A remote control system and method for a port container crane

Abstract

The application discloses a kind of port container crane remote control system and method, belong to port container crane remote control technical field.The method includes: collecting crane each mechanism angle, spreader pose, hoist load and control equipment three-dimensional displacement increment and rotation increment, additional unified timestamp generates state frame and intention frame;State frame and intention frame are bidirectionally transmitted, and synchronous control data is generated according to timestamp alignment;According to the orientation deviation of operation end and crane end, a space mapping matrix is established, the displacement increment and rotation increment are mapped to the expected pose increment of spreader, and are superimposed to the spreader pose to generate the target pose of spreader;Send correction speed instruction and collect actual speed, generate analog damping force feedback to control equipment in combination with hoist load.The application can realize the space mapping alignment of operation end and crane end and the active inhibition and force feedback of spreader swing, improve the precision and immediacy of remote control.

Description

Technical Field

[0001] This invention relates to the field of remote control technology for port container cranes, specifically to a remote control system and method for port container cranes. Background Technology

[0002] Remote control systems for port container cranes enable operators to complete container loading and unloading operations from a ground control room or remote console, avoiding the risks of working at heights and improving working conditions. A major challenge in remote operation is accurately translating the operator's hand movements into the crane's spreader movements, while maintaining the spreader's stability and precise positioning under long-distance transmission and wire rope suspension conditions. Existing remote control methods largely rely on joysticks or touchscreen inputs, with the control equipment only receiving simple displacement commands without considering the inconsistency between the operator's own installation posture and the crane's base posture. In actual deployments, the console may be placed on uneven ground, and the crane rails may have varying elevations. Orientational deviations at both ends can directly cause a misalignment between the operator's intuitive movement direction and the actual movement direction of the spreader. Operators must repeatedly correct these deviations to align the spreader with the target, resulting in low efficiency and a high risk of misoperation. Furthermore, the crane's spreader, suspended by wire ropes, inevitably experiences longitudinal and lateral swaying during acceleration and deceleration. Existing solutions typically rely on operator experience to allow for sway decay during manual operation, or employ simple open-loop anti-sway strategies. These methods cannot adapt to varying rope lengths and loads, resulting in limited suppression effectiveness. Furthermore, in remote control, operators cannot perceive the inertial forces of the spreader or external disturbances, lacking immersive force feedback, leading to insufficient immersion and safety in operation. To address the spatial mapping misalignment issue, the operator and crane ends need bidirectional pose alignment under a unified spatiotemporal reference, establishing a mapping relationship based on the actual orientation differences between the two ends to eliminate motion misalignment caused by foundation deviations. To resolve the sway and force feedback issues, the spreader's swing angle needs to be detected in real-time, and a closed-loop velocity suppression mechanism needs to be introduced. Simultaneously, the control equipment should display damping forces related to the load and actual motion state, allowing the operator to perceive load inertia as if on-site, improving control accuracy and safety. Summary of the Invention

[0003] This invention provides a remote control system and method for port container cranes, aiming to solve the problems of inaccurate spatial mapping caused by the positional deviation between the operating end and the crane end in remote control, as well as the lack of effective suppression of spreader sway and the absence of force feedback, so as to achieve accurate spreader position mapping and enhanced on-site control.

[0004] To achieve the above objectives, the present invention provides the following technical solution: The present invention provides a remote control method for a port container crane, comprising the following steps: collecting the angles of various crane mechanisms, the position and orientation of the spreader, the load, and the three-dimensional displacement and rotation increments of the control equipment, and attaching a unified timestamp to the above data, generating a status frame reflecting the real-time status of the crane and an intent frame reflecting the operator's intention; transmitting the status frame and intent frame bidirectionally, and at the receiving end aligning the spreader's position and displacement and rotation increments to the same control cycle based on the timestamps, generating spatiotemporally consistent synchronous control data; establishing a spatial mapping matrix based on the orientation deviation between the operator's end and the crane end, and using the spatial mapping matrix to convert the displacement increments... The rotation increment is mapped to the desired pose increment of the spreader, and then superimposed with the current spreader pose to generate the target pose of the spreader. The kinematic inverse kinematics of the target pose of the spreader is performed to obtain the target velocity of each actuator. After acceleration constraint smoothing, a smooth velocity command that meets the dynamic characteristic constraints is generated. The longitudinal and lateral swing angles of the spreader are detected, and a suppression velocity correction amount to suppress the longitudinal and lateral swing angles is generated and superimposed on the smooth velocity command to obtain a corrected velocity command with anti-sway compensation. The corrected velocity command is sent to the actuators of each mechanism, the actual velocity of each mechanism is collected, and a simulated damping force is generated based on the actual velocity and the load. The simulated damping force is output to the force feedback actuator of the control device, so that the operator can obtain the force perception corresponding to the load state. By using unified timestamps and synchronization alignment, the operational intent and the actual state of the crane are precisely matched within the control cycle, eliminating positional tracking errors caused by network transmission delays and jitter. The spatial mapping matrix based on orientation deviation can automatically adapt to different installation orientations of the operator and the crane, ensuring that the direction of the control action is consistent with the direction of the spreader's movement, reducing the cognitive burden on the operator. Acceleration constraint smoothing avoids the impact of sudden speed changes on the transmission mechanism and container, improving the smoothness of the starting and braking process. Real-time detection of the spreader's swing angle and speed correction effectively suppress load sway, improving alignment accuracy and operational efficiency. Mapping the actual speed and the load to force feedback allows the operator to perceive the load weight and sway status, enhancing the sense of presence and safety of remote control.

[0005] Preferably, when collecting the angles of various crane mechanisms and the position of the spreader, angle encoders are installed at each hinge point of the crane to collect the rotational speed of the hoisting mechanism drum, the rotational speed of the trolley traveling mechanism wheel set, and the rotational speed of the gantry traveling mechanism wheel set, and convert them into mechanism displacements. At the same time, laser rangefinders are installed at the four corners of the upper surface of the spreader to measure the distance between the spreader and the upper surface of the container. Based on the distance values, the deflection angle and lateral offset of the spreader relative to the container are calculated, thereby accurately obtaining the full-dimensional position of the spreader throughout the entire working range.

[0006] Preferably, when collecting the three-dimensional displacement and rotation increments of the control device, a three-axis accelerometer and a three-axis gyroscope are installed inside the left and right hand-held parts respectively. After zero-speed correction of the acceleration signal, the left displacement increment and right displacement increment are obtained by time integration. The left rotation increment and right rotation increment are obtained by time integration of the angular velocity signal. Then, the weighted fusion is performed according to the preset left and right hand weights to obtain the composite three-dimensional displacement and rotation increments. This can suppress the jitter introduced by single-handed operation and improve the smoothness of the input of operation intention.

[0007] As a technical solution of the present invention, the process of aligning to the same control cycle according to the timestamp is as follows: the arrival time of each status frame and intention frame is recorded at the receiving end of the communication link, and the arrival time difference between the status frame and the intention frame within the same control cycle is calculated; if the arrival time difference is greater than one control cycle, the timeout frame is discarded; if the arrival time difference is less than one control cycle, the displacement increment and rotation increment are linearly interpolated according to the ratio of the time difference to the control cycle to obtain the alignment increment that belongs to the same control cycle as the pose of the lifting device, thereby ensuring strict consistency of the control timing.

[0008] Preferably, the process of establishing the spatial mapping matrix includes: measuring the roll angle and pitch angle of the operating end base and the crane base respectively; taking the difference between the roll angle of the operating end base and the roll angle of the crane base as the first Euler angle; taking the difference between the pitch angle of the operating end base and the pitch angle of the crane base as the second Euler angle; taking the difference between the direction angle of the operating end and the direction angle of the crane as the third Euler angle; constructing a coordinate rotation matrix according to a preset rotation sequence; taking the ratio of the preset maximum gripping displacement of the operating end to the preset maximum working displacement of the spreader as the position scaling factor; multiplying the coordinate rotation matrix by the position scaling factor to obtain the spatial mapping matrix, thereby automatically compensating for the spatial orientation difference between the two ends.

[0009] Preferably, when generating the target pose of the spreader, the current three-dimensional coordinates, deflection angle, forward tilt angle, and side tilt angle are extracted from the spreader pose. The translation and rotation components in the expected pose increment of the spreader are added to the current coordinates and the current angle, respectively. Based on the amplitude limit, height limit, and angle limit of the crane, the target three-dimensional coordinates and target deflection angle are judged to exceed the limit. If the limit is exceeded, the target pose of the spreader is corrected to the limit boundary value, and a restricted spreader target pose is generated to prevent misoperation from causing the mechanism to operate beyond the range.

[0010] As a further aspect of the present invention, the inverse kinematics processing includes: decomposing the target pose of the lifting device into lifting displacement components, trolley displacement components, gantry displacement components, and lifting device rotational components; calculating the target rotational speed of the lifting mechanism based on the diameter of the lifting drum, the wire rope ratio, and the control cycle duration; and using the ratios of the trolley displacement components, gantry displacement components, and lifting device rotational components to the control cycle duration as the target velocities of the corresponding mechanisms. In the acceleration constraint smoothing process, the maximum acceleration and maximum deceleration values ​​of each mechanism are preset, and the output velocity of the previous control cycle is obtained. When the acceleration corresponding to the velocity change between the target velocity and the output velocity in the current cycle exceeds the limit, the amplitude is limited according to the maximum acceleration or maximum deceleration to obtain a smooth transition speed command, ensuring the continuity of motion during the start-up, stop, and speed change processes of the mechanism.

[0011] Preferably, when detecting the longitudinal and lateral sway angles of the spreader, a dual-axis tilt sensor installed on the spreader outputs the longitudinal and lateral tilt angles of the spreader relative to the horizontal plane. At the same time, a two-dimensional angle encoder installed at the wire rope fixing point above the spreader outputs the longitudinal and lateral deflection angles of the wire rope relative to the plumb line. The fusion weight is dynamically determined according to the load range in which the suspended load value is located. The longitudinal tilt angle and the longitudinal deflection angle are weighted and fused to obtain the longitudinal sway angle, and the lateral tilt angle and the lateral deflection angle are weighted and fused to obtain the lateral sway angle. Thus, the sway angle information can be accurately obtained under no-load, light-load, and heavy-load conditions, improving the adaptability and robustness of the anti-sway control.

[0012] The generated suppression speed correction is superimposed on the smooth speed command, and then combined with the actual speed and load feedback from the drive to calculate the simulated damping force. This force is applied to the control device through the force feedback actuator, forming a force feedback closed loop. This allows the operator to perceive the inertial changes and swaying state of the load, further enhancing the intuitiveness and safety of remote operation.

[0013] This invention also provides a remote control system for a port container crane, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of the aforementioned remote control method for a port container crane. Through the aforementioned method, this system can achieve remote control with timing synchronization, orientation adaptation, acceleration smoothing, anti-sway compensation, and force feedback interaction, effectively balancing control follow-up, operational stability, anti-sway effect, and operating feel, significantly improving the efficiency and safety of remote operations for port container cranes.

[0014] The technical effects and advantages provided by the present invention in the above technical solution are as follows:

[0015] By acquiring the three-dimensional displacement and rotation increments from the operator's end and adding a unified timestamp to the status frame at the crane end for bidirectional transmission, the receiving end aligns the two to the same control cycle according to the timestamp. For time deviations caused by communication delays, discarding timed-out data or using linear interpolation ensures that the displacement and rotation increments are aligned with the current pose of the spreader on the same time reference. Based on this, electronic levels and inclinometers installed on the operator's end base and crane base respectively are used to acquire the roll, pitch, and azimuth angle deviations at both ends. A coordinate rotation matrix is ​​constructed sequentially, and combined with a position scaling factor to form a spatial mapping matrix. This matrix directly maps the operator's hand displacement and rotation increments to the desired pose increment of the spreader, eliminating inconsistencies in movement direction caused by operator tilt and crane installation deviations. When the operator pushes their hand forward, the spreader moves accordingly along the front of the crane coordinate system, eliminating the need for directional trial and error and manual compensation. The spreader response is accurate and intuitive, significantly reducing alignment and box-grabbing time. To address the swaying generated during the lifting device's movement, a dual-axis tilt sensor is installed on the device body, and a two-dimensional angle encoder is installed at the wire rope fixing point. This acquires the longitudinal tilt angle, lateral tilt angle, and longitudinal and lateral deflection angles. Based on the current load value, a fusion weight is determined and weighted calculation is performed to obtain the longitudinal and lateral sway angles that accurately reflect the lifting device's motion state. A speed correction amount is generated based on this sway angle signal and directly superimposed on the speed command after acceleration constraint smoothing, forming a closed-loop sway suppression. This method can adjust the suppression amount in real time according to the actual rope length and load changes, ensuring that the lifting device maintains a small sway amplitude during acceleration, deceleration, and steady-state processes without affecting the normal operating speed planning of the mechanism. Simultaneously, actual speeds are collected during the operation of each crane mechanism, and combined with the load, a simulated damping force proportional to the actual inertial force is converted and output to the force feedback actuator of the control equipment. When the operator moves their hand, they will feel the damping force that changes with the acceleration of the spreader and the load. The inertial characteristics of the spreader and its contact with the outside world are transmitted to the operator through the tactile channel, creating a sense of presence that is close to on-site operation, and improving the safety and precision of operation in narrow gaps and complex working conditions. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0017] Figure 1 This is a flowchart of the remote control method for port container cranes;

[0018] Figure 2 It is a flowchart of synchronous control data generation;

[0019] Figure 3 This is a flowchart of the calculation method for the fusion of the spreader's swing angle;

[0020] Figure 4 It is a comparison curve of the target speed and smooth speed of each institution. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] See Figure 1 This invention provides a remote control method for a port container crane, comprising the following steps: collecting the angles of each mechanism of the crane, the pose of the spreader, the load, and the three-dimensional displacement and rotation increments of the control equipment, and generating state frames and intention frames by adding a unified timestamp; transmitting the state frames and intention frames bidirectionally, aligning the spreader pose with the displacement and rotation increments to the same control cycle according to the timestamp, and generating synchronous control data; establishing a spatial mapping matrix based on the orientation deviation between the operating end and the crane end, mapping the displacement and rotation increments to the desired pose increments of the spreader, and superimposing them on the spreader pose to generate the target pose of the spreader; performing inverse kinematics on the target pose of the spreader to obtain the target velocity of each mechanism, and generating a smoothed velocity command after acceleration constraint smoothing; detecting the longitudinal and lateral swing angles of the spreader, generating a suppressed velocity correction amount and superimposing it on the smoothed velocity command to obtain a corrected velocity command; sending the corrected velocity command to the actuators of each mechanism, collecting the actual velocity of each mechanism, generating a simulated damping force based on the load, and outputting it to the force feedback actuator of the control equipment.

[0023] In practice, the angles of each mechanism of the crane are acquired by angle encoders installed at the hinge points of each mechanism. The angle encoders are installed on the drive shafts of the hoisting mechanism drum, the trolley traveling mechanism wheels, and the gantry traveling mechanism wheels. The angle encoders output pulse signals, which are converted into the rotational speeds of the hoisting mechanism drum, the trolley traveling mechanism wheel set, and the gantry traveling mechanism wheel set via a counting circuit. The hoisting mechanism displacement is obtained by multiplying the hoisting mechanism drum rotational speed by the hoisting drum circumference and then dividing by the wire rope ratio; the trolley traveling mechanism displacement is obtained by multiplying the trolley traveling mechanism wheel set rotational speed by the trolley wheel circumference; and the gantry traveling mechanism displacement is obtained by multiplying the gantry traveling mechanism wheel set rotational speed by the gantry wheel circumference.

[0024] The spreader's pose is acquired using laser rangefinders mounted at four corner points on the spreader's upper surface. Each of the four laser rangefinders measures the vertical distance from one of the four corner points on the spreader's upper surface to the corresponding corner point on the container's upper surface. The four laser rangefinders are spaced apart in the lateral direction of the spreader. The installation spacing in the longitudinal direction of the lifting device is With the center of the spreader as the origin, define the left front corner, right front corner, right rear corner, and left rear corner. The distance values ​​measured by the four laser rangefinders are recorded as follows: , , , The deflection angle of the spreader relative to the container. We obtain it from the following formula:

[0025]

[0026] in, The distance value is measured by the laser rangefinder at the left front corner. The distance value is measured by the laser rangefinder at the left rear corner. The distance value is measured by the laser rangefinder at the right front corner. The distance value is measured by the laser rangefinder at the right rear corner. This refers to the installation spacing of the laser rangefinder sensors in the lateral direction of the lifting device. The lateral offset of the lifting device. in accordance with Confirmed. Longitudinal offset of the spreader. in accordance with Sure.

[0027] The load value is acquired using a tension sensor connected to the end of the wire rope. The tension sensor is a strain gauge type and is installed at the connection pin between the hoisting wire rope and the upper frame of the lifting device. The analog voltage signal output by the tension sensor is amplified and converted from analog to digital by a transmitter to obtain the load value. The transmitter has an internal low-pass filter with a cutoff frequency of 10Hz to filter out high-frequency noise caused by wire rope vibration.

[0028] The acquisition of three-dimensional displacement increments of the control device is achieved through three-axis accelerometers installed inside the left and right handheld components. The left handheld component houses a first three-axis accelerometer and a first three-axis gyroscope, while the right handheld component houses a second three-axis accelerometer and a second three-axis gyroscope. The first three-axis accelerometer outputs acceleration signals along three orthogonal axes of the left handheld component, and the second three-axis accelerometer outputs acceleration signals along three orthogonal axes of the right handheld component. During zero-velocity correction, the magnitude of the resultant acceleration output by the first three-axis accelerometer is calculated. If the magnitude of the resultant acceleration remains within the threshold range of 0.95g to 1.05g for 30 consecutive milliseconds, the left handheld component is considered stationary. The current three-axis acceleration signals output by the first three-axis accelerometer are taken as the first zero-bias error, and this first zero-bias error is subtracted from subsequent acceleration signals output by the first three-axis accelerometer. The same zero-velocity correction process is applied to the second three-axis accelerometer to obtain the second zero-bias error, which is then subtracted. The acceleration signal from the first triaxial accelerometer, after zero-speed correction, is integrated over time using a trapezoidal method to obtain the velocity increment of the left hand, which is then integrated again to obtain the left displacement increment. Similarly, the acceleration signal from the second triaxial accelerometer, after zero-speed correction, is integrated to obtain the right displacement increment.

[0029] The acquisition of rotation increments of the control device is achieved through a first three-axis gyroscope and a second three-axis gyroscope. The first three-axis gyroscope outputs angular velocity signals along three axes of the left hand-held body, and the left rotation increment is obtained by directly integrating the angular velocity signals over time; the second three-axis gyroscope outputs angular velocity signals along three axes of the right hand-held body, and the right rotation increment is obtained by directly integrating the angular velocity signals over time.

[0030] The left and right displacement increments are weighted and summed according to preset left and right hand weights to obtain the three-dimensional displacement increment. The left and right hand weights include the left translation weight coefficient. And right shift weight coefficient The left translation weight coefficient is preset to 0.5, and the right translation weight coefficient is also preset to 0.5. The operator can adjust the left and right translation weight coefficients separately through the human-machine interface on the control panel. Three-dimensional displacement increment. according to Calculate, where, This is the left displacement increment. This is the right displacement increment. The left and right rotation increments are weighted and summed according to their left and right hand weights to obtain the rotation increment. Rotation Increment according to Calculate, where, This is the left rotation weighting factor, preset to 0.5. This is the right rotation weighting factor, preset to 0.5. For left rotation increment, This is the increment for right rotation. The weighting coefficients for left translation, right translation, left rotation, and right rotation can be set independently to suit different operating habits.

[0031] In specific implementation, please refer to Figure 2 The communication link receiver is the communication interface module within the crane controller. This module receives intent frames from the operator and status frames from various crane sensors. The intent frame contains the three-dimensional displacement increment, rotation increment, and synchronization timestamp of the controlled equipment. The status frame contains the spreader pose, angles of each mechanism, and synchronization timestamp. The communication interface module has a built-in high-precision hardware clock that latches the current hardware clock count value the instant the data frame is received at the physical layer, and writes this count value as the arrival time into the frame reception record.

[0032] The control cycle duration is a preset fixed value, denoted as . , The default setting is 20 milliseconds. The preset value of 20 milliseconds is based on the fact that the remote control system for port container cranes requires an end-to-end delay of no more than 50 milliseconds. The 20-millisecond control cycle meets the real-time requirements, allows for network transmission jitter, and is compatible with the conventional industrial Ethernet communication cycle.

[0033] At the beginning of each control cycle, the communication interface module extracts the latest arriving status frame and the latest arriving intent frame from the receive buffer. After extraction, it reads the arrival time of the status frame. and the arrival time of the intent frame Calculate the time difference of arrival between the state frame and the intent frame. , .

[0034] like Greater than If the earlier-arriving frame in the currently extracted state and intent frames is discarded, the frame will wait for the next control cycle to be extracted again. Specifically, when Earlier and When the state frame is discarded, the intent frame is retained for pairing with the updated state frame in the next cycle; when Earlier and When the state frame is in use, the intent frame is discarded, but the state frame is retained for pairing with the updated intent frame in the next cycle. The discarded frame is no longer involved in the generation of synchronization control data.

[0035] like Less than or equal to Then, for the three-dimensional displacement increment in the intention frame and rotation increment Perform linear interpolation to obtain the aligned displacement increment. and the rotation increment after alignment Linear interpolation is performed according to the following formula:

[0036]

[0037] in, This is the displacement increment after alignment. For the original three-dimensional displacement increment in the intent frame, To control the cycle duration, This is the absolute value of the difference between the arrival time of the state frame and the arrival time of the intention frame. The rotation increment is interpolated using the same factor. ,in The rotation increment after alignment. This represents the original rotation increment in the intent frame. After the above processing, the aligned displacement increment... and the rotation increment after alignment The spreader pose in the status frame belongs to the same control cycle, generating synchronous control data.

[0038] Time difference Exactly equal to In this case, When equal to 1, the aligned increment retains the original value. When Less than At that time, the magnification factor If the value is greater than 1, the alignment process will proportionally expand the incremental changes accumulated in a short period of time to the amplitude corresponding to a complete control cycle, so that the update amplitude of the target pose of the spreader is consistent with the actual movement amplitude of the control equipment on the time scale.

[0039] In practice, the roll and pitch angles of the operating platform base are measured using a triaxial electronic level mounted on the base. The triaxial electronic level is fixed at the center of the operating platform's bottom surface, with its measuring axes aligned with the coordinate system of the operating platform base. The triaxial electronic level integrates a triaxial accelerometer, and calculates the roll and pitch angles using the projection components of the gravity vector along the three measuring axes. The roll angle of the operating platform base output by the triaxial electronic level is denoted as... The pitch angle of the operating end base is denoted as .

[0040] The roll and pitch angles of the crane base are measured using an inclinometer mounted on the crane gantry or rails. The inclinometer is a dual-axis inclinometer sensor, mounted on the reference plane of the crane gantry. During installation, the two measuring axes of the inclinometer are ensured to be parallel to the lateral and longitudinal axes of the crane base, respectively. The roll angle of the crane base output by the inclinometer is denoted as... The pitch angle of the crane base is denoted as .

[0041] The orientation angle of the operating terminal is provided by a first electronic compass mounted on the operating terminal base. The first electronic compass outputs the azimuth angle of the vertical axis of the operating terminal base coordinate system relative to the geomagnetic north pole, denoted as . The crane's azimuth angle is provided by a second electronic compass mounted on the crane's gantry frame. The second electronic compass outputs the azimuth angle of the crane's base coordinate system relative to the magnetic north pole, denoted as... When the crane gantry frame is a fixed structure and the track direction is known, the crane direction angle can also be directly read from the preset parameters, which are stored in the memory during system installation and calibration.

[0042] Roll angle of the operating terminal base Roll angle with crane base The difference is taken as the first Euler angle, denoted as . ,Right now Adjust the pitch angle of the operating terminal base. relative to the crane base pitch angle The difference is taken as the second Euler angle, denoted as . ,Right now Adjust the direction angle of the operating end. relative to crane direction angle The difference is taken as the third Euler angle, denoted as . ,Right now .

[0043] Construct the coordinate rotation matrix by rotating first around the third Euler angle, then around the second Euler angle, and finally around the first Euler angle. The third Euler angle corresponds to the vertical axis direction of both the operator's coordinate system and the crane's coordinate system, i.e., rotation around the vertical axis. The direction of the second Euler angle corresponds to rotation about the horizontal axis. The first Euler angle direction corresponds to rotation about the horizontal longitudinal axis. Coordinate rotation matrix The product of the three fundamental rotation matrices is determined by the following formula:

[0044]

[0045] in, The first Euler angle is the difference between the roll angle of the operating end base and the roll angle of the crane base. The second Euler angle is the difference between the pitch angle of the operating end base and the pitch angle of the crane base. It is the third Euler angle, which is the difference between the operating end direction angle and the crane direction angle. and These represent the sine and cosine functions, respectively.

[0046] The operator's maximum gripping displacement is the maximum comfortable unidirectional translation distance for the operator within the operator's workspace. This maximum comfortable translation distance is determined during system calibration by having the operator extend their arms to their limit positions along three axes in a natural seated position, recording the range of motion, and then averaging the results. A typical setting is 0.5 meters. The maximum working displacement of the lifting device is the maximum permissible unidirectional translation distance of the crane lifting device within its safe operating range. This maximum permissible translation distance is read from the crane's design parameter file, with a typical value of 50 meters. Position scaling factor. The ratio of the preset maximum gripping displacement to the preset maximum working displacement of the spreader is set for the control terminal. .

[0047] Rotate the coordinate matrix Multiply by position scaling factor The spatial mapping matrix is ​​obtained. ,Right now Space mapping matrix This is used to map the three-dimensional displacement increment of the control device from the operator coordinate system to the desired pose increment of the spreader in the crane coordinate system.

[0048] Extract the current 3D coordinates, current deflection angle, current forward tilt angle, and current side tilt angle of the spreader from the spreader pose data in the state frame. The current 3D coordinates of the spreader are denoted as follows: The current deflection angle of the lifting device is recorded as... The current forward tilt angle of the spreader is recorded as... The current tilt angle of the spreader is recorded as .

[0049] The three-dimensional displacement increment of the control device is denoted as , is a three-dimensional vector The rotation increment is denoted as Including deflection angle increment and tilt increment Using a space mapping matrix For three-dimensional displacement increments By mapping, the translation increment in the expected pose increment of the spreader is obtained. ,Right now The rotation increment in the desired pose increment of the spreader is directly adopted. The corresponding components in.

[0050] The translation increment in the desired pose increment of the spreader Current three-dimensional coordinates of the lifting device Add them together to obtain the three-dimensional coordinates of the lifting target. The deflection angle increment in the desired pose increment of the spreader. Current deflection angle of the spreader Add them together to get the target deflection angle of the lifting device. The forward tilt angle increment in the desired pose increment of the spreader. Current forward tilt angle of the spreader Add them together to obtain the target tilt angle of the spreader. The tilt angle increment in the desired pose increment of the spreader. Current tilt angle of the spreader Add them together to obtain the target tilt angle of the spreader. .

[0051] Perform limit checks based on the crane's amplitude limit, height limit, and angle limit. Amplitude limit values. This is the maximum horizontal distance from the center of the spreader to the center of rotation of the crane, obtained from the crane parameter database. The height limit value includes the maximum height. and minimum height The angle limit value is read from the calibration value of the lifting mechanism limit switch. The angle limit value includes the maximum deflection angle. The allowable range of spreader deflection angle is within to between.

[0052] Calculate the amplitude value corresponding to the three-dimensional coordinates of the lifting target. .like Greater than Then the three-dimensional coordinates of the lifting target will be scaled along the horizontal radial direction to the amplitude limit boundary, that is... and Multiply by After being restricted and .like Greater than Then Set as ;like Less than Then Set as If the target deflection angle of the lifting device The absolute value is greater than Then Set to the same sign as the current deflection angle. or After the above-mentioned limit adjustment, the restricted spreader target pose is generated. The restricted spreader target pose includes the restricted three-dimensional coordinates of the spreader target, the restricted spreader target deflection angle, the restricted spreader target forward tilt angle, and the restricted spreader target side tilt angle.

[0053] In practice, the inverse kinematics process converts the constrained lifting target pose into the target velocities of each mechanism. The constrained lifting target pose includes the constrained three-dimensional coordinates of the lifting target. Target deflection angle of the lifting device after restriction The forward tilt angle of the lifting device after restriction and the target tilt angle of the spreader after restriction From the current three-dimensional coordinates of the spreading device and the current deflection angle of the spreader Extract the current value. The difference between the target pose of the restricted spreader and the current pose of the spreader is decomposed into the lifting displacement component, the trolley displacement component, the gantry displacement component, and the spreader rotation component.

[0054] The lifting displacement component is in the three-dimensional coordinates of the restricted lifting target. With the current three-dimensional coordinates of the spreading device The difference is denoted as ,Right now The trolley displacement component is the difference between the radial horizontal component in the constrained three-dimensional coordinates of the lifting target and the corresponding component in the current three-dimensional coordinates of the lifting device. In a coordinate system with the crane's rotation center as the origin, the trolley displacement component corresponds to the displacement along the boom direction, denoted as... ,according to , and , The radial projection is calculated. The trolley displacement component is the difference between the tangential horizontal component in the constrained three-dimensional coordinates of the lifting target and the corresponding component in the current three-dimensional coordinates of the lifting device. When the crane is a bridge type, the trolley displacement component corresponds to the displacement along the trolley track direction, denoted as... The rotation component of the spreader is the target deflection angle of the spreader after it has been constrained. Current deflection angle of the spreader The difference is denoted as .

[0055] In a bridge container crane, the lifting displacement component Directly corresponds to the change in the length of the hoisting wire rope during take-up and de-take-off; trolley displacement component The displacement difference along the trolley track direction; the displacement components of the main trolley. The displacement difference along the direction of the main track; the rotation component of the lifting device. Corresponding to the angle change of the slewing mechanism. Obtain the diameter of the hoisting drum. The hoisting drum diameter is read from the crane design parameters, in meters; obtain the wire rope ratio. The wire rope ratio is determined based on the wire rope winding method, with typical values ​​being 4 or 6. It is also determined based on the lifting displacement component. Calculate the number of rotations required for the hoisting drum : Control cycle duration The preset time is 20 milliseconds, based on the requirement that the end-to-end latency of the remote control system for port container cranes should not exceed 50 milliseconds. A 20-millisecond control cycle meets real-time requirements while allowing for network transmission jitter and is compatible with conventional industrial Ethernet communication cycles. (The number of rotations is then set.) Divide by control cycle duration The target rotational speed of the hoisting mechanism is obtained. The unit is revolutions per second: .

[0056] The displacement component of the trolley With control cycle duration The ratio is used as the target speed of the trolley running mechanism. ,Right now The displacement component of the large vehicle With control cycle duration The ratio is used as the target speed of the trolley traveling mechanism. ,Right now Rotate the lifting device by a certain amount. With control cycle duration The ratio is used as the target speed of the spreader slewing mechanism. ,Right now .

[0057] During the acceleration constraint smoothing phase, the maximum acceleration and maximum deceleration values ​​for each mechanism are preset. (Maximum acceleration value for the hoisting mechanism) The preset maximum deceleration value of the hoisting mechanism is 0.8 m / s². The preset value is 0.8 m / s²; the maximum acceleration value of the trolley running mechanism. The maximum deceleration value of the trolley running mechanism is preset to 0.6 m / s². The preset value is 0.6 m / s²; the maximum acceleration value of the trolley traveling mechanism. The maximum deceleration value of the trolley traveling mechanism is preset to 0.4 m / s². The preset value is 0.4 m / s²; the maximum angular acceleration value of the lifting device slewing mechanism. The maximum angular deceleration value of the spreader slewing mechanism is preset to 0.3 rad / s². The preset value is 0.3 rad / s². The above preset value is based on the allowable dynamic load coefficient limit of the wire rope and structural components of the container crane under full load conditions, and the subjective tolerance threshold of the operator to acceleration and deceleration impacts.

[0058] Obtain the output speed of each mechanism in the previous control cycle. The output speed of the hoisting mechanism in the previous control cycle is denoted as... The output speed of the trolley running mechanism in the previous control cycle is recorded as... The output speed of the trolley traveling mechanism in the previous control cycle is recorded as... The output speed of the slewing mechanism of the lifting device in the previous control cycle is denoted as... Calculate the speed change between the target speed and the output speed during the current control cycle. (Speed ​​change of the hoisting mechanism) ; Speed ​​change of the trolley running mechanism ; Change in speed of the trolley traveling mechanism Change in speed of the slewing mechanism of the spreader .

[0059] For each mechanism, determine whether the acceleration corresponding to the change in speed exceeds the preset maximum acceleration or maximum deceleration value. Taking the hoisting mechanism as an example, the change in speed... The absolute value divided by the control cycle duration The calculated acceleration value of the hoisting mechanism is obtained. .like A value greater than zero indicates that acceleration is needed; if Greater than the maximum acceleration value of the hoisting mechanism Then the output speed of the hoisting mechanism will be limited to the maximum acceleration value of the hoisting mechanism, that is, the smooth speed of the hoisting mechanism. .like A value less than zero indicates that deceleration is required. Greater than the maximum deceleration value of the hoisting mechanism Then the output speed of the hoisting mechanism will be limited to the maximum deceleration value of the hoisting mechanism, i.e., the smooth speed of the hoisting mechanism. .like If the corresponding acceleration or deceleration limit is not exceeded, the hoisting mechanism smoothing speed... Directly equal to the target speed of the hoisting mechanism .

[0060] The trolley traveling mechanism, the crane traveling mechanism, and the spreader slewing mechanism all employ the same acceleration constraint smoothing logic. For the trolley traveling mechanism, when... When it is greater than zero, if Greater than the maximum acceleration value of the trolley running mechanism The smooth speed of the trolley running mechanism ;when When less than zero, if Greater than the maximum deceleration value of the trolley running mechanism The smooth speed of the trolley running mechanism Otherwise, the smooth speed of the trolley running mechanism Equal to the target speed of the trolley's running mechanism .

[0061] For the large vehicle operating mechanism, when When it is greater than zero, if Greater than the maximum acceleration value of the trolley traveling mechanism The smooth speed of the trolley traveling mechanism ;when When less than zero, if Greater than the maximum deceleration value of the trolley traveling mechanism The smooth speed of the trolley traveling mechanism Otherwise, the smooth speed of the trolley traveling mechanism Equal to the target speed of the trolley running mechanism .

[0062] For the slewing mechanism of the spreader, when When it is greater than zero, if Greater than the maximum angular acceleration value of the slewing mechanism of the spreader The smooth speed of the lifting device slewing mechanism ;when When less than zero, if Greater than the maximum angular deceleration value of the slewing mechanism of the spreader The smooth speed of the lifting device slewing mechanism Otherwise, the smooth speed of the lifting device slewing mechanism Equal to the target speed of the spreader slewing mechanism .

[0063] The final generated smooth speed of the lifting mechanism Smooth speed of the trolley running mechanism Smooth speed of the trolley traveling mechanism Smooth speed of the spreader slewing mechanism Together they constitute a smooth speed command.

[0064] See Figure 4 In the graph, the horizontal axis represents time in seconds, and the vertical axis represents speed in meters per second. The graph shows the target speeds and corresponding smooth speed curves of the hoisting mechanism, trolley traveling mechanism, and gantry traveling mechanism, distinguished by dashed and solid lines, respectively. The line colors correspond to blue for the hoisting mechanism, orange for the trolley traveling mechanism, and green for the gantry traveling mechanism.

[0065] As shown in the figure, the target speed of the hoisting mechanism starts from 0 at 2.0 seconds and accelerates uniformly to 0.3 m / s, maintaining this speed until 4.0 seconds. Then, it decelerates uniformly to 0 m / s, and then accelerates uniformly in the opposite direction at 6.0 seconds to -0.2 m / s, maintaining this speed until 8.0 seconds, before finally returning to 0 m / s. The corresponding smooth speed curve closely follows the change in target speed, but exhibits slope limitations during acceleration and deceleration, demonstrating the smooth handling of acceleration constraints and effectively avoiding sudden speed changes.

[0066] The target speed of the trolley's operating mechanism starts at 0 m / s at 1 second, accelerates uniformly to 0.2 m / s, and remains at that speed until 3.1 seconds. It then decelerates uniformly to -0.1 m / s and remains at that speed until 5 seconds, after which it rises back to 0.1 m / s, returning to 0 m / s at 7 seconds. Its smooth speed curve also follows the acceleration and deceleration constraints, showing a slight lag compared to the target speed and a gentle slope, indicating that the acceleration constraint is effectively applied to the speed command of the trolley's operating mechanism.

[0067] The target speed of the trolley traveling mechanism begins at 2 seconds, accelerating uniformly to 0.15 m / s, maintaining this speed for 5 seconds, then decelerating uniformly to -0.1 m / s, and returning to 0 at 7.0 seconds. The smooth speed exhibits a slow and smooth acceleration and deceleration process without any abrupt changes, conforming to the smoothing strategy of the preset maximum acceleration and deceleration.

[0068] In specific implementation, please refer to Figure 3 The longitudinal and lateral tilt angles of the spreading device relative to the horizontal plane are measured by a dual-axis tilt sensor mounted on the spreading device. The dual-axis tilt sensor is fixed at the geometric center of the upper surface of the spreading device. The first measuring axis of the dual-axis tilt sensor is parallel to the longitudinal axis of the spreading device, and the second measuring axis is parallel to the lateral axis of the spreading device. Internally, the dual-axis tilt sensor uses a microelectromechanical system (MEMS) accelerometer to sense the components of the gravity vector on the first and second measuring axes of the dual-axis tilt sensor, and outputs the longitudinal and lateral tilt angles through arctangent calculation. The longitudinal tilt angle of the spreading device relative to the horizontal plane output by the dual-axis tilt sensor is denoted as... The lateral tilt angle of the lifting device relative to the horizontal plane, output by the dual-axis tilt sensor, is denoted as... The dual-axis tilt sensor has a range of ±30° and an output resolution of 0.01°.

[0069] The longitudinal and lateral deflection angles of the wire rope relative to the plumb line are measured by a two-dimensional angle encoder installed at the wire rope fixing point above the lifting device. The two-dimensional angle encoder includes a first rotary encoder and a second rotary encoder. The first rotary encoder measures the angle of the wire rope relative to the plumb line in the longitudinal plane, and the second rotary encoder measures the angle of the wire rope relative to the plumb line in the lateral plane. The wire rope passes through a follower pulley of the two-dimensional angle encoder. The swing angle of the follower pulley in the longitudinal plane is read by the first rotary encoder, and the swing angle of the follower pulley in the lateral plane is read by the second rotary encoder. The longitudinal deflection angle of the wire rope relative to the plumb line output by the two-dimensional angle encoder is denoted as... The lateral deflection angle of the steel wire rope relative to the vertical line output by the two-dimensional angle encoder is denoted as... The 2D angle encoder has an angular resolution of 0.005° and a response frequency of 50Hz.

[0070] The preset correspondence between lifting load ranges and weight values ​​is stored in the crane controller's non-volatile memory. The lifting load range is divided into three sub-ranges: light load, medium load, and heavy load. The light load range is defined as a lifting load value less than or equal to 30% of the crane's rated load; the medium load range is defined as a lifting load value greater than 30% and less than or equal to 70% of the crane's rated load; and the heavy load range is defined as a lifting load value greater than 70% of the crane's rated load. The fusion weight value corresponding to the light load range is denoted as... The fusion weight value corresponding to the intermediate load interval is denoted as The fusion weight value corresponding to the overloaded interval is denoted as . The default value is 0.8. The default value is 0.5. The default value is 0.2.

[0071] Fusion weight value The preset weight of 0.8 is based on the following: Within the light load range, the load value is relatively small, the wire rope swing amplitude is relatively large, but the response of the wire rope deflection sensor is less affected by the load. The spreader tilt sensor, due to the small spreader acceleration, can accurately reflect the swing angle. Therefore, higher weights are assigned to the longitudinal and lateral tilt angles output by the spreader tilt sensor. (Fusing weight value) The preset weight of 0.2 is based on the following: Within the heavy-load range, the lifting load is larger, and the increased tension in the wire rope makes the longitudinal and lateral deflection angles output by the wire rope deflection sensor more directly reflect the swing state of the wire rope. However, the response of the spreader tilt sensor, constrained by the large load due to the spreader's own inertia, has a phase difference with the swing angle. Therefore, a lower weight is assigned to the longitudinal and lateral tilt angles output by the spreader tilt sensor. (Fusing weight value) The preset value of 0.5 is based on the fact that the measurement characteristics of the two sensors are not significantly different within the medium load range, and the output values ​​of the lifting device tilt sensor and the wire rope deflection sensor are given equal weight.

[0072] Within each control cycle, obtain the current lifting load value. ,Will With the crane's rated load The ratio is compared with the threshold of the lifting load range to determine the fusion weight corresponding to the current lifting load value. .like ,but ;like ,but ;like ,but .

[0073] longitudinal tilt angle With longitudinal deflection angle By fusion weight Weighted summation yields the vertical swing angle. The longitudinal swing angle is calculated using the following formula:

[0074]

[0075] in, The vertical swing angle, To integrate weights, The longitudinal tilt angle of the lifting device relative to the horizontal plane is output by a dual-axis tilt sensor. This refers to the longitudinal deflection angle of the wire rope relative to the plumb line, output by the two-dimensional angle encoder.

[0076] Lateral tilt angle Lateral deflection By fusion weight Weighted summation yields the lateral swing angle. ,Right now ,in It is the lateral swing angle. The lateral tilt angle of the lifting device relative to the horizontal plane is output by the dual-axis tilt sensor. The lateral deflection angle of the wire rope relative to the plumb line is output by the two-dimensional angle encoder.

[0077] Vertical swing angle The input is sent to the sway suppression controller, which generates the suppression speed correction amount for the trolley and crane traveling mechanisms based on the amplitude and rate of change of the longitudinal sway angle. Lateral sway angle... The input is sent to the sway suppression controller, which generates suppression speed correction amounts for the trolley and gantry traveling mechanisms based on the amplitude and rate of change of the lateral sway angle. These suppression speed correction amounts are then superimposed on the smoothing speed command to obtain the corrected speed command, which is sent to the respective mechanism drivers.

[0078] A remote control system for a port container crane includes a memory, a processor, and a computer program stored in the memory and running on the processor. The memory is a double data rate synchronous dynamic random access memory with a capacity of 8GB, used to store the computer program, the correspondence between lifting load ranges and weight values, the preset maximum acceleration and deceleration values ​​for each mechanism, and status frames and intent frames generated during operation. The processor is an embedded real-time processor with a clock frequency of 1.2GHz, employing a real-time operating system, and a fixed control cycle of 20 milliseconds. When the processor executes the computer program, it implements the steps of the aforementioned remote control method for port container cranes, including: collecting the angles of each mechanism of the crane, the pose of the spreader, the load, and the three-dimensional displacement and rotation increments of the control equipment, and generating status frames and intent frames by adding a unified timestamp; transmitting the status frames and intent frames bidirectionally, aligning the spreader pose with the displacement and rotation increments to the same control cycle according to the timestamp, and generating synchronous control data; establishing a spatial mapping matrix based on the orientation deviation between the operator end and the crane end, mapping the displacement and rotation increments to the desired pose increments of the spreader, and superimposing them on the spreader pose to generate the target pose of the spreader; performing inverse kinematics on the target pose of the spreader to obtain the target velocity of each mechanism, and generating a smoothed velocity command after acceleration constraint smoothing; detecting the longitudinal and lateral swing angles of the spreader, generating a suppressed velocity correction amount and superimposing it on the smoothed velocity command to obtain a corrected velocity command; sending the corrected velocity command to the actuators of each mechanism, collecting the actual velocity of each mechanism, generating a simulated damping force based on the load, and outputting it to the force feedback actuator of the control equipment.

[0079] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A method for remotely controlling a port container crane, characterized in that, Includes the following steps: Collect the angles of each mechanism of the crane, the position and posture of the lifting device, the load, and the three-dimensional displacement and rotation increments of the control equipment, and add a unified timestamp to generate status frames and intent frames; The status frame and intention frame are transmitted bidirectionally, and the spreader pose, displacement increment, and rotation increment are aligned to the same control cycle according to the timestamp to generate synchronous control data. A spatial mapping matrix is ​​established based on the orientation deviation between the operating end and the crane end. The displacement increment and rotation increment are mapped to the desired pose increment of the spreader and superimposed on the spreader pose to generate the target pose of the spreader. The kinematics of the target pose of the spreader are solved by inverse kinematics to obtain the target velocities of each mechanism, and smoothed velocity commands are generated by acceleration constraint smoothing. The longitudinal and lateral swing angles of the spreader are detected, a speed suppression correction is generated and superimposed on the smoothing speed command to obtain the corrected speed command; The speed correction command is sent to the actuators of each mechanism, the actual speed of each mechanism is collected, and the simulated damping force is generated by combining the load and output to the force feedback actuator of the control equipment.

2. The remote control method for a port container crane according to claim 1, characterized in that, The steps for collecting the angles of each mechanism of the crane, the position of the lifting device, and the load being lifted specifically include: Angle encoders are installed at each hinge point of the crane to collect the rotational speed of the hoisting mechanism drum, the rotational speed of the trolley traveling mechanism wheel set, and the rotational speed of the gantry traveling mechanism wheel set, and the rotational speed is converted into the displacement of each mechanism. Laser rangefinders are installed at the four corners of the spreader's upper surface to measure four distance values ​​from the spreader to the upper surface of the container. Based on these four distance values, the deflection angle of the spreader relative to the container and the lateral offset of the spreader are calculated. A tension sensor is connected to the end of the wire rope, and the output signal of the tension sensor is converted into a load value by a transmitter.

3. The remote control method for a port container crane according to claim 1, characterized in that, The specific steps for collecting the three-dimensional displacement and rotation increments of the control device include: A three-axis accelerometer and a three-axis gyroscope are installed in the left and right hands of the control device, respectively. The acceleration signal output by the three-axis accelerometer is zero-speed corrected and integrated over time to obtain the left displacement increment and the right displacement increment. The angular velocity signal output by the three-axis gyroscope is integrated over time to obtain the left rotation increment and the right rotation increment. The left and right displacement increments are weighted and summed according to preset left and right hand weights to obtain the three-dimensional displacement increment; The left rotation increment and the right rotation increment are weighted and summed according to the left and right hand weights to obtain the rotation increment.

4. The remote control method for a port container crane according to claim 1, characterized in that, The step of aligning the spreader pose with the displacement increment and rotation increment according to the timestamp to the same control cycle specifically includes: Record the arrival time of each status frame and intention frame at the receiving end of the communication link, and calculate the arrival time difference between the status frame and the intention frame within the same control cycle. If the arrival time difference is greater than one control cycle, then discard the status frame or intent frame whose arrival time difference is greater than one control cycle. If the arrival time difference is less than one control cycle, the displacement increment and rotation increment are linearly interpolated according to the ratio of the arrival time difference to the control cycle to obtain the aligned displacement increment and rotation increment, so that the aligned displacement increment and rotation increment belong to the same control cycle as the spreader pose.

5. The remote control method for a port container crane according to claim 1, characterized in that, The step of establishing a spatial mapping matrix based on the azimuth deviation between the operating end and the crane end specifically includes: Install a triaxial electronic level on the operating end base to measure the roll and pitch angles of the operating end base; Install an inclinometer on the crane gantry or rail to measure the roll and pitch angles of the crane base; The difference between the roll angle of the operating end base and the roll angle of the crane base is taken as the first Euler angle, the difference between the pitch angle of the operating end base and the pitch angle of the crane base is taken as the second Euler angle, and the difference between the direction angle of the operating end and the direction angle of the crane is taken as the third Euler angle. Construct the coordinate rotation matrix in the order of first rotating around the third Euler angle, then around the second Euler angle, and finally around the first Euler angle; The ratio of the preset maximum gripping displacement on the operating terminal to the preset maximum working displacement of the lifting device is used as the position scaling factor; Multiplying the coordinate rotation matrix by the position scaling factor yields the spatial mapping matrix.

6. The remote control method for a port container crane according to claim 1, characterized in that, The step of superimposing the lifting device pose onto the lifting device pose to generate the target lifting device pose specifically includes: Extract the current 3D coordinates, current deflection angle, current forward tilt angle, and current side tilt angle of the spreader from its pose. Add the translation increment in the expected pose increment of the spreader to the current three-dimensional coordinates of the spreader to obtain the target three-dimensional coordinates of the spreader; Add the rotation increment in the desired pose increment of the spreader to the current deflection angle of the spreader to obtain the target deflection angle of the spreader; Add the tilt angle increment in the expected pose increment of the spreader to the current forward tilt angle and the current side tilt angle of the spreader, respectively, to obtain the target forward tilt angle and the target side tilt angle of the spreader; Based on the crane's amplitude limit, height limit, and angle limit, determine whether the three-dimensional coordinates and deflection angle of the lifting target exceed the limits. If they do, adjust the lifting target pose to the limit boundary value to generate a restricted lifting target pose.

7. The remote control method for a port container crane according to claim 1, characterized in that, The steps for performing inverse kinematics solution on the target pose of the lifting device specifically include: The target pose of the spreader is decomposed into lifting displacement component, trolley displacement component, gantry displacement component, and spreader rotation component. Obtain the diameter of the hoisting drum and the wire rope ratio, calculate the number of rotations required for the hoisting drum based on the hoisting displacement component, and convert the number of rotations into the target speed of the hoisting mechanism according to the control cycle duration. The ratio of the trolley displacement component to the control cycle duration is used as the target speed of the trolley running mechanism; The ratio of the trolley displacement component to the control cycle duration is used as the target speed of the trolley running mechanism. The ratio of the spreader rotation component to the control cycle duration is used as the target speed of the spreader slewing mechanism.

8. The remote control method for a port container crane according to claim 1, characterized in that, The step of generating a smoothed velocity command through acceleration constraint smoothing specifically includes: Preset the maximum acceleration and maximum deceleration values ​​for each mechanism; obtain the output speed of each mechanism in the previous control cycle; calculate the speed change between the target speed and the output speed in the current control cycle. If the acceleration corresponding to the change in velocity exceeds the maximum acceleration value, the output velocity will be limited to the maximum acceleration value and used as the smoothed velocity. If the deceleration corresponding to the change in speed exceeds the maximum deceleration value, the output speed will be limited to the maximum deceleration value and used as the smoothed speed.

9. A remote control method for a port container crane according to claim 1, characterized in that, The steps for detecting the longitudinal and lateral swing angles of the lifting device specifically include: Install a dual-axis tilt sensor on the spreader to output the longitudinal and lateral tilt angles of the spreader relative to the horizontal plane; A two-dimensional angle encoder is installed at the fixed point of the wire rope above the lifting device to output the longitudinal and lateral deflection angles of the wire rope relative to the plumb line. Based on the preset correspondence between the lifting load range and the weight value, the fusion weight corresponding to the current lifting load value is determined, and the longitudinal tilt angle and the longitudinal deflection angle are weighted and summed according to the fusion weight to obtain the longitudinal swing angle; The lateral tilt angle and lateral deflection angle are weighted and summed according to the aforementioned fusion weights to obtain the lateral swing angle.

10. A remote control system for a port container crane, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the remote control method for a port container crane as described in any one of claims 1 to 9.

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