Method for planning a movement path of a spreader of a container crane and electronic device

Abstract

The application provides a container crane sling motion path planning method and electronic equipment, and relates to the field of port machinery automation control. The method comprises the following steps: determining the starting point, the ending point, the highest obstacle point and other obstacle points of the sling of the container crane to complete the required operation task; setting the sling motion from the starting point to the ending point to include vertical upward motion, horizontal transverse motion and vertical downward motion; determining the initial motion control function corresponding to the vertical upward motion, the horizontal transverse motion and the vertical downward motion based on the highest obstacle point, the starting point and the ending point; determining the starting time corresponding to the horizontal transverse motion and the vertical downward motion based on the other obstacle points and the initial motion control function; determining the optimal motion control function based on the starting time and the initial motion control function, and further determining the motion path of the sling. This method has the advantages of simple calculation and accurate path planning, and avoids the problems of large calculation amount and long time consumption.

Description

Technical Field

[0001] This application relates to the field of port machinery automation control, and in particular to motion path planning methods and electronic equipment for container crane spreaders. Background Technology

[0002] Path planning for container crane spreaders is a core technology for the efficient and safe operation of modern automated terminals. Its core task is to plan an efficient, smooth, and collision-free movement path between the starting point (i.e., the grab point) and the ending point (i.e., the placement point) of the container, so that the container crane spreader can efficiently and safely move the container from the starting point to the ending point according to the movement path.

[0003] Currently, common path planning methods typically employ optimization models to solve the optimal motion path problem. This involves parameterizing the motion path and then using algorithms such as genetic algorithms and particle swarm optimization to transform the problem of solving the parameterized motion path into a multi-objective optimization problem. This allows for explicit handling of constraints such as obstacle avoidance and transport efficiency, thereby planning the optimal motion path.

[0004] However, this method has the problems of large computational load and long computation time, and cannot be well applied to occasions with high real-time requirements for motion path planning. Summary of the Invention

[0005] In view of this, this application provides a motion path planning method and electronic device for container crane spreaders, which can solve the problems of large computational load and long computation time in the path planning method.

[0006] The present application is described below from multiple aspects, and the implementation methods and beneficial effects of these aspects can be referred to each other.

[0007] In a first aspect, this application provides a method for planning the motion path of a container crane spreader, comprising: determining the starting point and ending point of the spreader to complete a required task, wherein the task is the spreader picking up and placing containers; determining multiple rows of containers covered on the motion trajectory of the spreader from the starting point to the ending point, and identifying the first container with the highest vertical position from each row of containers covered, and determining the highest obstacle point in the multiple rows of containers based on the first container; determining the second container with the highest vertical position in the other rows covered besides the row containing the first container, and determining the highest obstacle point in the multiple rows of containers based on the second container. Other obstacle points; define the motion of the spreader from the starting point to the ending point as vertical upward motion, horizontal lateral motion, and vertical downward motion; based on the highest obstacle point, the starting point, and the ending point, determine the initial motion control functions corresponding to the vertical upward motion, horizontal lateral motion, and vertical downward motion, respectively. The initial motion control functions are used to control the motion path of the spreader; based on other obstacle points and the initial motion control functions, determine the first starting time corresponding to the horizontal lateral motion and the second starting time corresponding to the vertical downward motion; based on the first starting time, the second starting time, and the initial motion control functions, determine the optimal motion control function; based on the optimal motion control function, determine the motion path of the spreader.

[0008] According to this scheme, firstly, an initial motion control function that can cross the highest obstacle point with the shortest time is quickly determined. Then, the spreader's motion is abstracted into vertical upward motion, horizontal lateral motion, and vertical downward motion. Based on other obstacle points and the initial motion control function, the start times of the horizontal lateral motion and vertical downward motion are determined respectively. Based on the initial motion control function and the start times of the horizontal lateral motion and vertical downward motion, the optimal motion control function is determined to ensure that, while minimizing the time and avoiding collisions with the highest obstacle point, collisions with other obstacle points are also avoided. This generates the optimal motion control function and determines the corresponding motion path. This path planning method has two advantages: First, it can safely and efficiently complete the task of picking up and placing containers, avoiding collisions with the highest obstacle point and other obstacle points. Second, it transforms the complex spatial obstacle avoidance problem into an optimization problem of time parameters, avoiding complex calculations. It has the advantages of simple calculation and accurate path planning, avoiding the problems of large computational load, long calculation time, and low planning efficiency, thus improving the operational efficiency of the spreader in performing container picking and placing tasks.

[0009] In one possible implementation of the first aspect above, determining the first starting time corresponding to the horizontal lateral movement based on other obstacle points and the initial motion control function includes: determining a first time range: determining a first time range corresponding to the first starting time based on the initial motion control function, the first time range including selectable time intervals for the start time of the horizontal lateral movement of the spreader; determining the movement path of the spreader: taking the midpoint value of the first time range as the first candidate starting time, and determining the movement path of the spreader based on the first candidate starting time and the initial motion control function; adjusting the first time range: judging whether the spreader will collide with other obstacle points during the movement according to the movement path of the spreader; if a collision occurs, updating the lower limit of the first time range to the midpoint value of the first time range, and if no collision occurs, updating the upper limit of the first time range to the midpoint value of the first time range; repeating the steps of determining the movement path of the spreader and adjusting the first time range until the first time range meets the preset time range requirement or the number of repetitions meets the preset number of repetitions requirement, and then determining the first starting time based on the finally determined first time range.

[0010] According to this scheme, an iterative search method is used to find the first starting time corresponding to the horizontal lateral movement that satisfies the obstacle avoidance conditions and maximizes the container handling efficiency. Furthermore, the bisection method employed has the advantages of fast convergence speed and high solution accuracy, ensuring the real-time nature of the optimization process and the optimality of the results.

[0011] In one possible implementation of the first aspect above, determining the second starting time corresponding to the vertical descent motion based on other obstacle points and the initial motion control function includes: determining a second time range: determining a second time range corresponding to the second starting time based on the initial motion control function, the second time range including an optional time interval for the start time of the vertical descent motion of the spreader; determining the motion path of the spreader: taking the midpoint value of the second time range as the second candidate starting time, and determining the motion path of the spreader based on the second candidate starting time and the initial motion control function; adjusting the second time range: judging whether the spreader will collide with other obstacle points during the motion process according to the motion path of the spreader; if a collision occurs, updating the lower limit of the second time range to the midpoint value of the second time range, and if no collision occurs, updating the upper limit of the second time range to the midpoint value of the second time range; repeating the steps of determining the motion path of the spreader and adjusting the second time range until the second time range meets the preset time range requirement or the number of times the above steps are repeated meets the preset number of times requirement, and then determining the second starting time based on the finally determined second time range.

[0012] According to this scheme, an iterative search method is used to find the second starting time corresponding to the vertical descent motion that satisfies the obstacle avoidance conditions and maximizes the container handling efficiency. Furthermore, the bisection method employed has the advantages of fast convergence speed and high solution accuracy, ensuring the real-time nature of the optimization process and the optimality of the results.

[0013] In one possible implementation of the first aspect described above, the initial motion control functions corresponding to the vertical upward motion, horizontal lateral motion, and vertical downward motion are determined based on the highest obstacle point, the starting point, and the ending point, including: determining pre-set motion parameters; wherein the motion parameters include the maximum vertical velocity, the maximum vertical acceleration, the maximum horizontal velocity, and the maximum horizontal acceleration; and determining the initial motion control functions corresponding to the vertical upward motion, horizontal lateral motion, and vertical downward motion based on the highest obstacle point, the starting point, the ending point, and the motion parameters.

[0014] According to this scheme, based on the motion parameters and the actual locations of the obstacle points and the start and end points, initial motion control functions for different motion processes are planned respectively, which can obtain initial motion control functions that meet the speed and acceleration limits and conform to the actual situation of the obstacle points.

[0015] In one possible implementation of the first aspect above, determining the initial motion control function corresponding to the vertical upward motion includes: based on the maximum vertical velocity, the maximum vertical acceleration, the distance between the highest obstacle point and the starting point in the vertical direction, determining whether the vertical upward motion is uniform motion; if it is, determining that the velocity change corresponding to the vertical upward motion is a trapezoidal velocity curve, and determining the initial motion control function corresponding to the vertical upward motion; if it is not, determining that the velocity change corresponding to the vertical upward motion is a triangular velocity curve, and determining the initial motion control function corresponding to the vertical upward motion.

[0016] According to this scheme, when planning the initial motion control function corresponding to the vertical upward motion, a trapezoidal velocity curve (including the uniform speed segment) or a triangular velocity curve (excluding the uniform speed segment) is selected as the time-optimal motion mode based on relevant parameters. This ensures that the lifting device performs the vertical upward motion in the fastest way allowed by physical limits, ensures the optimal time for the vertical upward motion, and guarantees the efficiency of the vertical upward motion.

[0017] In one possible implementation of the first aspect above, determining the initial motion control function corresponding to the horizontal lateral movement includes: determining whether the horizontal lateral movement is uniform based on the maximum horizontal velocity, the maximum horizontal acceleration, and the distance between the starting point and the ending point in the horizontal direction; if it is, determining that the velocity change corresponding to the horizontal lateral movement is a trapezoidal velocity curve, and determining the initial motion control function corresponding to the horizontal lateral movement; if it is not, determining that the velocity change corresponding to the horizontal lateral movement is a triangular velocity curve, and determining the initial motion control function corresponding to the horizontal lateral movement.

[0018] According to this scheme, when planning the initial motion control function corresponding to the horizontal lateral movement, a trapezoidal velocity curve (including the uniform speed segment) or a triangular velocity curve (excluding the uniform speed segment) is selected as the time-optimal motion mode based on relevant parameters. This ensures that the spreader performs the horizontal lateral movement in the fastest way allowed by physical limits, ensures the time-optimal horizontal lateral movement, and guarantees the efficiency of the horizontal lateral movement.

[0019] In one possible implementation of the first aspect above, determining the initial motion control function corresponding to the vertical descent motion includes: determining whether the vertical descent motion is uniform based on the maximum vertical velocity, the maximum vertical acceleration, the distance between the highest obstacle point and the termination point in the vertical direction; if it is, determining that the velocity change corresponding to the vertical descent motion is a trapezoidal velocity curve, and determining the initial motion control function corresponding to the vertical descent motion; if it is not, determining that the velocity change corresponding to the vertical descent motion is a triangular velocity curve, and determining the initial motion control function corresponding to the vertical descent motion.

[0020] According to this scheme, when planning the initial motion control function corresponding to the vertical descent motion, a trapezoidal velocity curve (including the uniform velocity segment) or a triangular velocity curve (excluding the uniform velocity segment) is selected as the time-optimal motion mode based on relevant parameters. This ensures that the lifting device performs the vertical descent motion in the fastest way allowed by physical limits, ensures the optimal time for the vertical descent motion, and guarantees the efficiency of the vertical descent motion.

[0021] In one possible implementation of the first aspect above, determining the highest obstacle point among the multiple rows of containers based on the first container includes: determining an initial highest obstacle point among the multiple rows of containers based on the first container, and adjusting the coordinates of the initial highest obstacle point based on the size of the spreader to obtain the highest obstacle point; and determining other obstacle points among the multiple rows of containers based on the second container includes: determining initial other obstacle points among the multiple rows of containers based on the second container, and adjusting the coordinates of the initial other obstacle points based on the size of the spreader to obtain other obstacle points.

[0022] According to this scheme, by expanding the obstacle coordinates outward based on the physical dimensions of the spreader, the problem of the spreader body not colliding with the container is simplified to the problem of the spreader center point not colliding with the obstacle point, thus providing a reliable basis for subsequent path planning.

[0023] In a second aspect, this application provides an electronic device, which includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the method disclosed in the first aspect and any possible implementation thereof.

[0024] Thirdly, this application provides a computer-readable storage medium storing at least one instruction or at least one program, which is loaded and executed by a processor to implement the method disclosed in the first aspect and any possible implementation thereof.

[0025] It should be understood that the beneficial effects of the second and third aspects can be referred to the beneficial effects described in the first aspect, and will not be repeated here. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of a scenario provided for an embodiment of this application;

[0027] Figure 2 A flowchart illustrating the motion path planning method for a container crane spreader provided in this application embodiment;

[0028] Figure 3 This is a schematic diagram of coordinate adjustment and path planning provided in the embodiments of this application;

[0029] Figure 4 A flowchart illustrating the determination of the initial motion control function provided in an embodiment of this application;

[0030] Figure 5 A flowchart illustrating the determination of the initial motion control function corresponding to the vertical upward motion provided in an embodiment of this application;

[0031] Figure 6 A flowchart illustrating the determination of the initial motion control function corresponding to the horizontal lateral movement provided in this application embodiment;

[0032] Figure 7 A flowchart illustrating the determination of the initial motion control function corresponding to the vertical descent motion provided in an embodiment of this application;

[0033] Figure 8 A flowchart illustrating the determination of the first starting time corresponding to the horizontal lateral movement provided in an embodiment of this application;

[0034] Figure 9A flowchart illustrating the process of determining the second starting time corresponding to the vertical descent motion, provided in an embodiment of this application;

[0035] Figure 10 A block diagram of an electronic device provided in an embodiment of this application;

[0036] Figure 11 This is a block diagram of a SoC (system on chip) provided in an embodiment of this application.

[0037] Explanation of reference numerals in the attached figures:

[0038] 1. Ground; 2. Track; 3. Trolley; 4. Wire rope; 5. Lifting device; 6. Obstacle. Detailed Implementation

[0039] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0040] The application scenarios of the embodiments of this application will be described below.

[0041] Reference Figure 1 , Figure 1 This is a schematic diagram of a scenario provided for an embodiment of this application.

[0042] like Figure 1 As shown, the container handling system includes ground 1, rails 2, trolleys 3, wire ropes 4, spreaders 5, and obstacles 6.

[0043] The track 2 can be fixedly installed on a support structure at a certain height above the ground. The trolley 3 is equipped with a drive unit and can move horizontally along the track 2. A steel wire rope 4 is fixed on the trolley 3, with one end connected to the bottom of the trolley 3 and the other end connected to the center of the spreader 5. The spreader 5 is used to grab and transport containers, and its height can be adjusted by controlling the extension and retraction of the steel wire rope 4. The obstacle 6 is the container in the yard.

[0044] When performing the task of picking up and placing containers through the above system, it is necessary to grab the container with the spreader 5, control the trolley 3 to move horizontally along the track 2, and control the wire rope 4 to retract and extend, so as to avoid collision with obstacles 6 during the process of transporting the grabbed container from the starting point to the ending point.

[0045] The technical problems to be solved by the embodiments of this application will be described below.

[0046] based on Figure 1 The application scenario shown requires that when a device with control functions performs the task of picking up and placing containers, a movement path for transporting the container from the starting point to the ending point needs to be planned in advance so that the container can be transported without colliding with obstacles and while ensuring transportation efficiency.

[0047] The motion path planning in this case is relatively complex, stemming from the fact that the spreader and container system is a pendulum system with highly nonlinear and strongly coupled characteristics. Therefore, its path planning is not a simple point-to-point movement in space, but a multi-objective constrained optimization problem that requires comprehensive consideration of anti-sway control, time optimization, energy economy, positioning accuracy, and motion smoothness. Among these, suppressing and eliminating load sway is the primary challenge throughout the entire process, directly impacting operational safety, efficiency, and equipment lifespan.

[0048] From a methodological evolution perspective, motion path planning technology has undergone a profound transformation from manual, experience-based methods to intelligent automation. Early motion path planning relied primarily on operator experience, later evolving into the early stages of automation. In this early phase, path planning methods based on traditional control theory became mainstream. Input shaping techniques, due to their practicality and robustness, became an industry standard. This method counteracted the swaying of the spreader by delaying and modulating the control commands, and used optimal control theory to calculate the theoretically optimal solution for the motion path. However, this method suffers from computational complexity and, by tightly integrating path planning with sway suppression control, demands high computational power, limiting its ability to handle complex constraints. Subsequently, with improved computational capabilities, methods based on intelligent optimization algorithms emerged. These algorithms, using genetic algorithms and particle swarm optimization, transformed the search problem for parameterized motion trajectories (e.g., polynomial curves) into a multi-objective optimization problem, enabling explicit handling of constraints such as obstacle avoidance and energy consumption. While intelligent optimization algorithms offer greater flexibility, they are computationally intensive and time-consuming, typically used for offline motion path planning or trajectory generation, and are not well-suited for applications requiring high real-time performance in motion path planning.

[0049] Currently, technological development exhibits a clear trend towards hybridization and integration, aiming to balance the real-time performance, optimality, and robustness of motion path planning. On one hand, optimization models based on genetic algorithms, particle swarm optimization, and other algorithms are increasingly becoming the focus of high-end applications. Through online rolling optimization and feedback correction, they can directly and dynamically handle various state and control constraints, representing an advanced direction of integrated planning and control. On the other hand, geometric analytical methods (such as the simultaneous planning of the swing angle and displacement of the spreader) are attracting attention due to their ability to generate analytical solutions. More cutting-edge explorations focus on methods based on modern learning and data-driven approaches, such as models using reinforcement learning, which can adaptively learn complex strategies through interaction with the environment. However, this approach faces challenges such as difficulties in model training and security verification. In practice, hybrid architectures combining intelligent algorithms (for motion trajectory planning) with traditional controllers (for the stable control of the spreader) have become mainstream. For example, optimization algorithms can be used to tune the parameters of model predictive control (MPC) or input them into a shaper to control the motion of the spreader through the controller.

[0050] Therefore, in some embodiments, optimization models based on genetic algorithms, particle swarm optimization, etc., are used to solve the optimal motion path problem and plan the optimal motion path. This method suffers from high computational complexity and long computation time, making it unsuitable for situations with high real-time requirements for motion path planning.

[0051] To address the aforementioned technical problems, this application provides a motion path planning method for a container crane spreader. Based on multiple rows of containers covered by the motion trajectory, this method first considers the position of the container with the highest vertical position in all rows, as well as the start and end points of the motion. The spreader's motion is abstracted into multiple stages (vertical upward motion, horizontal lateral motion, and vertical downward motion), and an initial motion control function is planned for each stage. Then, combining the positions of the containers with the highest vertical positions in other rows, the start times corresponding to the horizontal lateral motion and vertical downward motion are determined. Finally, based on the initial motion control function and the start times corresponding to the horizontal lateral motion and vertical downward motion, an optimal motion control function that satisfies both time optimization and collision avoidance is obtained, thereby determining the spreader's motion path.

[0052] This approach, employing initial planning and secondary adjustments, ensures that the final generated motion path can safely and efficiently complete the container retrieval and placement tasks, avoiding collisions with obstacles during container handling. This method offers advantages such as simple computation and accurate path planning, and eliminates the need for optimization models based on genetic algorithms or particle swarm optimization, thus avoiding the problems of high computational load and long processing time.

[0053] The motion path planning method for the container crane spreader according to the present application will be described below with reference to specific embodiments and accompanying drawings.

[0054] It is understood that this motion path planning method can be executed by an electronic device or a processor within an electronic device. For example, the electronic device can be a server or a terminal. This application does not specifically limit this; the following description uses an electronic device as the execution subject.

[0055] Reference Figure 2 , Figure 2 This is a flowchart illustrating the motion path planning method for a container crane spreader provided in an embodiment of this application. Figure 2 As shown, the motion path planning method includes steps S210-S280.

[0056] S210: Determine the start and end points of the container crane's spreader to complete the required tasks.

[0057] The task involves the spreader of the container crane moving a container from the starting point to the end point in the container yard, or the spreader moving a container from the top of a row of containers in the yard to the quay crane.

[0058] S220: Determine the multiple rows of containers covered by the spreader's movement trajectory from the starting point to the ending point, and from each row of containers covered, determine the container with the highest position in the vertical direction (corresponding to the first container), and determine the highest obstacle point among the multiple rows of containers based on the first container.

[0059] S230: Determine the container with the highest vertical position in the column other than the column where the first container is located (corresponding to the second container), and determine other obstacle points in the multi-column container based on the second container.

[0060] S240: The motion of the lifting device from the starting point to the ending point includes vertical upward motion, horizontal lateral motion, and vertical downward motion.

[0061] S250: Based on the highest obstacle point, the starting point, and the ending point, determine the initial motion control functions corresponding to the vertical upward motion, the horizontal lateral motion, and the vertical downward motion, respectively.

[0062] Understandably, the initial motion control function is used to control the motion path of the spreader, which satisfies the requirements of minimizing time and avoiding collisions with the highest obstacle point.

[0063] S260: Based on other obstacle points and the initial motion control function, determine the first starting time corresponding to the horizontal lateral movement and the second starting time corresponding to the vertical descent movement.

[0064] S270: Determine the optimal motion control function based on the first start time, the second start time, and the initial motion control function.

[0065] S280: Determine the motion path of the spreader based on the optimal motion control function.

[0066] It is understandable that the motion path corresponding to the optimal motion control function satisfies the requirements of minimizing time consumption and avoiding collisions with the highest obstacle point, while also avoiding collisions with other obstacle points.

[0067] Based on steps S210-S280, an initial motion control function that minimizes the time required to cross the highest obstacle point is first quickly determined. Then, the spreader's motion is abstracted into vertical upward motion, horizontal lateral motion, and vertical downward motion. The start times for the horizontal lateral motion and vertical downward motion are determined based on other obstacle points and the initial motion control function. According to the initial motion control function and the start times of the horizontal lateral motion and vertical downward motion, the optimal motion control function is determined to ensure that, while minimizing the time required and avoiding collisions with the highest obstacle point, collisions with other obstacle points are also avoided. This generates the optimal motion control function and determines the corresponding motion path. This path planning method ensures the safe and efficient completion of container retrieval and placement tasks while avoiding collisions with the highest obstacle point and other obstacle points. Secondly, it transforms the complex spatial obstacle avoidance problem into an optimization problem of time parameters, avoiding complex calculations. It has the advantages of simple calculation and accurate path planning. It does not require the use of optimization models based on genetic algorithms, particle swarm algorithms, etc. for motion path planning, thus avoiding the problems of large amount of calculation, long calculation time and low planning efficiency, and improving the operational efficiency of the spreader in performing container picking and placing tasks.

[0068] Furthermore, based on the motion path planning method provided in this application embodiment, in practical applications, the planned motion path can be input into the controller. The controller can control the spreader to perform container pick-up and drop tasks, and combined with anti-sway control of the spreader, suppress and eliminate the swaying of the spreader, thereby efficiently completing the container pick-up and drop tasks and promoting the automated terminal towards a more efficient, reliable, and intelligent future.

[0069] The process of determining the highest obstacle point and other obstacle points will be explained below with reference to specific embodiments.

[0070] In one embodiment, the process of determining the highest obstacle point among multiple rows of containers based on the first container, as described in step S220, includes the following steps.

[0071] The initial highest obstacle point among multiple containers is determined based on the first container, and the coordinates of the initial highest obstacle point are adjusted based on the size of the spreader to obtain the highest obstacle point.

[0072] In one embodiment, the process of determining other obstacle points in the multi-row containers based on the second container, as described in step S230, includes the following steps.

[0073] The initial other obstacle points in the multi-column container are determined based on the second container, and the coordinates of the initial other obstacle points are adjusted based on the size of the spreader to obtain the other obstacle points.

[0074] Therefore, by expanding the obstacle coordinates outward according to the physical dimensions of the spreader, the problem of the spreader body not colliding with the container is simplified to the problem of the spreader center point not colliding with the obstacle point, providing a reliable basis for subsequent path planning.

[0075] To facilitate understanding, the following will be combined with... Figure 3 The process of determining the highest obstacle and other obstacle points is explained.

[0076] Reference Figure 3 , Figure 3 This is a schematic diagram of coordinate adjustment and path planning provided for an embodiment of this application.

[0077] First, establish a coordinate system. For example, as shown below. Figure 3 As shown, the coordinate origin can be taken as the position 10m away from the starting point on the ground, and the vertical direction can be taken as the y-axis and the horizontal direction as the x-axis. In this way, the coordinates of the starting point and the ending point can be obtained.

[0078] Then, based on the starting and ending points and the current container layout in the yard, the multiple rows of containers covered by the spreader's movement trajectory from the starting to the ending point can be determined. Among the covered rows, the container with the highest vertical position (the first container) is designated as the initial highest obstacle point. For each of the other rows (excluding the row containing the first covered container), the container with the highest vertical position (the second container) is designated as the initial other obstacle points. For example, as... Figure 3 As shown, the trajectory covers multiple rows of containers with horizontal coordinates ranging from 10m to 65m. The initial highest obstacle point is determined by the two top vertices of the vertically tallest container in the row with horizontal coordinates between 37.5m and 40m. The initial other obstacle points are determined by the two top vertices of the vertically tallest containers in other rows. The coordinates of the initial highest obstacle point and the initial other obstacle points can be represented as (x...). bi y bi), where i = 1, 2, ..., n.

[0079] Next, after obtaining the coordinates of the initial highest obstacle point and other initial obstacle points, considering the operational safety of the spreader, it is assumed that the maximum vertical distance from the center point of the spreader to the bottom of the spreader is b. y The maximum horizontal distance from the center point of the spreader to the left and right sides of the spreader is b. x Then we can base it on b y and b x The coordinates of the initial highest obstacle point and other initial obstacle points are expanded to obtain the highest obstacle point and other obstacle points. The specific adjustment process is as follows: the coordinates are expanded to the left, right, and upward, resulting in expanded coordinates (x...). bi -b x y bi +b y ) and (x bi +b x y bi +b y After removing redundant obstacle coordinates, the coordinates of the highest obstacle and other obstacle points are organized into a set, denoted as . Where i = 1, 2, ..., n B This method ensures the safe operation of the spreader.

[0080] The following is combined Figure 3 Step S240 will be explained.

[0081] It should be noted that, since the lifting device has a certain size, in order to facilitate path planning, the position, movement, displacement, and speed of the lifting device mentioned in the following embodiments can be understood as the position, movement, displacement, and speed of the center point of the lifting device.

[0082] Reference Figure 3 The motion trajectory of the spreader shown can be divided into multiple stages from the starting point to the ending point, specifically including the first stage, the second stage, the third stage, the fourth stage, and the fifth stage.

[0083] The first stage represents the lifting device rising vertically from its initial position, i.e., the starting point. The coordinates of the starting point are denoted as (x...). s0 y s0 In the first stage, the x-coordinate of the spreader... s Keep as x s0 The vertical axis y remains unchanged. s From the initial y-coordinate s0 Change to y s1 That is, the x-coordinate and y-coordinate at the end of this segment are x and x respectively. s1and y s1 At the end of the first phase, the coordinates of the spreader are (x... s1 y s1 ), where x s1 =x s0 y s1 ≥y s0 .

[0084] The second stage represents the lifting device ascending vertically and horizontally to the highest obstacle point, i.e., the horizontal coordinate x of the lifting device. s and the vertical coordinate y s Simultaneously, changes occur, respectively from x s1 and y s1 The coordinate position x at the end of the movement. s2 and y s2 At the end of the second phase, the coordinates of the spreader are (x... s2 y s2 ), where x s2 ≥x s1 y s2 ≥y s1 .

[0085] The third stage represents the horizontal movement of the spreader from the highest obstacle point, i.e., the vertical coordinate y of the spreader. s Always keep y s2 The x-coordinate remains unchanged. s From x s2 Change to x s3 At the end of this segment, the x-coordinate and y-coordinate of the lifting device are respectively x s3 and y s3 At the end of the third stage, the coordinates of the lifting device are (x s3 y s3 ), where x s3 ≥x s2 y s3 =y s2 .

[0086] The fourth stage represents the coordinated descent of the spreader from the highest obstacle point along both the vertical and horizontal directions, i.e., the horizontal coordinate x of the spreader. s and the vertical coordinate y s Simultaneously, changes occur, respectively from x s3 and y s3 The coordinate position x at the end of the movement. s4 and y s4 At the end of the fourth stage, the coordinates of the lifting device are (x... s4 y s4 ), where x s4 ≥x s3 y s4 ≤y s3 .

[0087] The fifth stage represents the vertical descent of the spreader to the endpoint, where the horizontal coordinate of the spreader is x. s Always keep x s4 The vertical axis y remains unchanged. s From y s4 Change to y s5 That is, the x-coordinate and y-coordinate at the end of this segment are x and x respectively. s5 and y s5 At the end of the fifth stage, the coordinates of the lifting device are (x... s5 y s5 ), where x s5 =x s4 y s5 ≤y s4 The coordinates of the endpoint are (x... s5 y s5 ), and generally, x s5 >x s0 .

[0088] Based on these five stages, we can conclude that the motion processes corresponding to the first and second stages are the vertical upward motion of the spreader, the motion processes corresponding to the second, third, and fourth stages are the horizontal lateral motion of the spreader, and the motion processes corresponding to the fourth and fifth stages are the vertical downward motion of the spreader.

[0089] Therefore, the motion of the lifting device from the starting point to the ending point can be summarized as vertical upward motion, horizontal lateral motion, and vertical downward motion.

[0090] Step S250 will now be described in conjunction with specific embodiments and accompanying drawings.

[0091] Reference Figure 4 , Figure 4 This is a flowchart illustrating the determination of the initial motion control function provided in an embodiment of this application.

[0092] like Figure 4 As shown, in one embodiment, the process of determining the initial motion control functions corresponding to the vertical upward motion, horizontal lateral motion, and vertical downward motion based on the highest obstacle point, the starting point, and the ending point, as mentioned in step S250, may include steps S410-S420.

[0093] S410: Determine the preset motion parameters.

[0094] The motion parameters may include the maximum vertical velocity, the maximum vertical acceleration, the maximum horizontal velocity, and the maximum horizontal acceleration.

[0095] S420: Based on the highest obstacle point, starting point, ending point, and motion parameters, determine the initial motion control functions corresponding to the vertical upward motion, horizontal lateral motion, and vertical downward motion, respectively.

[0096] Understandably, the initial motion control function includes functions of the spreader's speed and displacement (vertical axis) over time during vertical upward motion, functions of the spreader's speed and displacement (horizontal axis) over time during horizontal lateral motion, and functions of the spreader's speed and displacement (vertical axis) over time during vertical downward motion.

[0097] Based on steps S410-S420, initial motion control functions for different motion processes are planned according to the motion parameters and the actual positions of the obstacle points and the start and end points. This yields initial motion control functions that satisfy speed and acceleration limits and conform to the actual conditions of the obstacle points.

[0098] Step S420 will be described below with reference to specific embodiments and accompanying drawings.

[0099] It should be noted that the embodiments of this application provide a control function based on a hybrid S-curve, which is used to plan the corresponding motion path. The specific details are as follows.

[0100] Reference Figure 5 , Figure 5 This is a flowchart illustrating the process of determining the initial motion control function corresponding to the vertical upward motion, as provided in an embodiment of this application.

[0101] like Figure 5 As shown, in one embodiment, the process of determining the initial motion control function corresponding to the vertical upward motion mentioned in step S420 may include steps S510-S530.

[0102] S510: Based on the maximum vertical velocity, maximum vertical acceleration, the distance between the highest obstacle point and the starting point in the vertical direction, determine whether there is uniform motion in the vertical upward motion.

[0103] If it exists, execute S520; if it does not exist, execute S530.

[0104] In S520, the velocity change corresponding to the vertical upward motion is determined to be a trapezoidal velocity curve, which includes acceleration, uniform motion and deceleration motion, and then the initial motion control function corresponding to the vertical upward motion is determined.

[0105] In S530, the velocity change corresponding to the vertical upward motion is determined to be a triangular velocity curve, which includes both acceleration and deceleration motions, and then the initial motion control function corresponding to the vertical upward motion is determined.

[0106] The following section combines specific functions to... Figure 5 The corresponding process will be explained.

[0107] During the vertical upward motion, the ordinate y of the lifting device s The rate of change can be represented by a trapezoidal velocity curve or a triangular velocity curve. That is, the vertical velocity of the lifting device can be represented by a trapezoidal velocity curve (acceleration followed by constant speed, and finally deceleration) or a triangular velocity curve (acceleration followed by deceleration). Specifically, the absolute value of the maximum vertical velocity can be set to v. ymax The absolute value of the maximum vertical acceleration is a ymax Additionally, the vertical distance between the highest obstacle point and the starting point is y. s2 -y s0 It should be noted that, to further ensure that the spreader can safely overcome the highest obstacle point during the container grabbing process, a safety threshold Δh can be added to the original value of the ordinate of the highest obstacle point, that is, the ordinate of the highest obstacle point y. s2 The value can be ,in, This represents the ordinate of the highest obstacle point obtained after expansion.

[0108] Therefore, we can determine y s2 -y s0 and The size between them.

[0109] like This indicates the existence of uniform motion, at which point it can be determined that... , .

[0110] like This indicates that there is no uniform motion, at which point it can be determined that... .

[0111] Furthermore, [0,t] y1 [t] represents the time interval corresponding to the acceleration motion in vertical upward motion. y1 , t y2 [t] represents the time interval corresponding to uniform motion in vertical upward motion. y2 , t y1 +t y2 The ] represents the time interval corresponding to the deceleration motion during vertical upward motion. Based on this, the initial motion control function corresponding to the vertical upward motion can be constructed as follows, yielding t. y1and t y2 After obtaining the value, simply substitute it into the following function:

[0112]

[0113]

[0114] In the formula, v sy (t) represents the vertical velocity v of the lifting device. sy A function y that varies with time t s (t) represents the vertical coordinate y of the lifting device. s A function that changes with time t.

[0115] It is understandable that if uniform motion exists, then the function v sy (t) and function y s In (t), t y1 t can be calculated from the maximum vertical velocity and the maximum vertical acceleration. y2 It can be determined based on the maximum vertical speed and the ordinate y of the highest obstacle point. s2 and the y-coordinate of the starting point s0 Calculated. Therefore, the function v sy (t) and function y s The only variable in (t) is time t, and the movement of the lifting device can be controlled based on this function.

[0116] If there is no uniform motion, then the function v sy (t) and function y s In (t), t y1 and t y2 It can be determined based on the maximum vertical acceleration and the ordinate y of the highest obstacle point. s2 and the y-coordinate of the starting point s0 Calculated. Therefore, the function v sy (t) and function y s The only variable in (t) is time t, and the movement of the lifting device can be controlled based on this function.

[0117] Based on steps S510-S530, when planning the initial motion control function corresponding to the vertical upward motion, the trapezoidal velocity curve (including the uniform speed segment) or the triangular velocity curve (excluding the uniform speed segment) is selected as the time-optimal motion mode according to the relevant parameters. This ensures that the lifting device performs the vertical upward motion in the fastest way allowed by physical limits, ensures the optimal time for the vertical upward motion, and guarantees the efficiency of the vertical upward motion.

[0118] Reference Figure 6 , Figure 6This is a flowchart illustrating the process of determining the initial motion control function corresponding to the horizontal lateral movement, as provided in an embodiment of this application.

[0119] like Figure 6 As shown, in one embodiment, the process of determining the initial motion control function corresponding to the horizontal lateral movement based on the preset motion parameters mentioned in step S420 may include steps S610-S630.

[0120] S610: Based on the maximum horizontal velocity, maximum horizontal acceleration, and the horizontal distance between the starting and ending points, determine whether the horizontal lateral motion is uniform.

[0121] If it exists, execute S620; if it does not exist, execute S630.

[0122] In S620, the velocity change corresponding to the horizontal lateral movement is determined to be a trapezoidal velocity curve, which includes acceleration, uniform motion and deceleration, and then the initial motion control function corresponding to the horizontal lateral movement is determined.

[0123] In S630, the velocity change corresponding to the horizontal lateral movement is determined to be a triangular velocity curve, which includes both acceleration and deceleration, and then the initial motion control function corresponding to the horizontal lateral movement is determined.

[0124] The following section uses specific calculation formulas to illustrate... Figure 6 The corresponding process will be explained.

[0125] During the horizontal lateral movement, the horizontal coordinate x of the lifting device s The rate of change can be represented by a trapezoidal or triangular velocity curve. That is, the horizontal velocity of the lifting device can be represented by a trapezoidal velocity curve (acceleration followed by constant speed, and finally deceleration) or a triangular velocity curve (acceleration followed by deceleration). Specifically, the absolute value of the maximum horizontal velocity can be set to v. xmax The absolute value of the maximum horizontal acceleration is a xmax Additionally, the horizontal distance between the starting point and the ending point is x. s5 -x s0 .

[0126] Then, we can determine x s5 -x s0 and The size between them.

[0127] like This indicates the existence of uniform motion, at which point it can be determined that... , .

[0128] like This indicates that there is no uniform motion, at which point it can be determined that... .

[0129] Furthermore, [t] x0 ,t x0 +t x1 [t] represents the time interval corresponding to the acceleration motion in the horizontal lateral movement. x0 +t x1 , t x0 +t x2 [t] represents the time interval corresponding to uniform motion in horizontal lateral movement. x0 +t x2 , t x0 +t x1 +t x2 The ] represents the time interval corresponding to the deceleration motion in the horizontal lateral movement. Based on this, the initial motion control function corresponding to the horizontal lateral movement can be constructed as follows, and t can be obtained. x1 and t x2 After obtaining the value, simply substitute it into the following function:

[0130]

[0131]

[0132] In the formula, v sx (t) represents the horizontal velocity of the lifting device, v. sx A function that changes with time t, x s (t) represents the horizontal coordinate x of the lifting device. s A function that changes with time t, t x0 This indicates the starting time (first starting time) corresponding to the horizontal lateral movement.

[0133] It is understandable that if uniform motion exists, then the function v sx (t) and function x s In (t), t x1 t can be calculated from the maximum horizontal velocity and the maximum horizontal acceleration. x2 It can be determined based on the maximum horizontal speed and the x-coordinate of the endpoint. s5 and the x-coordinate of the starting point s0 Calculated. Therefore, the function v sy (t) and function y s The variables in (t) are time t and t_t. x0 , t x0 This is currently an unknown quantity.

[0134] If there is no uniform motion, then the function v sx (t) and function x s In (t), tx1 and t x2 It can be determined based on the maximum horizontal acceleration and the x-coordinate of the endpoint. s5 and the x-coordinate of the starting point s0 Calculated. Therefore, the function v sy (t) and function y s The variables in (t) are also time t and t_t. x0 , t x0 This is currently an unknown quantity.

[0135] Based on steps S610-S630, when planning the initial motion control function corresponding to the horizontal lateral movement, a trapezoidal velocity curve (including the uniform speed segment) or a triangular velocity curve (excluding the uniform speed segment) is selected as the time-optimal motion mode according to relevant parameters. This ensures that the spreader performs the horizontal lateral movement in the fastest way allowed by physical limits, ensures the time-optimal horizontal lateral movement, and guarantees the efficiency of the horizontal lateral movement.

[0136] Reference Figure 7 , Figure 7 This is a flowchart illustrating the process of determining the initial motion control function corresponding to the vertical descent motion, as provided in an embodiment of this application.

[0137] like Figure 7 As shown, in one embodiment, the process of determining the initial motion control function corresponding to the vertical descent motion based on the preset motion parameters mentioned in step S420 may include steps S710-S730.

[0138] S710: Based on the maximum vertical velocity, maximum vertical acceleration, and the vertical distance between the highest obstacle point and the termination point, determine whether there is uniform motion in the vertical descent motion.

[0139] If it exists, execute S720; if it does not exist, execute S730.

[0140] S720: Determine that the velocity change corresponding to the vertical descent motion is a trapezoidal velocity curve, which includes acceleration, uniform motion and deceleration motion, and then determine the initial motion control function corresponding to the vertical descent motion.

[0141] S730: Determine the velocity change corresponding to the vertical descent motion as a triangular velocity curve, which includes both acceleration and deceleration motions, and then determine the initial motion control function corresponding to the vertical descent motion.

[0142] The following section uses specific calculation formulas to illustrate... Figure 7 The corresponding process will be explained.

[0143] During the vertical descent motion, the ordinate y of the lifting device sThe rate of change can be represented by a trapezoidal or triangular velocity curve; that is, the vertical velocity of the lifting device can be represented by a trapezoidal velocity curve (acceleration first, then constant speed, and finally deceleration) or a triangular velocity curve (acceleration first, then deceleration). Specifically, the absolute value of the maximum vertical velocity can be set to v. ymax The absolute value of the maximum vertical acceleration is a ymax Additionally, the vertical distance between the highest obstacle point and the endpoint is y. s2 -y s5 .

[0144] Therefore, we can determine y s2 -y s5 and Size.

[0145] like This indicates the existence of uniform motion, at which point it can be determined that... , .

[0146] like This indicates that there is no uniform motion, at which point it can be determined that... .

[0147] Furthermore, [t] y0 ,t y0 +t y3 [t] represents the time interval corresponding to the acceleration motion during vertical descent. y0 +t y3 , t y0 +t y4 [t] represents the time interval corresponding to uniform motion during vertical descent. y0 +t y4 , t y0 +t y3 +t y4 Let ] represent the time interval corresponding to the deceleration motion during vertical descent. Based on this, the initial motion control function corresponding to the vertical descent motion can be constructed as follows, yielding t. y3 and t y4 After obtaining the value, simply substitute it into the following function:

[0148]

[0149]

[0150] In the formula, v sy (t) represents the vertical velocity v of the lifting device. sy A function y that varies with time t s (t) represents the vertical coordinate y of the lifting device. s A function that changes with time t, ty0 This indicates the starting time (second starting time) corresponding to the vertical descent motion.

[0151] It is understandable that if uniform motion exists, then the function v sy (t) and function y s In (t), t y3 t can be calculated from the maximum vertical velocity and the maximum vertical acceleration. y4 It can be determined based on the maximum vertical speed and the ordinate y of the highest obstacle point. s2 and the y-coordinate of the endpoint s5 Calculated. Therefore, the function v sy (t) and function y s The variables in (t) are time t and t_t. y0 , t y0 This is currently an unknown quantity.

[0152] If there is no uniform motion, then the function v sy (t) and function y s In (t), t y3 and t y4 It can be determined based on the maximum vertical speed and the ordinate y of the highest obstacle point. s2 and the y-coordinate of the endpoint s5 Calculated. Therefore, the function v sy (t) and function y s The variables in (t) are time t and t_t. y0 , t y0 This is currently an unknown quantity.

[0153] Based on steps S710-S730, when planning the initial motion control function corresponding to the vertical descent motion, a trapezoidal velocity curve (including the uniform velocity segment) or a triangular velocity curve (excluding the uniform velocity segment) is selected as the time-optimal motion mode according to relevant parameters. This ensures that the lifting device performs the vertical descent motion in the fastest way allowed by physical limits, ensures the optimal time for the vertical descent motion, and guarantees the efficiency of the vertical descent motion.

[0154] Step S260 will be described below with reference to specific embodiments and accompanying drawings.

[0155] Understandably, after Figures 5-7 The corresponding process, the first starting time t of the horizontal lateral movement in the obtained initial motion control function. x0 and the second starting time t corresponding to the vertical descent motion. y0 Since these are unknown, it is necessary to determine the specific values ​​of these two start times.

[0156] Based on the first starting time t corresponding to the horizontal lateral movement x0The second starting time t corresponding to the vertical descent motion y0 Adjust the initial motion control function, that is, t x0 and t y0 Substituting the specific values ​​into the initial motion control function, such that the only variable in the initial motion control function is time t, we can obtain the optimal motion control function. Based on this optimal motion control function, we can determine the motion path of the spreader and control its motion.

[0157] The process of determining the first starting time corresponding to the horizontal lateral movement and the second starting time corresponding to the vertical descent movement in step S260 will be explained below with reference to the accompanying drawings.

[0158] Reference Figure 8 , Figure 8 This is a flowchart illustrating the process of determining the first starting time corresponding to the horizontal lateral movement, as provided in an embodiment of this application.

[0159] like Figure 8 As shown, in one embodiment, the process of determining the first starting time corresponding to the horizontal lateral movement based on other obstacle points and the initial motion control function in step S260 may include steps S810-S840.

[0160] S810: Determine the first time range: Determine the first time range corresponding to the first start time based on the initial motion control function.

[0161] It is understandable that the first time range is used to determine the first starting time t corresponding to the horizontal lateral movement. x0 The first time range includes an optional time interval for the start time of the horizontal lateral movement of the spreader.

[0162] Specifically, the lower limit of the first time range can be set to 0, and the upper limit can be the completion time of the vertical upward motion. Therefore, combined with the specific expression formula of the initial motion control function mentioned above, the first time range is expressed as [0, t]. y1 +t y2 ].

[0163] Understandably, the lower limit of the initial time range is 0, indicating that horizontal lateral movement can begin simultaneously with vertical upward movement. This is the earliest possible moment to initiate horizontal lateral movement. In this case, the spreader accelerates simultaneously in both the horizontal and vertical directions from the starting point, forming an upward-sloping straight line or arc. However, initiating horizontal lateral movement too early may result in the spreader colliding with other obstacles on the side during the coordinated upward movement, as it may not have reached a sufficient height.

[0164] The upper limit of the first time range is t. y1 +t y2This indicates that horizontal lateral movement can only begin after the vertical upward movement has completely ended. Here, t... y1 +t y2 This refers to the total time required for the spreader to rise from its starting point to a certain safe height, assuming it only performs vertical ascent without any horizontal lateral movement. This corresponds to the most conservative and safest strategy: the spreader first rises vertically to the safe height, and then begins horizontal lateral movement. This approach avoids other obstacles on the sides, but it usually results in a suboptimal total movement time because the horizontal lateral movement begins too late, wasting the time that could have been used for simultaneous, coordinated ascent during the initial lifting process.

[0165] Therefore, the first time range defines the first starting time t corresponding to the horizontal lateral movement. x0 The following steps involve iteratively searching within this range for all theoretically possible values ​​of t, finding a value that minimizes the total movement time while avoiding all obstacles (including the highest and other obstacles). x0 It represents the earliest moment when horizontal lateral movement can begin, provided that safety is ensured.

[0166] S820: Determine the motion path of the spreader: Take the midpoint value of the first time range as the first candidate start time, and determine the motion path of the spreader based on the first candidate start time and the initial motion control function.

[0167] It is understandable that the first candidate start time is substituted into the initial motion control function t. x0 This allows us to obtain the first candidate motion control function, which in turn determines the motion path of the lifting device during its upward motion.

[0168] S830: Adjust the first time range: Based on the movement path of the spreader, determine whether the spreader will collide with other obstacles during its movement. If a collision occurs, update the lower limit of the first time range to the midpoint value of the first time range; if no collision occurs, update the upper limit of the first time range to the midpoint value of the first time range.

[0169] S840: Repeat the steps of determining the motion path of the lifting device in S820 and adjusting the first time range in S830 until the first time range meets the preset time range requirement or the number of repetitions meets the preset number of repetitions requirement. Then, determine the first start time based on the finally determined first time range.

[0170] For example, the time range requirement can be that the difference between the upper and lower limits of a first time range is less than a set threshold (e.g., 0.001 seconds). The number of times requirement can be 30.

[0171] Determining the first start time based on the finally determined first time range can be done by taking the upper limit of the finally determined first time range as the first start time.

[0172] The iterative process corresponding to steps S820-S840 will be explained below.

[0173] To determine the first starting time t corresponding to the horizontal lateral movement x0 The specific value can be obtained by iteratively searching using a binary search method, as follows:

[0174] The first iteration process is as follows:

[0175] Determine the motion path of the lifting device: Based on the first time range, the midpoint value of the first time range is used as the first candidate start time (t) using the bisection method. y1 +t y2 Substituting 1 / 2 into the initial motion control function, we can obtain the motion path of the lifting device.

[0176] Adjusting the first time range: Based on the motion path, determine whether the spreader will collide with other obstacle points during its movement (i.e., the upward movement). That is, when the horizontal coordinates are the same, are the vertical coordinates of all points on the motion path greater than the vertical coordinates of other obstacle points? If it will collide with other obstacle points, it indicates that the first starting time t corresponding to the horizontal lateral movement is... x0 Therefore, the lower limit of the first time range needs to be postponed; thus, the midpoint of the first time range can be updated to the value of the midpoint of the first time range mentioned above, that is, the first time range is adjusted to [(t y1 +t y2 ) / 2, t y1 +t y2 If no other obstacles are encountered, it indicates that the first starting time t corresponds to the horizontal lateral movement. x0 Furthermore, the time can be advanced to minimize the overall time required to move the container from the starting point to the highest obstacle point. Therefore, the upper limit of the first time range can be updated to the midpoint of the aforementioned first time range, that is, the first time range can be adjusted to [0, (t y1 +t y2 ) / 2].

[0177] Then, based on the adjusted first time range, the process of determining the motion trajectory of the lifting device and adjusting the first time range is repeated, and the second, third and mth iterations are continued until the first time range meets the time range requirement or the number of repetitions meets the number requirement. The upper limit of the first time range determined in the last iteration is determined as the first starting time. The first starting time determined at this time is the time that can ensure that collisions with other obstacle points are avoided and that the overall time taken to move from the starting point to the highest obstacle point is the shortest.

[0178] Based on steps S810-S840, an iterative search is used to find the first starting time t corresponding to the horizontal lateral movement that satisfies the obstacle avoidance conditions and maximizes the container handling efficiency. x0 In addition, the bisection method used has the advantages of fast convergence speed and high solution accuracy, ensuring the real-time performance of the optimization process and the optimality of the results.

[0179] Reference Figure 9 , Figure 9 This is a flowchart illustrating the process of determining the second starting time corresponding to the vertical descent motion, as provided in an embodiment of this application.

[0180] like Figure 9 As shown, in one embodiment, the process of determining the second starting time corresponding to the vertical descent motion based on other obstacle points and the initial motion control function in step S260 may include steps S910-S940.

[0181] S910: Determine the second time range: Determine the second time range corresponding to the second start time based on the initial motion control function.

[0182] Understandably, the second time range is used to determine the second starting time t corresponding to the vertical descent motion. y0 The second time range includes an optional time interval for the start time of the vertical descent of the spreader.

[0183] Specifically, the lower limit of the second time range is the earliest time when the vertical descent motion can begin. Therefore, combining the specific formula for the initial motion control function mentioned earlier, the value of the lower limit of the second time range can be t. y1 +t y2 and t x0 +t x1 +t x2 -t y3 -t y4 The larger of the two can be represented as max(t) y1 +t y2 , t x0 +t x1 +t x2 -t y3 -t y4 (The lower limit of the second time range is greater than t). y1 +t y2 This is to ensure that the vertical descent motion cannot begin before the vertical ascent motion is completed, thus avoiding a situation where ascent and descent occur simultaneously. Secondly, the lower limit of the time range is greater than t. x0 +t x1 +t x2 -t y3 -ty4 This is to ensure that the completion time of the vertical descent motion does not precede the completion time of the horizontal lateral movement. By taking the larger of the two data points, both conditions must be satisfied.

[0184] The upper limit of the second time range is the latest time that the vertical descent motion can begin. Therefore, combining the specific formula for the initial motion control function mentioned earlier, the value of the upper limit of the second time range can be t. y1 +t y2 and t x0 +t x1 +t x2 The larger of the two can be represented as max(t) y1 +t y2 , t x0 +t x1 +t x2 The upper limit of the second time range is greater than t. y1 +t y2 This is to ensure that the vertical descent motion cannot begin before the vertical ascent motion is completed, thus avoiding a situation where ascent and descent occur simultaneously. Secondly, the upper limit of the time range is greater than t. x0 +t x1 +t x2 The corresponding scenario is that the horizontal lateral movement is completely completed before the lifting device begins its vertical descent. By taking the larger of the two data points, both conditions must be satisfied.

[0185] Therefore, the second time range defines the second starting time t corresponding to the vertical descent motion. y0 The following steps involve iteratively searching within this range for all theoretically possible values ​​of t, finding a value that minimizes the total movement time while avoiding all obstacles (including the highest and other obstacles). y0 It represents the earliest moment when vertical descent can begin, provided that safety is ensured.

[0186] S920: Determine the motion path of the spreader: Take the midpoint value of the second time range as the second candidate start time, and determine the motion path of the spreader based on the second candidate start time and the initial motion control function.

[0187] It is understandable that the second candidate start time is substituted into the initial motion control function t. y0 This allows us to obtain the corresponding second candidate motion control function, which in turn determines the motion path of the lifting device during its descent.

[0188] S930: Adjust the second time range: Based on the movement path of the spreader, determine whether the spreader will collide with other obstacles during its movement. If a collision occurs, update the lower limit of the second time range to the midpoint value of the second time range; if no collision occurs, update the upper limit of the second time range to the midpoint value of the second time range.

[0189] S940: Repeat the steps of determining the motion path of the lifting device in S920 and adjusting the second time range in S930 until the second time range meets the preset time range requirement or the number of repetitions meets the preset number of repetitions requirement. Then, determine the second start time based on the finally determined second time range.

[0190] For example, the time range requirement can be that the difference between the upper and lower limits of the second time range is less than a set threshold (e.g., 0.001 seconds), and the number of times requirement can be 30 times.

[0191] The second start time can be determined based on the final determined second time range by taking the upper limit of the final determined second time range as the second start time.

[0192] Understandably, in order to determine the second starting time t corresponding to the vertical descent motion... y0 The specific value can be determined by the iterative search process, which can also be performed using the binary search method.

[0193] The iterative search process can be referred to the explanations corresponding to steps S810-S840 above, and will not be repeated here. It should be noted that if, during obstacle collision detection, it is determined that the lifting device will collide with other obstacle points during its descent, then the second starting time t corresponding to the vertical descent motion is... y0 It needs to be postponed. If it doesn't collide with other obstacles, it means the second starting time t corresponds to the vertical descent motion. y0 It can also be done in advance, which allows for adjustments to the second time range.

[0194] Based on steps S910-S940, an iterative search is used to find the second starting time t corresponding to the vertical descent motion that satisfies the obstacle avoidance conditions and maximizes the container handling efficiency. y0 In addition, the bisection method used has the advantages of fast convergence speed and high solution accuracy, ensuring the real-time performance of the optimization process and the optimality of the results.

[0195] Based on the motion path planning method for the container crane spreader provided in this application embodiment, the following is combined with... Figure 3 The specific parameters are explained to illustrate the complete process.

[0196] First, parameters are set in advance, including the absolute value of the maximum vertical velocity, v.ymax The absolute value of the maximum vertical acceleration a is 3 m / s. ymax 0.6 m / s 2 The absolute value of the maximum horizontal velocity, v xmax The absolute value of the maximum horizontal acceleration a is 4 m / s. xmax for meters per second 2 .

[0197] Next, determine the parameters of the obstacle. For example... Figure 3 In the shown container yard, there are 24 rows of containers, with the following numbers of containers per row: 3, 4, 10, 9, 3, 11, 12, 10, 7, 12, 11, 14, 13, 5, 10, 3, 4, 11, 8, 7, 13, 9, 9, 13. The width of each row is 2.5 meters, and the height is 2.6 meters. The coordinates of the bottom left corner of the first row's bottom container are (10, 0). Therefore, the set of obstacle coordinates for each corner point can be obtained (corresponding to the initial highest obstacle point and other initial obstacle points mentioned earlier). Figure 3 The blue coordinate point in the image.

[0198] Next, the maximum vertical distance from the center point of the spreader to the bottom of the spreader is set to 1.0 meter, and the maximum horizontal distance to the left and right sides of the spreader is set to 0.8 meters. Based on these dimensions of the spreader, the coordinates of each corner point can be expanded to the left, right, and upward, resulting in a new set of obstacle point coordinates for each corner point (corresponding to the highest obstacle point and other obstacle points mentioned earlier). Figure 3 The red coordinate point in the diagram.

[0199] Next, set the starting point coordinates (x... s0 y s0 The coordinates of the endpoint are (5, 5) and (x, y). s5 y s5 The coordinates are (66.25, 24.9). The ordinate of the highest obstacle point is... The height is 36.4 meters, and the height threshold Δh is set to 0.5 meters. Therefore, according to... The final ordinate of the highest obstacle point is determined to be 36.9 meters. By planning the ordinate of the lifting device's ascent path, t can be calculated. y1 For 5 seconds, t y2 It took 10.9667 seconds.

[0200] Next, the lower limit of the first time range is set to 0 seconds, and its upper limit is calculated as t. y1 +t y2 =15.9667 seconds. Based on this first time range, the first starting time t corresponding to the horizontal lateral movement is calculated. x0At this point, the bisection method was used to iterate 15 times, at which point the iteration termination condition was met, that is, the difference between the upper and lower limits of the first time range was less than 0.001 seconds. Therefore, the first starting time t corresponding to the calculated horizontal lateral movement was determined. x0 It lasted 5.0422 seconds.

[0201] Then, t is calculated using the formula. x1 It lasts for 6 seconds, t x2 It is 15.3125 seconds, t y3 It lasted 4.6547 seconds, t y4 It took 4.6547 seconds.

[0202] Then, the lower limit of the second time range was calculated as t. y0min =max(t) y1 +t y2 , t x0 +t x1 +t x2 -t y3 -t y4 The second time range is 17.0452 seconds, and the upper limit of the second time range is t. y0max =max(t) y1 +t y2 , t x0 +t x1 +t x2 The second time interval is 26.3547 seconds. Based on this second time range, the second starting time t corresponding to the vertical descent motion is calculated. y0 At this point, the bisection method was used to iterate 15 times, at which point the iteration termination condition was met, that is, the difference between the upper and lower limits of the second time range was less than 0.001 seconds. Therefore, the calculated second starting time t corresponding to the vertical descent motion is... y0 It lasted 20.4363 seconds.

[0203] Finally, using the calculated t x0 t x1 t x2 t y0 t y1 t y2 t y3 t y4 Substituting this into the initial motion control function, we can obtain the horizontal velocity v of the lifting device. sx The function v that varies with time t sx (t), the horizontal coordinate x of the lifting device. s x, a function that changes with time t s (t), the vertical velocity v of the lifting device. sy The function v that varies with time t sy (t), the vertical coordinate y of the lifting device.s The function y that changes with time t s The specific expression of (t) can be used to determine the optimal motion path of the lifting device from the starting point to the ending point.

[0204] This application also provides an electronic device, which includes a processor and a memory. The memory stores at least one instruction or at least one program segment. The processor loads and executes the instruction or program segment to implement the motion path planning method for the container crane spreader as described in the above embodiments. The specific functions and corresponding technical effects can be found in the explanations of the embodiments corresponding to the motion path planning method for the container crane spreader, and will not be repeated here.

[0205] Now for reference Figure 10 The diagram shown is a block diagram of an electronic device 1200 according to an embodiment of this application. The electronic device 1200 may include one or more processors (corresponding to...) coupled to a controller hub 1203. Figure 10 The first processor 1201 is described above. In at least one embodiment, the controller hub 1203 communicates with the first processor 1201 via a multi-branch bus such as a front-side bus (FSB), a point-to-point interface such as a quick path interconnect (QPI), or a similar connection. The first processor 1201 executes instructions that control general types of data processing operations. In one embodiment, the controller hub 1203 includes, but is not limited to, a graphics memory controller hub (GMCH) (not shown) and an input / output hub (IOH) (which may be on a separate chip) (not shown), wherein the GMCH includes memory and a graphics controller and is coupled to the IOH.

[0206] Electronic device 1200 may also include a coprocessor coupled to controller hub 1203 (corresponding to...) Figure 10The processor 1202 and memory 1204 are integrated within the processor (as described in this application). Alternatively, one or both of the memory and GMCH can be integrated within the processor (as described in this application), with memory 1204 and the first coprocessor 1202 directly coupled to the first processor 1201 and the controller hub 1203, which is located on a single chip with the IOH. Memory 1204 can be, for example, dynamic random access memory (DRAM), phase change memory (PCM), or a combination of both. In one embodiment, the first coprocessor 1202 is a dedicated processor, such as a high-throughput MIC processor (many integerized core, MIC), a network or communication processor, a compression engine, a graphics processor, a general-purpose computing on GPU (GPGPU), or an embedded processor, etc. Optional properties of the first coprocessor 1202 are indicated by dashed lines. Figure 10 middle.

[0207] As a computer-readable storage medium, memory 1204 may include one or more tangible, non-transitory computer-readable media for storing data and / or instructions. For example, memory 1204 may include any suitable non-volatile memory such as flash memory and / or any suitable non-volatile storage device such as one or more hard-disk drives (HDDs), one or more compact disc (CD) drives, and / or one or more digital versatile disc (DVD) drives.

[0208] In one embodiment, electronic device 1200 may further include a network interface controller (NIC) 1206. The network interface 1206 may include a transceiver for providing a radio interface for electronic device 1200 to communicate with any other suitable device, such as a front-end module, antenna, etc. In various embodiments, the network interface 1206 may be integrated with other components of electronic device 1200. The network interface 1206 can implement the functions of the communication unit in the above embodiments.

[0209] Electronic device 1200 may further include input / output (I / O) device 1205. I / O device 1205 may include: a user interface designed to enable a user to interact with electronic device 1200; a peripheral component interface designed to enable peripheral components to also interact with electronic device 1200; and / or sensors designed to determine environmental conditions and / or location information related to electronic device 1200.

[0210] It is worth noting that, Figure 10 This is merely an example. That is, although... Figure 10 The electronic device 1200 shown includes multiple devices such as a first processor 1201, a first coprocessor 1202, a controller hub 1203, and a memory 1204. However, in actual applications, devices using the methods of this application may include only a portion of the devices in the electronic device 1200. For example, it may include only the first processor 1201 and the network interface 1206. Figure 10 The properties of the optional devices are shown in dashed lines. According to some embodiments of this application, the memory 1204, which is a computer-readable storage medium, stores instructions that, when executed on a computer, cause the electronic device 1200 to perform the motion path planning method for the container crane spreader according to the above embodiments. Specific details can be found in the methods described in the above embodiments, and will not be repeated here.

[0211] Now for reference Figure 11 The diagram shown is a block diagram of a SoC1300 (system on chip) according to an embodiment of this application. Figure 11 In the diagram, similar components share the same reference numerals. Additionally, dashed boxes are an optional feature for more advanced SoCs. Figure 11 In the SoC1300, interconnect unit 1350 is coupled to the processor (corresponding to...). Figure 11 The system includes a second processor 1310, a system agent unit 1380, a bus controller unit 1390, an integrated memory controller unit 1340, and one or more coprocessors (corresponding to...). Figure 11 The second coprocessor 1320 may include integrated graphics logic, an image processor, an audio processor, and a video processor; a static random access memory (SRAM) unit 1330; and a direct memory access (DMA) unit 1360. In one embodiment, the second coprocessor 1320 includes a dedicated processor, such as a network or communication processor, a compression engine, a GPGPU, a high-throughput MIC processor, or an embedded processor.

[0212] The static random access memory (SRAM) unit 1330 may include one or more computer-readable media for storing data and / or instructions. The computer-readable storage medium may store instructions, specifically, temporary and permanent copies of those instructions. These instructions may include, when executed by at least one unit in the processor, causing the SoC 1300 to perform the motion path planning method for the container crane spreader according to the above embodiments, as detailed in the methods described above, which will not be repeated here.

[0213] Various embodiments of the mechanisms disclosed in this application can be implemented in hardware, software, firmware, or combinations of these implementation methods. Embodiments of this application can be implemented as computer programs or program code executable on a programmable system, the programmable system including at least one processor, a storage system (including volatile and non-volatile memory and / or storage elements), at least one input device, and at least one output device.

[0214] In the accompanying drawings, some structural or methodological features may be shown in a specific arrangement and / or order. However, it should be understood that such a specific arrangement and / or order may not be necessary. Rather, in some embodiments, these features may be arranged in a manner and / or order different from that shown in the accompanying drawings. Furthermore, including structural or methodological features in a particular figure does not imply that such features are required in all embodiments, and in some embodiments, these features may be omitted or may be combined with other features.

[0215] This application also provides a computer-readable storage medium storing at least one instruction or at least one program segment. The at least one instruction or at least one program segment is loaded and executed by a processor to implement the motion path planning method for a container crane spreader as described in the above embodiments. The specific functions and corresponding technical effects can be found in the explanations of the embodiments corresponding to the motion path planning method for the container crane spreader described above, and will not be repeated here.

[0216] This application also provides a computer program product, which includes a computer program or instructions. When the computer program or instructions are loaded and executed by a processor, they implement the motion path planning method for the container crane spreader described in the above embodiments. The specific functions and corresponding technical effects can be found in the explanations of the embodiments corresponding to the motion path planning method for the container crane spreader, and will not be repeated here.

[0217] It should be noted that all units / modules mentioned in the device embodiments of this application are logical units / modules. Physically, a logical unit / module can be a physical unit / module, a part of a physical unit / module, or a combination of multiple physical units / modules. The physical implementation of these logical units / modules themselves is not the most important factor; the combination of functions implemented by these logical units / modules is the key to solving the technical problems proposed in this application. Furthermore, to highlight the innovative aspects of this application, the above-described device embodiments of this application have not introduced units / modules that are not closely related to solving the technical problems proposed in this application. This does not mean that the above-described device embodiments do not contain other units / modules.

[0218] It should be noted that in the examples and description of this application, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one" does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0219] Although this application has been illustrated and described with reference to certain preferred embodiments thereof, those skilled in the art should understand that various changes in form and detail may be made thereto without departing from the spirit and scope of this application.

Claims

1. A method for planning the motion path of a container crane spreader, characterized in that, include: Determine the start and end points of the container crane's spreader to complete the required task, wherein the task is the container crane's spreader's task of picking up and placing containers. Determine the multiple rows of containers covered by the spreader along its movement trajectory from the starting point to the ending point, and from each row of containers covered, determine the first container with the highest position in the vertical direction, and determine the highest obstacle point among the multiple rows of containers based on the first container; Identify the second container that is vertically highest in all columns covered except the column containing the first container, and determine other obstacle points in the multi-column container network based on the second container. The motion of the lifting device from the starting point to the ending point is defined as including vertical upward motion, horizontal lateral motion, and vertical downward motion; Based on the highest obstacle point, the starting point, and the ending point, initial motion control functions are determined for the vertical upward motion, the horizontal lateral motion, and the vertical downward motion, respectively. The initial motion control functions are used to control the motion path of the lifting device. Based on the other obstacle points and the initial motion control function, determine the first start time corresponding to the horizontal lateral movement and the second start time corresponding to the vertical descent movement; Based on the first start time, the second start time, and the initial motion control function, determine the optimal motion control function; The motion path of the lifting device is determined based on the optimal motion control function.

2. The motion path planning method for container crane spreaders according to claim 1, characterized in that, Determining the first start time corresponding to the horizontal lateral movement based on the other obstacle points and the initial motion control function includes: Determine the first time range: Based on the initial motion control function, determine the first time range corresponding to the first start time. The first time range includes an optional time interval of the start time of the horizontal lateral movement of the spreader. Determine the motion path of the spreader: take the midpoint value of the first time range as the first candidate start time, and determine the motion path of the spreader based on the first candidate start time and the initial motion control function; Adjust the first time range: Based on the movement path of the lifting device, determine whether the lifting device will collide with other obstacle points during the movement; if a collision occurs, update the lower limit of the first time range to the midpoint value of the first time range; if no collision occurs, update the upper limit of the first time range to the midpoint value of the first time range. Repeat the steps of determining the movement path of the lifting device and adjusting the first time range until the first time range meets the preset time range requirement or the number of times the steps are repeated meets the preset number of times requirement, and then determine the first start time based on the finally determined first time range.

3. The motion path planning method for container crane spreaders according to claim 1, characterized in that, Determining the second start time corresponding to the vertical descent motion based on the other obstacle points and the initial motion control function includes: Determine the second time range: Based on the initial motion control function, determine the second time range corresponding to the second start time. The second time range includes an optional time interval for the start time of the vertical descent motion of the lifting device. Determine the motion path of the spreader: take the midpoint value of the second time range as the second candidate start time, and determine the motion path of the spreader based on the second candidate start time and the initial motion control function; Adjust the second time range: Based on the movement path of the lifting device, determine whether the lifting device will collide with other obstacle points during the movement; if a collision occurs, update the lower limit of the second time range to the midpoint value of the second time range; if no collision occurs, update the upper limit of the second time range to the midpoint value of the second time range. Repeat the steps of determining the movement path of the lifting device and adjusting the second time range until the second time range meets the preset time range requirement or the number of times the above steps are repeated meets the preset number of times requirement. Then, determine the second start time based on the finally determined second time range.

4. The motion path planning method for container crane spreaders according to claim 1, characterized in that, The determination of the initial motion control functions corresponding to the vertical upward motion, the horizontal lateral motion, and the vertical downward motion based on the highest obstacle point, the starting point, and the ending point includes: Determine the preset motion parameters; wherein, the motion parameters include the maximum vertical velocity, the maximum vertical acceleration, the maximum horizontal velocity, and the maximum horizontal acceleration; Based on the highest obstacle point, the starting point, the ending point, and the motion parameters, the initial motion control functions corresponding to the vertical upward motion, the horizontal lateral motion, and the vertical downward motion are determined respectively.

5. The motion path planning method for container crane spreaders according to claim 4, characterized in that, Determining the initial motion control function corresponding to the vertical upward motion includes: Based on the maximum vertical velocity, the maximum vertical acceleration, the vertical distance between the highest obstacle point and the starting point, determine whether the vertical upward motion is uniform. If it exists, then determine that the velocity change corresponding to the vertical upward motion is a trapezoidal velocity curve, and determine the initial motion control function corresponding to the vertical upward motion; If it does not exist, then the velocity change corresponding to the vertical upward motion is determined to be a triangular velocity curve, and the initial motion control function corresponding to the vertical upward motion is determined.

6. The motion path planning method for container crane spreaders according to claim 4, characterized in that, Determining the initial motion control function corresponding to the horizontal lateral movement includes: Based on the maximum horizontal velocity, the maximum horizontal acceleration, and the horizontal distance between the starting point and the ending point, determine whether the horizontal lateral motion is uniform. If it exists, then determine that the velocity change corresponding to the horizontal lateral movement is a trapezoidal velocity curve, and determine the initial motion control function corresponding to the horizontal lateral movement; If it does not exist, then the velocity change corresponding to the horizontal lateral movement is determined to be a triangular velocity curve, and the initial motion control function corresponding to the horizontal lateral movement is determined.

7. The motion path planning method for container crane spreaders according to claim 4, characterized in that, Determining the initial motion control function corresponding to the vertical descent motion includes: Based on the maximum vertical velocity, the maximum vertical acceleration, the distance between the highest obstacle point and the termination point in the vertical direction, determine whether the vertical descent motion is uniform. If it exists, then determine that the velocity change corresponding to the vertical descent motion is a trapezoidal velocity curve, and determine the initial motion control function corresponding to the vertical descent motion; If it does not exist, then the velocity change corresponding to the vertical descent motion is determined to be a triangular velocity curve, and the initial motion control function corresponding to the vertical descent motion is determined.

8. The motion path planning method for container crane spreaders according to claim 1, characterized in that, Determining the highest obstacle point among the multiple rows of containers based on the first container includes: The initial highest obstacle point among the multiple rows of containers is determined based on the first container, and the coordinates of the initial highest obstacle point are adjusted based on the size of the spreader to obtain the highest obstacle point; as well as, Determining other obstacles in the multi-column container array based on the second container includes: The initial other obstacle points in the multi-column container are determined based on the second container, and the coordinates of the initial other obstacle points are adjusted based on the size of the spreader to obtain the other obstacle points.

9. An electronic device, characterized in that, The electronic device includes a processor and a memory, the memory storing at least one instruction or at least one program, the at least one instruction or the at least one program being loaded and executed by the processor to implement the method as described in any one of claims 1-8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one instruction or at least one program, which is loaded and executed by a processor to implement the motion path planning method for container crane spreaders as described in any one of claims 1-8.

Images