the load, and avoiding the mechanical impact on the motor caused by frequent adjustments in traditional anti-sway solutions.

[0060] In one embodiment, the nonlinear proportional relationship can be expressed as:

[0061] In the formula, This is the first acceleration; This is the second acceleration; This is the intermediate speed; For target speed; This refers to the oscillation period of the spreader assembly.

[0062] In this embodiment, with the target speed and oscillation period remaining constant, the oscillation amplitudes generated by the two speed changes need to be equal to prevent swaying. Based on this, if the first acceleration is larger, the impact on the spreader assembly is more direct, and the sway angle generated by the first speed change is larger. To match the oscillation period and generate sufficient reverse impulse, the speed increment of the first stage should be smaller. Similarly, if the second acceleration is larger, more energy needs to be output in the first stage to offset it. To match the oscillation period and generate sufficient reverse impulse, the speed increment of the first stage should be larger. Thus, by accurately calculating the optimal intermediate speed, it is ensured that under any combination of accelerations, the load can achieve a stable, sway-free state when reaching the target speed, significantly improving the robustness and adaptability of the anti-sway control.

[0063] For example, the swing period of the spreader assembly is 1 second, and the target speed is 2 m / s. The anti-sway device randomly selects or configures two accelerations: a1 = 0.5 m / s². 2 a2=1m / s 2 Substituting the values ​​into the formula, the approximate intermediate velocity is 0.63 m / s. 2 .

[0064] With the intermediate speed specified through configuration, the anti-sway device inversely calculates the two accelerations by combining the intermediate speed with this non-linear proportional relationship. Again, taking a spreader assembly oscillation period of 1 second and a target speed of 2 m / s as an example, specifying the intermediate speed v... m =1.2m / s. Substituting into the formula, we get a1 = 0.6m / s. 2 a2 = 0.4 m / s 2 .

[0065] In one embodiment, the anti-sway method for the crane spreader further includes: when the target speed is greater than or equal to a preset trigger speed, or the effective swing arm length is within a preset length range, or a start command is received, activating the anti-sway function of the translation mechanism to calculate the anti-sway duration of the translation mechanism based on the effective swing arm length.

[0066] The preset trigger speed can be set according to requirements, for example, it can be set to 10% of the crane's rated operating speed or a specific speed value. The preset length range can be calibrated according to the specific crane model and the performance parameters of the control system, for example, it can be set to 2 meters to 20 meters.

[0067] In this embodiment, when the detected target speed is lower than the preset trigger speed, it usually means that the translation mechanism is performing micro-motion or precise positioning. At this time, the load swing amplitude is small and easy to observe and intervene manually, and the impact caused by the swing is minimal. If the anti-sway function is forcibly intervened at this time, it may affect the positioning accuracy due to the slight fluctuations in the control algorithm. Conversely, when the target speed reaches the preset trigger speed, indicating that the crane has entered normal operation, the anti-sway device automatically activates the anti-sway function. Similarly, when the effective boom length is too short (e.g., the spreader assembly is almost close to the trolley), the load swing amplitude is small or the swing frequency is large. At this time, anti-sway is unnecessary or difficult to achieve due to insufficient response speed of the anti-sway control. The anti-sway control can only achieve the best effect when the effective boom length is within this effective range. In addition, receiving the start command grants the operator or the host computer system the authority to manually force the activation of the anti-sway function, increasing the flexibility of control.

[0068] Furthermore, the method in this embodiment also includes: when the lifting assembly is in the lifting state, or the duration of the translation mechanism's movement speed being zero is greater than the preset closing duration, or a closing command is received, the anti-sway function of the translation mechanism is turned off to stop calculating the anti-sway duration.

[0069] The preset shutdown duration can be set according to the work cycle, for example, the preset shutdown duration can be set to 30 seconds or 300 seconds.

[0070] In this embodiment, when the lifting assembly is in the lifting state, the rope length is constantly changing, causing the effective boom length to change in real time. If the anti-sway function continues to operate under these conditions, the anti-sway duration calculated based on the old parameters will not match the actual working conditions, and may even exacerbate the load sway. Therefore, when the anti-sway device detects a lifting action, i.e., when the lifting motor current exceeds the threshold or the encoder data changes, it automatically shuts down the anti-sway function and restarts it after the lifting action ends and the boom length stabilizes. If the duration of the translation mechanism's zero movement speed is longer than the preset shutdown duration, it means that the crane is in a long-term standby state. In this case, shutting down the anti-sway function can free up the controller's computing resources, reduce energy consumption, and avoid malfunctions caused by interference signals such as sensor zero-point drift. A manual exit channel is also provided upon receiving a shutdown command. For example, when manual operation is required or special tasks are being performed, the operator can send a shutdown command via the console button or wireless remote control to forcibly stop the anti-sway function.

[0071] For example, Figure 2 The diagram shows the trolley speed control curve (blue line) of a traditional single acceleration and deceleration system, the trolley speed correction curve after automatic anti-sway control with an anti-sway device (green line), and the theoretical swing value of the lifting device assembly after anti-sway control (orange line).

[0072] After activating the anti-sway control, during the acceleration phase of the translation mechanism, the initial speed is 0, and the target speed is the preset speed. For example... Figure 2 As shown, the acceleration phase is as follows: the translation mechanism is controlled to accelerate to the intermediate speed with a first acceleration. As the trolley accelerates forward, the spreader assembly lags backward due to inertia, forming a negative swing angle -α. Then, the translation mechanism is controlled to stop accelerating and move at a constant speed at the intermediate speed. During this process, the spreader assembly swings back under the action of gravity to wait for the phase. When the duration of the constant speed movement is greater than or equal to the anti-sway duration, the translation mechanism is controlled to accelerate to the target speed with a second acceleration. The forward inertial thrust generated by the second speed acts on the spreader assembly that is swinging back forward, so that the newly generated oscillation energy is out of phase with the old oscillation energy remaining in the first stage and the effective components are equal.

[0073] After the translation mechanism reaches the target speed, it enters the constant speed stage, at which point the trolley swing angle is 0, achieving swing-free translation operation.

[0074] After the trolley reaches the deceleration position, it enters the deceleration phase. For the deceleration phase of the translation mechanism, the initial speed is the preset speed, and the target speed is 0. The deceleration phase is as follows: the translation mechanism is controlled to decelerate to the intermediate speed with the first acceleration. During this process, the spreader assembly swings backward due to inertia, forming a positive swing angle α. Then, the translation mechanism is controlled to stop decelerating and move at a constant speed at the intermediate speed. During this process, the spreader assembly swings back under the action of gravity to wait for the phase. When the duration of constant speed movement is greater than or equal to the anti-sway duration, the translation mechanism is controlled to start decelerating with the second acceleration. The centrifugal force component generated by this action just cancels the final swing of the spreader assembly until the translation mechanism stops translating. The spreader assembly also stops precisely vertically directly below without large swings.

[0075] It should be understood that, although Figure 2 The paper demonstrates that the anti-sway segmented control logic is included in both the acceleration and deceleration phases. However, in practical applications, depending on the working conditions, the logic may be applied only in the acceleration phase or only in the deceleration phase, and both are within the scope of protection of this invention.

[0076] In another example, besides the anti-sway device automatically taking over the control logic to achieve automatic anti-sway control, the translation mechanism can also be manually controlled for acceleration and deceleration. The anti-sway device is only used to calculate the parameters required for anti-sway control and provide prompts. Let's take the acceleration phase as an example: A laser rangefinder is installed on the crane trolley to obtain the length of the lifting rope from the fulcrum to the center of gravity of the hoisted load in real time. After the lifting assembly grabs the load and lifts it to a certain height, the compensation distance from the center of gravity of the hoisted load to the main hook connection point is obtained. The anti-sway device calculates the swing period in real time based on the lifting rope length and the compensation distance. At the same time, a theoretical medium-speed recommendation value is calculated based on the operator's previously preset common operating speed and the equipment's common acceleration, or half of the common operating speed is directly used as the medium-speed recommendation value, and the acceleration in both stages is constrained to remain unchanged.

[0077] The operator's control panel in the cab features a speedometer and color-coded status indicator lights. The operator pushes the handle to trigger the acceleration control command, and the trolley responds and begins to accelerate. When the real-time speed approaches the recommended medium speed, the color-coded status indicator lights change color and emit a short beep, indicating to the operator that they should maintain a constant speed at this point. Once the operator maintains a constant speed at the recommended medium speed, a countdown bar appears on the screen, the length of which is the calculated anti-shake duration. At this time, the operator only needs to maintain the current speed by using the handle and observe the countdown. When the countdown ends, the color-coded status indicator lights change color again and emit a continuous "Please continue accelerating" command. The operator can then push the handle again to issue an acceleration control command to the trolley. This continues until the real-time speed approaches the commonly used operating speed, at which point the color-coded status indicator lights change color and emit a short beep, indicating to the operator that they should maintain a constant speed at this point.

[0078] Understandably, due to the response error inherent in manual operation, the anti-shake device needs to be corrected using a reasonable response error when calculating various parameters or reminder parameters to ensure the accuracy of control reminders.

[0079] In one embodiment, before entering the deceleration phase, the anti-sway method for the crane spreader further includes: calculating a first-stage deceleration distance based on a preset speed, an intermediate speed, and a first acceleration; calculating a constant speed distance based on the intermediate speed and the anti-sway duration; calculating a second-stage deceleration distance based on the intermediate speed and a second acceleration; calculating the sum of the first-stage deceleration distance, the constant speed distance, and the second-stage deceleration distance as the total deceleration distance; locating the deceleration position of the translation mechanism based on the total deceleration distance and the target position; and determining that the translation mechanism has entered the deceleration phase when it moves to the deceleration position.

[0080] In this embodiment, the deceleration process is divided into a first-stage deceleration distance, a constant-speed distance, and a second-stage deceleration distance. The sum of these three stages is used as the total deceleration distance to accurately locate the deceleration starting point, and this deceleration position triggers the deceleration phase. This ensures that there is sufficient distance to complete the two segmented decelerations and the intermediate constant-speed anti-sway process before reaching the target position, while also ensuring that the swaying energy of the lifting equipment components generated during the entire deceleration phase exactly cancels each other out. Thus, while the translation mechanism stops precisely at the target position, the lifting object is positioned smoothly with almost no residual sway.

[0081] It is worth mentioning that this method can also be used to calculate the acceleration distance of the translation mechanism relative to the starting position at the end of the acceleration phase. The target speed and intermediate speed are verified using the acceleration distance, deceleration distance, and the total distance between the starting position and the target position. This ensures that the translation mechanism has sufficient time and distance to complete anti-sway control during its journey from the starting position to the target position.

[0082] In a preferred embodiment, the intermediate speed is half of the target speed, and the two accelerations are also the same. At this time, the time and distance required for the two-stage speed change process are the same, so as to quickly determine the deceleration position.

[0083] For example, the following formula can be used to estimate the distance a crane travels from full speed to a stop. :

[0084] In the formula, This is the response time for manual driving, also known as the basic ramp time.

[0085] When the total travel distance is 16m, the crane's full speed is 30m / min (0.5m / s), and the normal deceleration time for manual drive is 5 seconds.

[0086] With the anti-sway function disabled, the load deceleration distance (in meters) is: .

[0087] With the anti-sway function enabled, the normal deceleration time for basic manual drive can be set shorter, for example, to 4 seconds. In this case, the load deceleration distance is: ; .

[0088] When the anti-sway function is used to decelerate at a distance of 1.5m from the target position, there will be no swaying problem, and the load will run perpendicular to the trolley.

[0089] In one embodiment, the lifting device assembly includes a lifting mechanism for performing lifting actions and a loading section for grabbing or suspending the load. The lifting mechanism is connected to the loading section and includes a main lifting mechanism and a secondary lifting mechanism. The main lifting mechanism and the secondary lifting mechanism jointly drive the lifting action of the loading section. The anti-sway method for the crane lifting device further includes: acquiring first position information of the main lifting mechanism and second position information of the secondary lifting mechanism; calculating the synchronization error between the first position information and the second position information; and correcting the speed of the secondary lifting mechanism based on the synchronization error, so that the main lifting mechanism and the secondary lifting mechanism operate according to a preset synchronization mode. The synchronization mode includes direct mode or offset mode. In direct mode, the lifting mechanism and the main lifting mechanism operate at the same position. In offset mode, the lifting mechanism and the main lifting mechanism operate with a controlled positional deviation.

[0090] In this embodiment, by real-time correction of the synchronization error between the master and slave lifting mechanisms, controlled attitude compensation is achieved for loads with different center-of-gravity distributions, ensuring the horizontal attitude or preset tilt angle of the loading unit during lifting. This effectively suppresses the disturbance sway angle induced by uneven load distribution at the end of lifting, ensuring the uniqueness and stability of the load's center of gravity relative to the effective swing arm length of the translation mechanism in the mathematical model during the translation mechanism's movement. It also reduces the initial swing center offset caused by the tilt of the lifting device, helping to improve the calculation accuracy of the anti-sway duration and the anti-sway control effect. At the same time, it avoids the internal force loss caused by the difference in mechanical characteristics between the two lifting mechanisms, extending the service life of the wire rope and the reducer.

[0091] In one embodiment, before the translation mechanism enters the acceleration phase, the anti-sway method for the crane lifting device further includes: calculating the speed limit value of the translation mechanism based on the correspondence between the weight value of the lifted object and the rated data of the crane; setting a preset speed according to the speed limit value so that the preset speed of the translation mechanism under low load is higher than its preset speed under high load; and controlling the motor to work in the weak magnetic region when the preset speed exceeds the rated speed of the motor.

[0092] The motor is used to drive the translation mechanism to move.

[0093] In this embodiment, by pre-establishing a mapping relationship between real-time load and speed limit values, it is ensured that the preset speed is always within the effective envelope of the motor torque output. This avoids motor torque saturation and lag in power response caused by blindly pursuing high speed under high load conditions, which helps to accurately track the anti-sway transmission trajectory and eliminates residual oscillation caused by power limitations. Furthermore, when the preset speed reaches the rated speed corresponding to the motor's rated voltage, reducing the stator flux linkage to break through the single-machine speed limit helps to prevent distortion of the anti-sway curve and even hook slippage or severe shaking.

[0094] The anti-sway method for crane lifting devices provided in this application embodiment can be applied to a terminal, a server, or software running on either the terminal or the server. The server can be configured as a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing 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, CDN, and big data and artificial intelligence platforms.

[0095] It should be noted that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0096] Furthermore, such as Figure 4 As shown, as a specific implementation of the above-mentioned anti-sway method for crane lifting devices, this application embodiment provides an anti-sway device 400 for crane lifting devices, which includes: a data processing module 401 and a control module 402.

[0097] The data processing module 401 is used to calculate the anti-sway duration of the translation mechanism based on the effective swing arm length of the object being lifted by the lifting device assembly relative to the translation mechanism. Control module 402 is configured to control the translation mechanism to perform a first-stage speed change with a first acceleration during the acceleration and deceleration phases of the translation mechanism moving toward the target position, and to control the translation mechanism to move at a constant speed at the intermediate speed after the translation mechanism reaches an intermediate speed; and to control the translation mechanism to perform a second-stage speed change with a second acceleration when the duration of constant speed movement is greater than or equal to the anti-sway duration, until the translation mechanism reaches the target speed, so as to minimize the difference in oscillation energy generated by the two-stage speed change process; The intermediate speed is determined based on the nonlinear proportional relationship between the first acceleration and the second acceleration.

[0098] Furthermore, the data processing module 401 is specifically used to calculate the swing period of the spreader assembly based on the effective swing arm length; and to use the odd-numbered half-cycles of the swing period as the anti-sway duration. The oscillation period is expressed as:

[0099] In the formula, The oscillation period of the spreader assembly; Effective swing arm length; This is the acceleration due to gravity.

[0100] Furthermore, the anti-sway device 400 of the crane spreader includes: The acquisition module (not shown in the figure) is used to acquire the rope length of the spreader assembly and the compensation distance between the center of gravity of the load and the loading part of the spreader assembly; The data processing module 401 is also used to calculate the sum of the rope length and the compensation distance as the effective swing arm length.

[0101] Furthermore, the acquisition module is specifically used to match the compensation distance based on the weight value of the hoisted object collected by the gravity sensor; or, to collect the compensation distance when the spreader assembly lifts the hoisted object based on the vision sensor; or, to control the spreader assembly at the initial height to lift the hoisted object, and use the lifting distance when the load of the spreader assembly changes from the initial value to the weight value of the hoisted object as the compensation distance; or, in response to the configuration command, to read the compensation distance indicated by the configuration command.

[0102] Furthermore, the nonlinear proportional relationship is expressed as:

[0103] In the formula, This is the first acceleration; This is the second acceleration; This is the intermediate speed; For target speed; This refers to the oscillation period of the spreader assembly.

[0104] Furthermore, the target speed is the preset speed during the acceleration phase and the target speed is zero during the deceleration phase; The data processing module 401 is also used to calculate the first-stage deceleration distance based on the preset speed, intermediate speed and first acceleration; calculate the constant speed distance based on the intermediate speed and anti-shake duration; calculate the second-stage deceleration distance based on the intermediate speed and second acceleration; calculate the sum of the first-stage deceleration distance, constant speed distance and second-stage deceleration distance as the total deceleration distance; locate the deceleration position of the translation mechanism based on the total deceleration distance and the target position; and determine that the translation mechanism has entered the deceleration stage when the translation mechanism moves to the deceleration position.

[0105] Furthermore, the anti-sway device 400 of the crane spreader also includes: The management module (not shown in the figure) is used to activate the anti-sway function of the translation mechanism when the target speed is greater than or equal to the preset trigger speed, or the effective swing arm length is within the preset length range, or a start command is received, so as to calculate the anti-sway duration of the translation mechanism based on the effective swing arm length; when the spreader assembly is in the lifting state, or the duration of the translation mechanism's movement speed being zero is greater than the preset closing duration, or a closing command is received, the anti-sway function of the translation mechanism is deactivated to stop calculating the anti-sway duration.

[0106] Furthermore, the spreader assembly includes a lifting mechanism for performing lifting actions and a loading section for grabbing or suspending the load. The lifting mechanism is connected to the loading section and includes a main lifting mechanism and a secondary lifting mechanism. The main lifting mechanism and the secondary lifting mechanism jointly drive the lifting action of the loading section. The device also includes: The positioning module is used to obtain the first position information of the main lifting mechanism and the second position information of the slave lifting mechanism; The data processing module is also used to calculate the synchronization error between the first position information and the second position information; The control module is also used to correct the speed of the slave lifting mechanism based on the synchronization error, so that the master lifting mechanism and the slave lifting mechanism can operate in a preset synchronization mode. The synchronization mode includes direct mode or offset mode. In direct mode, the lifting mechanism and the main lifting mechanism operate at the same position. In offset mode, the lifting mechanism and the main lifting mechanism operate with a controlled positional deviation.

[0107] Furthermore, during the acceleration phase, the target speed is a preset speed, and the data processing module is also used to calculate the speed limit value of the translation mechanism based on the correspondence between the weight value of the hoisted object and the rated data of the crane. The control module is also used to set a preset speed according to the speed limit value so that the preset speed of the translation mechanism under low load is higher than its preset speed under high load; and to control the motor to operate in the field weakening zone when the preset speed exceeds the rated speed of the motor; wherein the motor is used to drive the translation mechanism to move.

[0108] Specific limitations regarding the anti-sway device for crane spreaders can be found in the limitations on anti-sway methods for crane spreaders mentioned above, and will not be repeated here. Each module in the aforementioned anti-sway device for crane spreaders can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of the crane in hardware form or independently of it, or stored in the memory of the crane in software form, so that the processor can call and execute the corresponding operations of each module.

[0109] Based on the above, Figure 1 Accordingly, embodiments of this application also provide a readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described method. Figure 1 The anti-sway method of the crane lifting device shown.

[0110] Based on this understanding, the technical solution of this application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as CD-ROM, USB flash drive, mobile hard drive, etc.) and includes several instructions to cause a computer device (such as personal computer, server, or network device, etc.) to execute the methods of various implementation scenarios of this application.

[0111] Based on the above, Figure 1 The method shown, and Figure 4 The virtual device embodiment shown is designed to achieve the above objectives, such as... Figure 5 As shown in the figure, this application also provides a crane.

[0112] The crane includes a bridge frame 510, a translation mechanism 520, a spreader assembly 530, and an anti-sway device 400. The bridge frame 510 is the main load-bearing structure of the crane, on which a track 511 is mounted. The track, typically made of I-beams or box girders, is laid on the main beam of the bridge frame 510 and bears the moving load of the translation mechanism 520. The translation mechanism 520 is configured to move along the track 511 and typically includes a trolley and a main trolley, specifically composed of a motor, reducer, brake, and wheel assembly. The spreader assembly 530 is connected to the bottom of the translation mechanism 520. The spreader assembly 530 includes a loading section and a lifting mechanism connector. The loading section is used to grab or suspend the load, and its form can be a grab bucket, electromagnetic chuck, or container spreader, etc. The lifting mechanism is used to perform the lifting action of the loading section. The lifting mechanism typically includes a hoisting motor, drum, wire rope, and corresponding transmission mechanism, achieving the lifting and lowering movement of the loading section and the load by winding and unwinding the wire rope. The anti-sway device 400 of the crane lifting device is communicatively connected to the translation mechanism 520 and the lifting mechanism respectively.

[0113] The crane can be a bridge crane, a gantry crane, or a port container crane.

[0114] The aforementioned communication connection can be wired (e.g., industrial Ethernet, PROFIBUS, CAN bus) or wireless (e.g., industrial wireless LAN). The anti-sway device acquires real-time operating data of the lifting mechanism, such as rope length (i.e., loading position) and load weight, through the communication connection. Rope length data is typically collected and transmitted to the anti-sway device by an encoder on the lifting mechanism; load weight data can be collected and transmitted by a gravity sensor installed on the lifting mechanism. Based on this data, the anti-sway device calculates the effective swing arm length and anti-sway duration, and then generates control commands. These control commands are sent to the driver (e.g., frequency converter) of the translation mechanism or lifting mechanism through the communication connection, controlling the motor of the translation mechanism to operate according to the segmented speed change strategy described in the previous embodiments, i.e., controlling the translation mechanism to change speed with a first acceleration, move at a constant speed at an intermediate speed, and change speed with a second acceleration, thereby achieving the above-mentioned... Figure 1 The anti-sway method of the crane lifting device shown.

[0115] It should be understood that anti-sway devices can take various forms in hardware implementation. In a preferred embodiment, the anti-sway device can be a programmable logic controller (PLC) integrated within the crane's electrical control cabinet, which connects to each mechanism via I / O modules or communication modules. In another embodiment, the anti-sway device can also be a dedicated anti-sway controller, or a process control unit (such as an application macro program) integrated within the frequency converter. Regardless of the hardware form used, as long as it has the functions of data acquisition, logical operation (calculating anti-sway duration, intermediate speed, etc.), and control output (driving the translation mechanism), it falls within the scope of the anti-sway device described in this embodiment.

[0116] Those skilled in the art will understand that the crane structure provided in this embodiment does not constitute a limitation on the crane, and may include more or fewer components, or combine certain components, or have different component arrangements.

[0117] Through the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platform, or it can be implemented by hardware.

[0118] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of a preferred embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing this application. Those skilled in the art will understand that the modules in the apparatus of the embodiment can be distributed within the apparatus of the embodiment as described, or can be modified to be located in one or more apparatuses different from this embodiment. The modules of the above-described embodiment can be combined into one module, or further divided into multiple sub-modules.

[0119] The serial numbers in this application are for descriptive purposes only and do not represent the superiority or inferiority of any particular implementation scenario. The above disclosures are merely a few specific implementation scenarios of this application; however, this application is not limited thereto, and any variations conceived by those skilled in the art should fall within the protection scope of this application.

Claims

1. A method for preventing swaying of a crane lifting device, characterized in that, The crane is equipped with a bridge frame and a translation mechanism, the translation mechanism being movable along the bridge frame, and a lifting device assembly connected to the bottom of the translation mechanism. The method includes: The anti-sway duration of the translation mechanism is calculated based on the effective swing arm length of the object being lifted by the lifting device assembly relative to the translation mechanism. During the acceleration and deceleration phases of the translation mechanism moving toward the target position, the translation mechanism is controlled to perform the first-level speed change with a first acceleration, and after the translation mechanism reaches the intermediate speed, the translation mechanism is controlled to move at the intermediate speed at a constant speed. When the uniform movement time is greater than or equal to the anti-sway time, the translation mechanism is controlled to perform the second-stage speed change with the second acceleration until the translation mechanism reaches the target speed, so as to minimize the difference in oscillation energy generated by the two-stage speed change process; The intermediate speed is determined based on the nonlinear proportional relationship between the first acceleration and the second acceleration.

2. The anti-sway method for crane lifting devices according to claim 1, characterized in that, The calculation of the anti-sway duration of the translation mechanism based on the effective boom length of the hoisted object relative to the translation mechanism, using the lifting device assembly as a basis, includes: The swing period of the lifting device assembly is calculated based on the effective swing arm length; The odd-numbered half-cycles of the oscillation period shall be used as the anti-sway duration; The oscillation period is expressed as: In the formula, The oscillation period of the spreader assembly; Effective swing arm length; It is the acceleration due to gravity; The nonlinear proportional relationship is expressed as: In the formula, This is the first acceleration; This is the second acceleration; This is the intermediate speed; For target speed; This refers to the oscillation period of the spreader assembly.

3. The anti-sway method for crane lifting devices according to claim 2, characterized in that, The method further includes: Obtain the rope length of the lifting device assembly, and the compensation distance between the center of gravity of the lifted object and the loading part of the lifting device assembly; The sum of the rope length and the compensation distance is calculated as the effective swing arm length.

4. The anti-sway method for crane lifting devices according to claim 3, characterized in that, The step of obtaining the distance between the center of gravity of the hoisted object and the loading section of the lifting device assembly includes: The compensation distance is matched based on the weight value of the hoisted object collected by the gravity sensor; or, The compensation distance is collected based on a visual sensor when the lifting device assembly lifts the load; or... The lifting device, positioned at an initial height, is controlled to raise the load, and the lifting distance at which the load on the lifting device changes from its initial value to the weight of the load is used as the compensation distance; or, In response to a configuration command, the compensation distance indicated by the configuration command is read.

5. The anti-sway method for crane lifting devices according to claim 1, characterized in that, The target speed during the acceleration phase is a preset speed, and the target speed during the deceleration phase is zero. The method further includes: Calculate the first-stage deceleration distance based on the preset speed, the intermediate speed, and the first acceleration; Calculate the constant speed distance based on the intermediate speed and the anti-shake duration; Calculate the second-stage deceleration distance based on the intermediate velocity and the second acceleration; The sum of the first-stage deceleration distance, the constant speed distance, and the second-stage deceleration distance is calculated as the total deceleration distance; Based on the total deceleration distance and the target position, the deceleration position of the translation mechanism is located; When the translation mechanism moves to the deceleration position, it is determined that the translation mechanism has entered the deceleration phase.

6. The anti-sway method for crane lifting devices according to claim 1, characterized in that, The method further includes: When the target speed is greater than or equal to the preset trigger speed, or the effective swing arm length is within the preset length range, or a start command is received, the anti-sway function of the translation mechanism is activated to calculate the anti-sway duration of the translation mechanism based on the effective swing arm length. When the lifting assembly is in the lifting state, or when the duration of the translation mechanism's movement speed being zero exceeds the preset closing duration, or when a closing command is received, the anti-sway function of the translation mechanism is turned off to stop calculating the anti-sway duration.

7. The anti-sway method for crane lifting devices according to any one of claims 1 to 6, characterized in that, The lifting device assembly includes a lifting mechanism for performing a lifting action and a loading section for grabbing or suspending the load. The lifting mechanism is connected to the loading section. The lifting mechanism includes a main lifting mechanism and a secondary lifting mechanism. The main lifting mechanism and the secondary lifting mechanism jointly drive the lifting action of the loading section. The method further includes: Obtain the first position information of the main lifting mechanism and the second position information of the slave lifting mechanism; Calculate the synchronization error between the first position information and the second position information, and correct the speed of the slave lifting mechanism based on the synchronization error, so that the main lifting mechanism and the slave lifting mechanism operate in a preset synchronization mode; The synchronization mode includes a direct mode or an offset mode. In the direct mode, the slave lifting mechanism and the main lifting mechanism operate at the same position. In the offset mode, the slave lifting mechanism and the main lifting mechanism operate with a controlled positional deviation.

8. The anti-sway method for crane lifting devices according to any one of claims 1 to 6, characterized in that, The target speed during the acceleration phase is a preset speed, and the method further includes: Based on the correspondence between the weight of the hoisted object and the rated data of the crane, the speed limit value of the translation mechanism is calculated; The preset speed is set according to the speed limit value so that the preset speed of the translation mechanism under low load is higher than its preset speed under high load. When the preset speed exceeds the rated speed of the motor, the motor is controlled to operate in the weak magnetic region, wherein the motor is used to drive the translation mechanism to move.

9. An anti-sway device for a crane lifting device, characterized in that, The crane is equipped with a bridge frame and a translation mechanism. The translation mechanism is movable along the bridge frame. A lifting device assembly is connected to the bottom of the translation mechanism. The device includes: The data processing module is used to calculate the anti-sway duration of the translation mechanism based on the effective swing arm length of the object being lifted by the spreader assembly relative to the translation mechanism. The control module is configured to, during the acceleration and deceleration phases of the translation mechanism moving toward the target position, control the translation mechanism to perform a first-stage speed change with a first acceleration, and control the translation mechanism to move at a constant speed at the intermediate speed after reaching an intermediate speed; and, When the uniform movement time is greater than or equal to the anti-sway time, the translation mechanism is controlled to perform the second-stage speed change with the second acceleration until the translation mechanism reaches the target speed, so as to minimize the difference in oscillation energy generated by the two-stage speed change process; The intermediate speed is determined based on the nonlinear proportional relationship between the first acceleration and the second acceleration.

10. A crane, characterized in that, include: A cable tray, on which rails are mounted; At least one translation mechanism is configured to move along the track; A lifting device assembly is connected to the bottom of the translation mechanism. The lifting device assembly includes a lifting mechanism for performing lifting actions and a loading part for grabbing or suspending the load. The lifting mechanism is connected to the loading part. The anti-sway device of the crane lifting device as described in claim 9 is communicatively connected to the translation mechanism and the lifting mechanism, respectively.

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