A remote control system for a crane with improved stability

Abstract

This invention relates to the field of remote crane control technology, specifically a remote control system for a crane with stable clamping. In this invention, a remote control module inputs control commands, a state perception module collects state information during the crane's clamping operation, a feature extraction module extracts the current clamping contact evolution features based on the state information, and a stability establishment determination module performs a stability establishment determination based on the current clamping contact evolution features to determine whether the clamping state is in a transitional state from contact formation to stable load establishment. When the clamping state is determined to be in a transitional state, a clamping adjustment module generates clamping adjustment control, an active action coordination adjustment module performs active action coordination adjustment based on the current clamping contact evolution features and control commands to generate active action adjustment control, and a closed-loop iterative control module performs closed-loop iterative control based on the state information after clamping adjustment. This helps to improve the impact of load transfer fluctuations on the establishment of a stable load state during the clamping contact evolution process.

Description

Technical Field

[0001] This invention relates to the field of remote crane control technology, specifically a remote control system for a crane with stable clamping. Background Technology

[0002] When a crane remote control system performs clamping operations, the clamping actuator and the clamped object do not immediately enter a stable load-bearing state after contact. Instead, there is a gradual transition from contact formation to stable load establishment. During this process, the clamping contact state continuously evolves with the displacement of the clamping actuator, pressure, vibration of the contact area, and changes in the posture of the clamped object. Simultaneously, the motion output of the active actuator also affects the load transfer state. For this type of operation, the system control effectiveness depends not only on whether effective contact is formed at the clamping end but also on whether the changes in the clamping state and the changes in the active actuator output remain compatible during contact establishment. If the clamping action and the active actuator respond separately before stable contact establishment is complete, local state changes at the clamping end cannot be promptly transmitted to the active actuator output, and changes in the active actuator output cannot be synchronously adjusted according to the current contact establishment level. This affects the smoothness of load transfer and the state convergence effect during the clamping load establishment process.

[0003] Therefore, in the scenario of remote control of cranes, it is of practical significance to establish a judgment and linkage adjustment mechanism for the transition stage based on the state evolution information during the clamping operation, so that the clamping action adjustment and the main action output adjustment can respond to the same contact evolution state. This is of practical significance for improving the control adaptability during the clamping stability establishment process. Summary of the Invention

[0004] The purpose of this invention is to provide a remote control system for a crane with stable clamping, in order to solve the problems mentioned in the background art. The specific technical problems include how to determine the transition state from contact formation to stable load establishment of clamping contact based on the state information during the clamping operation, and to execute clamping adjustment control and active action adjustment control in linkage during the transition state, so as to solve the problem that load transmission fluctuations affect the establishment of stable load state during the evolution of clamping contact.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a remote control system for a crane with stable clamping, comprising a remote control module, a state perception module, a feature extraction module, a stability establishment determination module, a clamping adjustment module, a main action coordination adjustment module, and a closed-loop iterative control module, wherein:

[0006] The remote control module inputs control commands.

[0007] The status awareness module collects status information during the crane clamping operation; specifically including:

[0008] During the clamping operation, status information is collected, including displacement data of the clamping actuator, pressure data of the clamping actuator, vibration data of the clamping contact area, attitude data of the clamped object, and motion data of the main actuator. Among them, the displacement data of the clamping actuator is obtained by the displacement sensor installed on the clamping actuator, the pressure data of the clamping actuator is obtained by the pressure sensor installed in the hydraulic circuit of the clamping actuator, the vibration data of the clamping contact area is obtained by the vibration sensor installed at the clamping end, the attitude data of the clamped object is obtained by the attitude detection unit installed at the clamping end, and the motion data of the main actuator is obtained by the coding detection unit of the main actuator.

[0009] Status information is collected according to a fixed sampling period, and status information is collected synchronously at the beginning of each control period to form the current period status information set, which is then sent to the feature extraction module.

[0010] The state perception module is used to collect state information during crane clamping operations, providing a basic data source for the system to identify the evolution of clamping contact. By synchronously collecting displacement data of the clamping actuator, pressure data of the clamping actuator, vibration data of the clamping contact area, attitude data of the clamped object, and motion data of the active actuator, the state perception module can reflect the state correlation between the formation of clamping contact, changes in load transfer, and changes in active action output in a relatively complete manner. This allows subsequent modules to determine whether the clamping contact is in a transitional state from contact formation to the establishment of stable load based on the same set of state information, and provides a unified information basis for the coordinated execution of clamping adjustment control and active action adjustment control.

[0011] The feature extraction module extracts the current clamping contact evolution features based on the state information; specifically including:

[0012] The current cycle status information is time-aligned with the previous control cycle status information.

[0013] Based on the time-aligned state information, the contact establishment rate, contact pressure growth gradient, contact vibration attenuation, clamping displacement change, and load transfer continuity are extracted.

[0014] The contact establishment rate, contact pressure growth gradient, contact vibration attenuation, clamping displacement change, and load transfer continuity are output as the current clamping contact evolution characteristics to the stability establishment determination module and simultaneously output to the active action coordination adjustment module.

[0015] The feature extraction module is used to extract the current clamping contact evolution features based on the state information. Its function is to convert the original state information into a judgment and adjustment basis that can characterize the clamping contact evolution process. By aligning the current cycle state information with the previous control cycle state information in time, and extracting the contact establishment rate, contact pressure growth gradient, contact vibration attenuation, clamping displacement change, and load transfer continuity, the feature extraction module can reflect the changing trend of clamping contact from contact formation to stable bearing establishment. This enables the system to perform stable establishment judgment based on the same set of current clamping contact evolution features, and to generate clamping adjustment control and active action adjustment control respectively after determining that the clamping state is in a transitional state, thereby enhancing the consistency of the response of the two types of regulation to the same contact evolution state.

[0016] The stability establishment determination module performs a stability establishment determination based on the current clamping contact evolution characteristics to determine whether the clamping state is in a transitional state from contact formation to stable bearing establishment; specifically including:

[0017] Based on the current characteristics of clamping contact evolution, a stability establishment determination is performed according to the transition state determination window and the stable bearing state determination window;

[0018] When, within multiple consecutive control cycles, the current clamping contact evolution characteristics simultaneously satisfy the following conditions: decreased contact establishment rate, decreased contact pressure growth gradient, increased contact vibration attenuation, decreased clamping displacement change, and increased load transfer continuity, the clamping state is determined to be in a transitional state from contact formation to stable load establishment.

[0019] When the current clamping contact evolution characteristics simultaneously meet the pre-calibrated stability threshold condition within multiple consecutive control cycles, the clamping state is determined to have reached a stable bearing state.

[0020] When the clamping state is determined to be in a transitional state, a transitional state trigger signal is output; when the clamping state is determined to have reached a stable bearing state, a stable stop signal is output.

[0021] The stability establishment determination module is used to perform stability establishment determination based on the current clamping contact evolution characteristics. Its function is to identify whether the clamping state is in a transitional state from contact formation to stable load establishment, and further identify whether the clamping state has reached the stable load state. By continuously determining the current clamping contact evolution characteristics according to the transitional state determination window and the stable load state determination window, the stability establishment determination module can distinguish different stages in the clamping contact evolution process. This allows the system to output a transitional state trigger signal in a timely manner when the clamping contact is still in the dynamic establishment stage, and output a stable stop signal when the clamping state reaches the stable load state. The setting of this stability establishment determination module ensures that the start and stop of clamping adjustment control and active action adjustment control are based on the same determination result, which helps to reduce the impact of load transfer fluctuations on the stable load state establishment process.

[0022] When the stability establishment determination module determines that the clamping state is in a transitional state, the clamping adjustment module generates clamping adjustment control and outputs it to the clamping actuator; the specific process of generating the clamping adjustment control includes:

[0023] After the stable establishment of the judgment module outputs the transition state trigger signal, the clamping adjustment control is generated based on the current clamping contact evolution characteristics;

[0024] The clamping adjustment control includes clamping step displacement correction and clamping pressure correction; wherein, the clamping step displacement correction is determined based on the contact establishment rate and the change in clamping displacement, and the clamping pressure correction is determined based on the contact pressure growth gradient and the contact vibration attenuation.

[0025] The clamping adjustment control for the current control cycle is formed based on the clamping step displacement correction and the clamping pressure correction, and then output to the clamping actuator.

[0026] The execution process of clamping adjustment control specifically includes:

[0027] At the start of the current control cycle, the clamping actuator receives the clamping adjustment control for the current control cycle; it adds the clamping step displacement correction to the basic clamping displacement command for the current control cycle to obtain the corrected clamping displacement command;

[0028] The clamping pressure correction is added to the base clamping pressure command of the current control cycle to obtain the corrected clamping pressure command;

[0029] The clamping actuator completes the clamping action output of the current control cycle based on the modified clamping displacement command and the modified clamping pressure command;

[0030] At the end of the current control cycle, the actual displacement data and actual pressure data after the clamping action are output are fed back to the status perception module for status information update in the next control cycle.

[0031] The clamping adjustment module is used to generate clamping adjustment control and output it to the clamping actuator when the stability establishment determination module determines that the clamping state is in a transitional state. Its function is to make targeted corrections to the contact establishment process of the clamping end based on the current clamping contact evolution characteristics. By forming clamping step displacement correction and clamping pressure correction based on the contact establishment rate, clamping displacement change, contact pressure growth gradient and contact vibration attenuation, the clamping adjustment module enables the clamping actuator to dynamically adapt to the contact establishment rhythm and load formation process in the transitional state. This helps to improve the state convergence of the clamping contact from contact formation to stable load establishment and provides clamping-side support for improving the continuity of subsequent load transfer.

[0032] When the stability establishment determination module determines that the clamping state is in a transitional state, the active motion coordination adjustment module executes active motion coordination adjustment based on the current clamping contact evolution characteristics and control commands, and generates an active motion adjustment control output to the active motion actuator; the execution process of the active motion coordination adjustment specifically includes:

[0033] After the transition state trigger signal is output by the stable establishment judgment module, the main action coordinated adjustment is executed based on the current clamping contact evolution characteristics and control commands, and the main action adjustment control is generated.

[0034] The active motion adjustment control includes active motion speed correction, active motion acceleration correction, and active motion cycle correction; among which, the active motion speed correction is determined based on the load transmission continuity, the active motion acceleration correction is determined based on the contact pressure growth gradient, and the active motion cycle correction is determined based on the clamping displacement change.

[0035] The current control cycle's main motion adjustment control is generated based on the main motion speed correction, main motion acceleration correction, and main motion beat correction, and then output to the main motion actuator.

[0036] The execution process of active action regulation control specifically includes:

[0037] The active actuator receives the active action adjustment control of the current control cycle at the beginning of the current control cycle;

[0038] Replace the original active action target speed of the current control cycle with the corrected active action target speed;

[0039] Replace the original active target acceleration in the current control cycle with the corrected active target acceleration;

[0040] Execute the main action output of the current control cycle according to the revised main action rhythm;

[0041] At the end of the current control cycle, the actual motion data of the main actuator is fed back to the state perception module for the next control cycle to update the execution state information.

[0042] The active motion coordination adjustment module is used to perform active motion coordination adjustment based on the current clamping contact evolution characteristics and control commands when the stability establishment judgment module determines that the clamping state is in a transitional state. It generates active motion adjustment control output to the active motion actuator. Its function is to enable the active motion output to respond in coordination with the current clamping contact evolution state. By forming active motion speed correction, active motion acceleration correction, and active motion rhythm correction based on load transmission continuity, contact pressure growth gradient, and clamping displacement change, the active motion coordination adjustment module can adaptively modify the active motion execution rhythm without deviating from the control command target. This makes the active motion output more consistent with the process of clamping contact from contact formation to stable load establishment, thereby helping to reduce load transmission fluctuations caused by changes in active motion output during clamping contact evolution.

[0043] The closed-loop iterative control module is used to execute closed-loop iterative control based on the clamping adjustment state information after the clamping adjustment control is executed, until the clamping state reaches a stable bearing state, and then stops outputting clamping adjustment control and active action adjustment control triggered by the transition state. The execution process of the closed-loop iterative control specifically includes:

[0044] At the end of the current control cycle, the closed-loop iterative control module triggers the state perception module to collect the updated state information.

[0045] The state awareness module sends the updated state information to the feature extraction module;

[0046] The feature extraction module performs time-series alignment on the updated state information and extracts the current clamping contact evolution features for the next control cycle;

[0047] The stability establishment determination module performs stability establishment determination based on the current clamping contact evolution characteristics in the next control cycle;

[0048] When the judgment result indicates that the clamping state is still in a transitional state, the closed-loop iterative control module keeps the clamping adjustment module and the active action coordinated adjustment module in working state, and enters the closed-loop adjustment process of the next control cycle.

[0049] When the judgment result indicates that the clamping state has reached a stable bearing state, the closed-loop iterative control module stops outputting clamping adjustment control and active action adjustment control based on the transition state trigger, and maintains the current stable bearing parameters.

[0050] The closed-loop iterative control module sets the maximum number of iteration cycles. When the stable bearing state is not reached after the maximum number of iteration cycles has been executed continuously, the output protection control stops the incremental action output of the main actuator and keeps the clamping actuator maintaining the current clamping pressure.

[0051] The closed-loop iterative control module is used to execute closed-loop iterative control based on the clamping adjustment state information after the clamping adjustment control is executed, until the clamping state reaches a stable bearing state, and then stops outputting clamping adjustment control and active action adjustment control triggered by the transition state. Its function is to organize state perception, feature extraction, stability establishment judgment, clamping adjustment control and active action adjustment control into a continuously updated feedback adjustment process. By triggering state information update after the end of each control cycle, and extracting the current clamping contact evolution characteristics of the next control cycle based on the updated state information, the closed-loop iterative control module can continuously track the evolution process of clamping contact from contact formation to stable bearing establishment, so that clamping adjustment control and active action adjustment control can be dynamically maintained, exited or transferred to protection control state according to the judgment result, thereby helping to gradually suppress the impact of load transfer fluctuations on the establishment of stable bearing state during the clamping contact evolution process.

[0052] Compared with the prior art, the beneficial effects of the present invention are:

[0053] This invention provides a remote control system for a crane with stable clamping. A state perception module collects state information during the crane's clamping operation. A feature extraction module extracts the current clamping contact evolution characteristics based on the state information. A stability establishment determination module then performs a stability establishment determination based on these characteristics to determine whether the clamping state is in a transitional state from contact formation to stable load establishment. When the clamping state is determined to be in a transitional state, a clamping adjustment module generates clamping adjustment control and outputs it to the clamping actuator. An active motion coordination adjustment module then executes the active motion control based on the current clamping contact evolution characteristics and control commands. The invention coordinates and adjusts the action, generating a main action adjustment control output to the main action actuator. Simultaneously, a closed-loop iterative control module executes closed-loop iterative control based on the clamping adjustment state information until the clamping state reaches a stable bearing state. This invention enables the clamping adjustment control and the main action adjustment control to respond in unison around the same current clamping contact evolution characteristics. This helps to improve the impact of load transmission fluctuations on the establishment of a stable bearing state during the clamping contact evolution process, enhances the connection between clamping state determination and adjustment execution during clamping operations, and improves the control adaptability of the crane during the clamping stability establishment process under remote control conditions. Attached Figure Description

[0054] Figure 1 This is a schematic diagram of the core process of the overall module of the present invention;

[0055] Figure 2 This is a schematic diagram of the core process of the state perception module of the present invention;

[0056] Figure 3 This is a schematic diagram of the core process of the feature extraction module of the present invention;

[0057] Figure 4 This is a schematic diagram of the core process of the stability establishment determination module of the present invention;

[0058] Figure 5 This is a schematic diagram of the core process of the clamping and adjustment module of the present invention;

[0059] Figure 6 This is a schematic diagram of the core process of the main action coordination adjustment module of the present invention;

[0060] Figure 7 This is a schematic diagram of the core process of the closed-loop iterative control module of the present invention.

[0061] In the diagram: 100, remote control module; 200, status perception module; 300, feature extraction module; 400, stability establishment judgment module; 500, clamping adjustment module; 600, active action coordination adjustment module; 700, closed-loop iterative control module. Detailed Implementation

[0062] The technical solutions in 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 embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0063] Next, please refer to Figure 1This invention provides a remote control system for a crane with stable clamping, comprising a remote control module 100, a state perception module 200, a feature extraction module 300, a stability establishment determination module 400, a clamping adjustment module 500, a main motion coordination adjustment module 600, and a closed-loop iterative control module 700. The remote control module 100 receives control commands input from an operator terminal and sends them to the main motion coordination adjustment module 600. The state perception module 200 collects state information during the clamping operation and sends it to the feature extraction module 300. The feature extraction module 300 extracts the current clamping contact evolution features based on the state information and outputs these features to the stability establishment determination module 700. Block 400 and main action coordinated adjustment module 600; Stability establishment judgment module 400 performs stability establishment judgment based on the current clamping contact evolution characteristics, and outputs a transition state trigger signal when the clamping state is in a transition state, and outputs a stability stop signal when the clamping state reaches a stable bearing state; Clamping adjustment module 500 and main action coordinated adjustment module 600 generate clamping adjustment control and main action adjustment control respectively after the stability establishment judgment module 400 outputs the transition state trigger signal; Closed-loop iterative control module 700 performs closed-loop iterative control based on the clamping adjustment state information in each control cycle until the clamping state reaches a stable bearing state, or outputs protection control after continuously executing the maximum number of iteration cycles N.

[0064] The remote control module 100 receives control commands input from the operator terminal. The control commands include the original target speed, the original target acceleration, and the original target beat. For ease of subsequent control calculation, let the original target speed corresponding to the current control cycle be Vcmd(k), the original target acceleration corresponding to the current control cycle be Acmd(k), and the original target beat corresponding to the current control cycle be Tcmd(k). Vcmd(k), Acmd(k), and Tcmd(k) are the corresponding control components of the control commands in the current control cycle, which are used to characterize the original target speed, the original target acceleration, and the original target beat set by the operator terminal for the current control cycle.

[0065] The remote control module 100 sends control commands to the main action coordination adjustment module 600, which serves as the reference input for the main action coordination adjustment module 600 to generate main action adjustment control. Before the start of each control cycle, the remote control module 100 receives and refreshes the control commands corresponding to the current control cycle. When the operator does not input new control commands in the current control cycle, the remote control module 100 retains the control commands corresponding to the previous control cycle as the reference input for the current control cycle. When the operator inputs new control commands during the closed-loop iterative control process, the remote control module 100 sends the updated control commands to the main action coordination adjustment module 600 at the start of the next control cycle.

[0066] Please see Figure 2 The state perception module 200 is used to collect state information during the clamping operation; the state information includes displacement data of the clamping actuator, pressure data of the clamping actuator, vibration data of the clamping contact area, attitude data of the clamped object, and motion data of the active actuator; wherein:

[0067] The displacement data of the clamping actuator is obtained by a displacement sensor installed on the clamping actuator; the pressure data of the clamping actuator is obtained by a pressure sensor installed in the hydraulic circuit of the clamping actuator; the vibration data of the clamping contact area is obtained by a vibration sensor installed at the clamping end; the posture data of the clamped object is obtained by a posture detection unit installed at the clamping end; and the motion data of the main actuator is obtained by the coding detection unit of the main actuator.

[0068] The state perception module 200 collects the aforementioned state information according to a fixed sampling period, defined as the control period T. The control period T is a pre-set fixed control cycle, determined jointly based on the synchronous sampling capability of each sensor in the state perception module 200, the displacement and pressure response speed of the clamping actuator, the motion response speed of the main actuator, and the communication refresh cycle under remote control conditions. This ensures that state information acquisition, current clamping contact evolution feature extraction, stability establishment determination, and control output can be performed under a unified timing reference. At the beginning of each control period, the aforementioned state information is synchronously collected to form the current period's state information set, which is then sent to the feature extraction module 300.

[0069] Please see Figure 3The feature extraction module 300 is used to extract the current clamping contact evolution features based on the state information. Within each control cycle T, the current cycle state information is time-aligned with the previous control cycle state information, and the contact establishment rate, contact pressure growth gradient, contact vibration attenuation, clamping displacement change, and load transfer continuity are calculated sequentially. It should be noted that, for the feature quantity calculation process involving division operations in this embodiment, when the absolute value of the corresponding denominator is less than a preset tolerance threshold, the feature extraction module 300 uses the tolerance threshold to replace the denominator for calculation, or uses the feature quantity calculation result corresponding to the previous effective control cycle, to avoid calculation abnormalities or sudden changes in feature quantities due to the denominator approaching 0.

[0070] Let the clamping actuator pressure in the current control cycle be P(k), the clamping actuator pressure in the previous control cycle be P(k-1), the clamping actuator pressure in the control cycle before that be P(k-2), the clamping actuator displacement in the current control cycle be X(k), and the clamping actuator displacement in the previous control cycle be X(k-1). Then, the contact establishment rate R(k) in the current control cycle is calculated by the following formula:

[0071] R(k)=[P(k)-P(k-1)] / [X(k)-X(k-1)].

[0072] Let the pressure change in the current control cycle be ΔP(k) = P(k) - P(k-1), and the pressure change in the previous control cycle be ΔP(k-1) = P(k-1) - P(k-2). Then, the contact pressure growth gradient G(k) in the current control cycle is calculated using the following formula:

[0073] G(k)=[ΔP(k)-ΔP(k-1)] / T.

[0074] Let the vibration amplitude of the clamping contact area in the current control cycle be V(k), and the vibration amplitude of the clamping contact area in the previous control cycle be V(k-1). Here, the vibration amplitude V(k) in the current control cycle is the equivalent vibration amplitude calculated by the feature extraction module 300 based on the vibration data of the clamping contact area collected within the current control cycle, and the vibration amplitude V(k-1) in the previous control cycle is the equivalent vibration amplitude calculated by the feature extraction module 300 based on the vibration data of the clamping contact area collected within the previous control cycle. The equivalent vibration amplitude is characterized by the peak value, root mean square value, or envelope amplitude of the vibration signal within the current control cycle. Then, the contact vibration attenuation A(k) in the current control cycle is calculated using the following formula:

[0075] A(k) = V(k-1) - V(k).

[0076] Let the displacement of the clamping actuator in the current control cycle be X(k), and the displacement of the clamping actuator in the previous control cycle be X(k-1). Then, the change in clamping displacement D(k) in the current control cycle is calculated by the following formula:

[0077] D(k) = X(k) - X(k-1).

[0078] Let the change in the attitude of the clamped object in the current control cycle be ΔQ(k), and the change in the motion of the main actuator in the current control cycle be ΔM(k). Here, the change in the attitude of the clamped object ΔQ(k) is the change in the detected attitude of the clamped object between two adjacent control cycles, and the change in the motion of the main actuator ΔM(k) is the change in the detected motion of the main actuator between two adjacent control cycles. When the detected attitude of the clamped object or the detected motion of the main actuator is a multidimensional quantity, each component is converted into its corresponding equivalent scalar change according to a preset weight before being included in the calculation of the load transfer deviation E(k). Therefore, the load transfer deviation E(k) for the current control cycle is: E(k) = |ΔQ(k) - C·Δ M(k)|, where C is the motion transmission calibration coefficient; the motion transmission calibration coefficient C is used to characterize the equivalent transmission relationship between the motion change of the main actuator and the posture change of the clamped object. C is pre-calibrated based on the crane structure, clamping mechanism arrangement, transmission characteristics of the main actuator, and the force response characteristics of the clamped object under the target working condition; during the calibration process, by collecting the correspondence between the motion change of the main actuator and the posture change of the clamped object, the coefficient value that allows the load transmission deviation E(k) to reflect the consistency of load transmission during the clamping contact evolution is determined; to make the load transmission continuity increase as the deviation decreases, the load transmission continuity L(k) of the current control cycle is defined as:

[0079] L(k)=1 / [1+E(k)].

[0080] The feature extraction module 300 outputs the current control cycle contact establishment rate R(k), contact pressure growth gradient G(k), contact vibration attenuation A(k), clamping displacement change D(k), and load transfer continuity L(k) as the current clamping contact evolution features to the stability establishment determination module 400, and simultaneously outputs them to the main action coordination adjustment module 600.

[0081] Please see Figure 4, the stable establishment determination module 400 is used to perform stable establishment determination based on the current clamping contact evolution characteristics. Let the transition state determination window be n consecutive control cycles, and the stable bearing state determination window be m consecutive control cycles, where m is greater than n; among them, both the transition state determination window n and the stable bearing state determination window m are preset determination window parameters; the transition state determination window n is used to identify the change trend of the current clamping contact evolution characteristics within a short-term consecutive control cycle, and the stable bearing state determination window m is used to confirm the continuous stability after the clamping state reaches the stable bearing state; n and m are jointly calibrated and determined according to the control cycle T, the dynamic response characteristics of the clamping actuator, the dynamic response characteristics of the active actuator, and the clamped object category; when R(k) < R(k - 1), G(k) < G(k - 1), A(k) > A(k - 1), D(k) < D(k - 1), and L(k) > L(k - 1) are simultaneously satisfied within n consecutive control cycles, the stable establishment determination module 400 determines that the clamping state is in the transition state from contact formation to stable bearing establishment.

[0082] Let the lower limit of the stable threshold of the contact establishment rate be Rmin, the upper limit of the stable threshold of the contact establishment rate be Rmax, the lower limit of the stable threshold of the contact pressure growth gradient be Gmin, the upper limit of the stable threshold of the contact pressure growth gradient be Gmax, the lower limit of the stable threshold of the contact vibration attenuation amount be Amin, the upper limit of the stable threshold of the contact vibration attenuation amount be Amax, the lower limit of the stable threshold of the clamping displacement change amount be Dmin, the upper limit of the stable threshold of the clamping displacement change amount be Dmax, and the stable threshold of the load transfer continuity be Lth; when Rmin ≤ R(k) ≤ Rmax, Gmin ≤ G(k) ≤ Gmax, Amin ≤ A(k) ≤ Amax, Dmin ≤ D(k) ≤ Dmax, and L(k) ≥ Lth are simultaneously satisfied within m consecutive control cycles, the stable establishment determination module 400 determines that the clamping state reaches the stable bearing state; Rmin, Rmax, Gmin, Gmax, Amin, Amax, Dmin, Dmax, and Lth are all fixed thresholds pre-calibrated according to the crane model, the rated parameters of the clamping mechanism, and the clamped object category.

[0083] The stable establishment determination module 400 outputs a transition state trigger signal when determining that the clamping state is in the transition state, and outputs a stable stop signal when determining that the clamping state reaches the stable bearing state; the closed-loop iterative control module 700 preferentially calls the stable establishment determination module 400 to perform stable bearing state determination within each control cycle; when the stable bearing state determination condition is not met, the transition state determination is then performed.

[0084] When the current control cycle does not meet either the stable bearing state determination condition or the transition state determination condition, the closed-loop iterative control module 700 determines that the clamping state is in a non-trigger holding state. In the non-trigger holding state, the clamping adjustment module 500 does not output new clamping adjustment control, and the main action coordination adjustment module 600 does not output new main action adjustment control. The clamping actuator and the main action actuator execute actions according to the basic control command corresponding to the current control cycle or the holding control quantity confirmed in the previous control cycle, and wait for the next control cycle to re-collect state information, extract the current clamping contact evolution characteristics, and determine stability establishment.

[0085] Please see Figure 5 The clamping adjustment module 500 is used to generate clamping adjustment control based on the current clamping contact evolution characteristics after the stable establishment judgment module 400 outputs the transition state trigger signal. The clamping adjustment control includes clamping step displacement correction Sx(k) and clamping pressure correction Sp(k). Let the target contact establishment rate be R0, the target contact pressure growth gradient be G0, the target contact vibration attenuation be A0, and the target clamping displacement change be D0, then the clamping step displacement correction Sx(k) is calculated by the following formula:

[0086] Sx(k)=K1·[R0-R(k)]+K2·[D0-D(k)].

[0087] The clamping pressure correction Sp(k) is calculated using the following formula:

[0088] Sp(k)=K3·[G0-G(k)]+K4·[A0-A(k)].

[0089] K1, K2, K3, and K4 are pre-calibrated proportional coefficients; the clamping adjustment control for the current control cycle is formed based on Sx(k) and Sp(k) and output to the clamping actuator.

[0090] The execution process of clamping adjustment control specifically includes:

[0091] At the start of the current control cycle, the clamping actuator receives the clamping adjustment control for the current control cycle. The basic clamping displacement command and basic clamping pressure command for the current control cycle are the default control commands executed by the clamping actuator when the clamping adjustment control is not triggered. These default control commands are pre-generated based on the crane clamping task, the type of object being clamped, the current clamping stage, and a preset clamping strategy, or generated in real-time based on the clamping control commands input from the operator. The clamping step displacement correction Sx(k) and clamping pressure correction Sp(k) output by the clamping adjustment module 500 are used for incremental correction based on the default control commands.

[0092] The clamping step displacement correction Sx(k) is superimposed on the basic clamping displacement command of the current control cycle to obtain the corrected clamping displacement command;

[0093] The clamping pressure correction amount Sp(k) is added to the basic clamping pressure command of the current control cycle to obtain the corrected clamping pressure command;

[0094] The clamping actuator completes the clamping action output of the current control cycle based on the modified clamping displacement command and the modified clamping pressure command;

[0095] At the end of the current control cycle, the actual displacement data and actual pressure data after the clamping action are output are fed back to the status perception module 200 for status information update in the next control cycle.

[0096] Please see Figure 6 The main motion coordination adjustment module 600 is used to perform main motion coordination adjustment based on the current clamping contact evolution characteristics and control commands after the stability establishment judgment module 400 outputs the transition state trigger signal, and to generate main motion adjustment control; the main motion adjustment control includes main motion speed correction Sv(k), main motion acceleration correction Sa(k), and main motion beat correction St(k); assuming the target load transmission continuity used in the main motion coordination adjustment is Lref, the main motion speed correction Sv(k) is calculated by the following formula:

[0097] Sv(k)=K5·[L(k)-Lref].

[0098] The active acceleration correction Sa(k) is calculated using the following formula:

[0099] Sa(k) = K6·[G0-G(k)].

[0100] The active beat correction St(k) is calculated using the following formula:

[0101] St(k) = K7·[D(k)-D0].

[0102] Wherein, K5, K6, and K7 are pre-calibrated proportional coefficients; the main motion coordination adjustment module 600 generates the main motion adjustment control for the current control cycle based on the above corrections, wherein the corrected main motion target speed Vout(k) = Vcmd(k) - Sv(k), the corrected main motion target acceleration Aout(k) = Acmd(k) - Sa(k), and the corrected main motion beat Tout(k) = Tcmd(k) + St(k); the main motion coordination adjustment module 600 outputs Vout(k), Aout(k), and Tout(k) to the main motion actuator.

[0103] The execution process of active action regulation control specifically includes:

[0104] The active actuator receives the active action adjustment control of the current control cycle at the beginning of the current control cycle;

[0105] Replace the original target speed of the active action Vcmd(k) in the current control cycle with the corrected target speed Vout(k);

[0106] Replace the original active target acceleration Acmd(k) of the current control cycle with the corrected active target acceleration Aout(k);

[0107] The current control cycle's main action output is executed according to the corrected main action beat Tout(k);

[0108] At the end of the current control cycle, the actual motion data of the main actuator is fed back to the state perception module 200 for the next control cycle to update the execution state information.

[0109] Please see Figure 7 The closed-loop iterative control module 700 is used to perform closed-loop iterative control based on the clamping adjustment state information after the clamping adjustment control is executed. The execution process of the closed-loop iterative control specifically includes:

[0110] At the end of the current control cycle, the closed-loop iterative control module 700 triggers the state perception module 200 to collect the updated state information;

[0111] The state awareness module 200 sends the updated state information to the feature extraction module 300;

[0112] The feature extraction module 300 performs time-series alignment on the updated state information and calculates the contact establishment rate R(k+1), contact pressure growth gradient G(k+1), contact vibration attenuation A(k+1), clamping displacement change D(k+1), and load transfer continuity L(k+1) for the next control cycle.

[0113] The stability establishment determination module 400 performs stability establishment determination based on R(k+1), G(k+1), A(k+1), D(k+1), and L(k+1);

[0114] When the judgment result indicates that the clamping state is still in a transitional state, the closed-loop iterative control module 700 keeps the clamping adjustment module 500 and the main action coordination adjustment module 600 in working state and enters the closed-loop adjustment process of the next control cycle.

[0115] When the judgment result indicates that the clamping state has reached a stable bearing state, the closed-loop iterative control module 700 stops outputting clamping adjustment control and active action adjustment control based on the transition state trigger, and maintains the current stable bearing parameters; wherein, the current stable bearing parameters include the clamping pressure parameter, clamping displacement parameter, and active action parameter corresponding to the stable bearing state in the current control cycle; the active action parameters include the corrected active action target velocity Vout(k), the corrected active action target acceleration Aout(k), and the corrected active action beat Tout(k), or include the equivalent holding control quantity corresponding to the stable bearing state;

[0116] When a stable bearing state is not reached after executing the maximum number of iteration cycles N, the closed-loop iterative control module 700 outputs a protection control, stops the incremental action output of the main action actuator, and keeps the clamping actuator maintaining the current clamping pressure unchanged. Here, the maximum number of iteration cycles N is the upper limit of the number of control cycles that the clamping adjustment module 500 and the main action coordination adjustment module 600 are allowed to continuously participate in the closed-loop adjustment after the clamping state is determined to be in a transition state. N is a preset parameter, which is determined according to the crane model, the response characteristics of the clamping mechanism, the type of clamped object, and the allowable stability establishment time corresponding to the control cycle T.

[0117] The closed-loop iterative control module 700 starts accumulating iteration cycles from the current control cycle corresponding to the first output of the transition state trigger signal by the self-stabilization establishment judgment module 400. In subsequent continuous control cycles, if the stabilization establishment judgment module 400 continuously determines that the clamping state is in a transition state, it continues to accumulate the iteration cycle count until the clamping state reaches a stable bearing state or the accumulated iteration cycle count reaches N. After the protection control output, the system enters the protection holding state. In the protection holding state, the closed-loop iterative control module 700 stops the automatic output of clamping adjustment control and active action adjustment control based on the transition state trigger. The protection holding state can be released after a reset command is issued at the operation terminal, or when the status information re-collected by the status perception module 200 indicates that the system meets the preset restart conditions. After the protection holding state is released, the closed-loop iterative control module 700 re-executes the status information acquisition, current clamping contact evolution feature extraction, and stabilization establishment judgment process.

[0118] In this embodiment, Rmin, Rmax, Gmin, Gmax, Amin, Amax, Dmin, Dmax, Lth, R0, G0, A0, D0, Lref, and K1 to K7 are all determined by joint calibration based on the crane model, the rated parameters of the clamping mechanism, the type of object being clamped, and trial operation data. Specifically, Rmin and Rmax are 0.60 to 0.80 times and 0.90 to 1.10 times of R0, respectively; Gmin and Gmax are 0.10 to 0.30 times and 0.40 to 0.70 times of G0, respectively; Amin and Amax are 0.80 to 1.00 times and 1.00 to 1.20 times of A0, respectively; Dmin and Dmax are 0.10 to 0.30 times and 0.40 to 0.70 times of D0, respectively; Lth is 0.85 to 0.95; and Lref is 0.90 to 1.00.

[0119] K1 to K7 are proportional coefficients. The deviations involved in the calculation are dimensionless before generating the clamping adjustment control and active motion control, according to the corresponding target value or the upper limit of the corresponding stability threshold. Specifically, the contact establishment rate deviation [R0-R(k)] is dimensionless according to R0, the contact pressure growth gradient deviation [G0-G(k)] is dimensionless according to G0 or Gmax, the contact vibration attenuation deviation [A0-A(k)] is dimensionless according to A0 or Amax, and the clamping displacement change deviation... The difference [D0-D(k)] is dimensionless according to D0 or Dmax, and the load transfer continuity deviation [L(k)-Lref] is dimensionless according to Lref. Specifically, the target value or the upper limit of the stability threshold is used as the dimensionless reference, which can be preset according to the control sensitivity of the corresponding characteristic quantity in the target adjustment stage or the stable load state determination stage. The values ​​of K1, K2, K3, K4, K5, K6 and K7 are all in the range of 0.05 to 0.80, of which K1 and K2 are based on the displacement of the clamping actuator. The response speed and displacement adjustment resolution are determined. K3 and K4 are determined based on the pressure response speed and pressure control stability of the clamping actuator. K5, K6, and K7 are determined based on the speed response capability, acceleration response capability, and cycle adjustment accuracy of the active actuator. The above thresholds and coefficients are determined during the calibration process with the goal of reducing clamping impact, reducing attitude disturbance, improving load transmission continuity, and shortening the stable load-bearing state establishment time. They are determined through iterative corrections using no-load tests, rated load tests, and target operating condition tests. During the joint calibration process, the state information, current clamping contact evolution characteristics, and stability establishment results under no-load tests, rated load tests, and target operating condition tests are collected respectively. With the goal of reducing clamping impact, reducing attitude disturbance, improving load transmission continuity, and shortening the stable load-bearing state establishment time, Rmin, Rmax, Gmin, Gmax, Amin, Amax, Dmin, Dmax, Lth, R0, G0, A0, D0, Lref, and K1 to K7 are iteratively corrected until each control effect meets the preset requirements.

[0120] To further illustrate the working process of this invention, a specific operational process is given below:

[0121] The remote control module 100 receives the control commands input from the operator terminal and sends the control commands to the main action coordination adjustment module 600 as the reference input for generating the main action adjustment control.

[0122] The state perception module 200 synchronously collects state information according to the control cycle T, and sends the current control cycle state information set to the feature extraction module 300;

[0123] The feature extraction module 300 performs time-series alignment of the current control cycle state information with the previous control cycle state information, calculates the current control cycle contact establishment rate R(k), contact pressure growth gradient G(k), contact vibration attenuation A(k), clamping displacement change D(k), and load transfer continuity L(k), and outputs the current clamping contact evolution features to the stability establishment determination module 400 and the active action coordination adjustment module 600;

[0124] The stability establishment judgment module 400 performs stability establishment judgment based on the current clamping contact evolution characteristics. When the clamping state is determined to be in a transitional state, the clamping adjustment module 500 generates clamping adjustment control, and the main action coordination adjustment module 600 generates main action adjustment control. The clamping actuator and the main action actuator complete the action output of the current control cycle according to the clamping adjustment control and the main action adjustment control, respectively.

[0125] At the end of the current control cycle, the closed-loop iterative control module 700 triggers the state perception module 200 to collect the updated state information again, and sequentially triggers the feature extraction module 300 and the stability establishment judgment module 400 to re-execute the current clamping contact evolution feature extraction and stability establishment judgment.

[0126] When the judgment result indicates that the clamping state has reached a stable bearing state, the closed-loop iterative control module 700 stops outputting clamping adjustment control and active action adjustment control based on the transition state trigger, and maintains the current stable bearing parameters. When the stable bearing state is still not reached after continuously executing the maximum number of iteration cycles N, the closed-loop iterative control module 700 outputs protection control, stops the incremental action output of the active action actuator, and keeps the clamping actuator maintaining the current clamping pressure unchanged.

[0127] As can be seen from the above description, the remote control system for a clamping and stabilizing crane provided in this embodiment has the following technical effects:

[0128] The remote control module 100 receives control commands input from the operator terminal. The state perception module 200 collects state information during the crane clamping operation. The feature extraction module 300 extracts the current clamping contact evolution features based on the state information. The stability establishment judgment module 400 performs a stability establishment judgment based on the current clamping contact evolution features to determine whether the clamping state is in a transitional state from contact formation to stable load establishment. When the clamping state is determined to be in a transitional state, the clamping adjustment module 500 generates clamping adjustment control and outputs it to the clamping actuator. The active action coordination adjustment module 600 adjusts the current... The clamping contact evolution characteristics and control commands are coordinated and adjusted to generate an active action adjustment control output to the active action actuator. The closed-loop iterative control module 700 performs closed-loop iterative control based on the clamping adjustment state information until the clamping state reaches a stable load-bearing state. Based on the above process, the clamping adjustment control and active action adjustment control can respond in conjunction around the same current clamping contact evolution characteristics, which helps to improve the impact of load transmission fluctuations on the establishment of a stable load-bearing state during the clamping contact evolution process and improves the control adaptability of the crane in the clamping stability establishment process under remote control conditions.

[0129] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A remote control system for a clamping and stabilizing crane, characterized in that, It includes a remote control module, a state perception module, a feature extraction module, a stability establishment and determination module, a clamping adjustment module, a main action coordination adjustment module, and a closed-loop iterative control module, among which: The remote control module inputs control commands; The status sensing module collects status information during the crane clamping operation; The feature extraction module extracts the current clamping contact evolution features based on the state information; The stability establishment determination module performs stability establishment determination based on the current clamping contact evolution characteristics to determine whether the clamping state is in a transitional state from contact formation to stable bearing establishment. When the stability establishment determination module determines that the clamping state is in the transition state, the clamping adjustment module generates clamping adjustment control and outputs it to the clamping actuator. When the stability establishment determination module determines that the clamping state is in the transition state, the main action coordination adjustment module performs main action coordination adjustment based on the current clamping contact evolution characteristics and the control command, and generates main action adjustment control output to the main action execution mechanism. The closed-loop iterative control module is used to perform closed-loop iterative control based on the clamping adjustment state information after the clamping adjustment control is executed, until the clamping state reaches a stable bearing state, and then stop outputting the clamping adjustment control and the active action adjustment control triggered based on the transition state.

2. The remote control system for a clamping and stabilizing crane according to claim 1, characterized in that, The process of collecting the status information specifically includes: During the clamping operation, status information is collected, including displacement data of the clamping actuator, pressure data of the clamping actuator, vibration data of the clamping contact area, posture data of the clamped object, and motion data of the main actuator. Among them, the displacement data of the clamping actuator is obtained by a displacement sensor installed on the clamping actuator, the pressure data of the clamping actuator is obtained by a pressure sensor installed in the hydraulic circuit of the clamping actuator, the vibration data of the clamping contact area is obtained by a vibration sensor installed at the clamping end, the posture data of the clamped object is obtained by a posture detection unit installed at the clamping end, and the motion data of the main actuator is obtained by the encoding detection unit of the main actuator. The status information is collected according to a fixed sampling period, and the status information is collected synchronously at the beginning of each control period to form a current period status information set, which is then sent to the feature extraction module.

3. The remote control system for a clamping and stabilizing crane according to claim 1, characterized in that, The extraction process of the current clamping contact evolution features specifically includes: The current cycle status information is time-aligned with the previous control cycle status information. Based on the time-aligned state information, the contact establishment rate, contact pressure growth gradient, contact vibration attenuation, clamping displacement change, and load transfer continuity are extracted. The contact establishment rate, the contact pressure growth gradient, the contact vibration attenuation, the clamping displacement change, and the load transfer continuity are output as the current clamping contact evolution characteristics to the stability establishment determination module, and simultaneously output to the active action coordination adjustment module.

4. The remote control system for a clamping and stabilizing crane according to claim 1, characterized in that, The execution process of the stability establishment determination specifically includes: Based on the current characteristics of clamping contact evolution, a stability establishment determination is performed according to the transition state determination window and the stable bearing state determination window; When, within multiple consecutive control cycles, the current clamping contact evolution characteristics simultaneously satisfy the following conditions: decreased contact establishment rate, decreased contact pressure growth gradient, increased contact vibration attenuation, decreased clamping displacement change, and increased load transfer continuity, the clamping state is determined to be in a transitional state from contact formation to stable load establishment. When the current clamping contact evolution characteristics simultaneously meet the pre-calibrated stability threshold condition within multiple consecutive control cycles, the clamping state is determined to have reached a stable bearing state. When the clamping state is determined to be in a transitional state, a transitional state trigger signal is output; when the clamping state is determined to have reached a stable bearing state, a stable stop signal is output.

5. The remote control system for a clamping and stabilizing crane according to claim 1, characterized in that, The generation process of the clamping adjustment control specifically includes: After the stability establishment determination module outputs the transition state trigger signal, clamping adjustment control is generated based on the current clamping contact evolution characteristics; The clamping adjustment control includes a clamping step displacement correction amount and a clamping pressure correction amount; wherein, the clamping step displacement correction amount is determined based on the contact establishment rate and the clamping displacement change amount, and the clamping pressure correction amount is determined based on the contact pressure growth gradient and the contact vibration attenuation amount. The clamping adjustment control for the current control cycle is formed based on the clamping step displacement correction amount and the clamping pressure correction amount, and then output to the clamping actuator.

6. The remote control system for a clamping and stabilizing crane according to claim 5, characterized in that, The execution process of the clamping adjustment control specifically includes: At the start of the current control cycle, the clamping actuator receives the clamping adjustment control for the current control cycle; it adds the clamping step displacement correction to the basic clamping displacement command for the current control cycle to obtain the corrected clamping displacement command; The clamping pressure correction is added to the base clamping pressure command of the current control cycle to obtain the corrected clamping pressure command; The clamping actuator completes the clamping action output of the current control cycle based on the modified clamping displacement command and the modified clamping pressure command; At the end of the current control cycle, the actual displacement data and actual pressure data after the clamping action are output are fed back to the state perception module for the next control cycle to update the state information.

7. The remote control system for a clamping and stabilizing crane according to claim 1, characterized in that, The execution process of the active action coordinated adjustment specifically includes: After the stability establishment determination module outputs the transition state trigger signal, it performs active action coordinated adjustment based on the current clamping contact evolution characteristics and control commands, and generates active action adjustment control. The main motion adjustment control includes a main motion speed correction, a main motion acceleration correction, and a main motion cycle correction; wherein, the main motion speed correction is determined based on the load transmission continuity, the main motion acceleration correction is determined based on the contact pressure growth gradient, and the main motion cycle correction is determined based on the clamping displacement change. The current control cycle main motion adjustment control is generated based on the main motion speed correction amount, the main motion acceleration correction amount, and the main motion beat correction amount, and then output to the main motion actuator.

8. The remote control system for a clamping and stabilizing crane according to claim 7, characterized in that, The execution process of the active action adjustment control specifically includes: The active actuator receives the active action adjustment control of the current control cycle at the beginning of the current control cycle; Replace the original active action target speed of the current control cycle with the corrected active action target speed; Replace the original active target acceleration in the current control cycle with the corrected active target acceleration; Execute the main action output of the current control cycle according to the revised main action rhythm; At the end of the current control cycle, the actual motion data of the main actuator is fed back to the state perception module for the next control cycle to update the execution state information.

9. The remote control system for a clamping and stabilizing crane according to claim 1, characterized in that, The execution process of the closed-loop iterative control specifically includes: At the end of the current control cycle, the closed-loop iterative control module triggers the state perception module to collect updated state information; The state awareness module sends the updated state information to the feature extraction module; The feature extraction module performs time-series alignment on the updated state information and extracts the current clamping contact evolution features for the next control cycle; The stability establishment determination module performs stability establishment determination based on the current clamping contact evolution characteristics in the next control cycle; When the determination result indicates that the clamping state is still in a transitional state, the closed-loop iterative control module keeps the clamping adjustment module and the main action coordinated adjustment module in working state, and enters the closed-loop adjustment process of the next control cycle. When the determination result indicates that the clamping state has reached a stable bearing state, the closed-loop iterative control module stops outputting clamping adjustment control and active action adjustment control based on the transition state trigger, and maintains the current stable bearing parameters.

10. The remote control system for a clamping and stabilizing crane according to claim 9, characterized in that, The closed-loop iterative control module sets a maximum number of iteration cycles. When a stable bearing state is not reached after executing the maximum number of iteration cycles, a protection control is output to stop the incremental action output of the main actuator and keep the clamping actuator maintaining the current clamping pressure.

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