CN-121134557-B - Remote control method and system for hoisting and positioning of port container crane

CN121134557BCN 121134557 BCN121134557 BCN 121134557BCN-121134557-B

Abstract

The invention relates to the technical field of remote control, in particular to a hoisting and positioning remote control method and a system for a port container crane, which comprise the following steps: according to the invention, the lifting appliance space error distribution is finely managed by accurately calculating the lifting appliance track curvature and space position, monitoring the lifting appliance motion in real time and identifying potential risk points, predicting the collision time by combining the tangential speed and space distance ratio, improving the risk prediction precision, and carrying out three-dimensional pose analysis and error control, so that the lifting appliance space error distribution is finely managed, the risk area is calibrated in time, the operation interruption is avoided, and the precision, safety and remote control capability of lifting operation are integrally improved.

Inventors

ZHAO XIANGJU
LI MINGXING
ZHAO WEI
LIU ZHONGHUA
XU GUANGBIAO
Xu Enqian
XIANG JINLONG
ZHANG YANDONG
WANG YALIN
LIN PENG
CHU HONGWEI
CHEN JIBIN
GU QIANG
LIU ZHIKAI
HE RONGCHAO

Assignees

济宁港航龙拱港有限公司
山东益格液压机械有限公司

Dates

Publication Date: 20260508
Application Date: 20250922

Claims (10)

1. The remote control method for the hoisting and positioning of the port container crane is characterized by comprising the following steps of: S1, acquiring a space position coordinate sequence of a lifting appliance in the running process, analyzing vector included angles and displacement lengths of adjacent points of the lifting appliance, calculating a local curvature value, and generating a lifting appliance track curvature sequence; S2, comparing the acquired space distance from the front edge of the lifting appliance to the stacking boundary of the container based on the lifting appliance track curvature sequence, and generating potential risk points when the lifting appliance track curvature sequence rises and the space distance does not reach a space distance threshold value; s3, acquiring tangential speeds of the lifting appliance in the corresponding directions based on the potential risk point positions, calculating the ratio of the space distance to the tangential speeds as the collision time advance, and carrying out time sequence prediction to generate a risk time prediction value; S4, based on the risk time predicted value, acquiring three-dimensional pose parameters of the lifting appliance in a corresponding time period, constructing a three-dimensional outer envelope surface, calculating the error of the space distance between the three-dimensional pose parameters and the stacking boundary coordinates of the container, and generating lifting appliance space error distribution; And S5, based on the space error distribution of the lifting appliance and projected to the vertical plane of the stacking boundary surface of the container, calculating the coverage ratio of the projection area, and generating a lifting positioning risk area when the coverage ratio exceeds a coverage ratio threshold value and the risk time predicted value is earlier than a time threshold value.
2. The remote control method for hoisting and positioning of the port container crane according to claim 1, wherein the track curvature sequence of the hoisting tool is a local curvature sequence, an adjacent point included angle sequence and a track point index, the potential risk points comprise position coordinates, track curvature states and space distance states, the risk time predicted value is a collision time advance, a time sequence predicted result and a risk point index, the space error distribution of the hoisting tool comprises pose parameters, an outer wrapping surface boundary and a space error distance value, and the hoisting and positioning risk area is a risk area index, a coverage proportion parameter and a time threshold state.
3. The remote control method for hoisting and positioning of a port container crane according to claim 1, wherein the specific steps of S1 are as follows: s101, collecting a space position coordinate sequence of a lifting appliance in the operation process, vectorizing and representing three-dimensional coordinate differences of adjacent points, and then carrying out angle calculation on direction differences between adjacent vectors according to the modular length of each vector to generate an adjacent point included angle sequence; s102, based on the adjacent point position included angle sequence, calling module length data of adjacent point position vectors, carrying out joint operation on included angle values and module length values, calculating local curvature values of each position point, and arranging according to a point position sequence to obtain a local curvature sequence; s103, according to the local curvature sequence, all curvature values in the sequence are connected in series according to a time index and keep corresponding relation with the position points, and a lifting appliance track curvature sequence is generated.
4. The remote control method for hoisting and positioning of a port container crane according to claim 1, wherein the specific steps of S2 are as follows: S201, based on the lifting appliance track curvature sequence, carrying out time sequence detection on continuous curvature values in the sequence, judging whether the curvature is in a rising state or not, and marking to generate a curvature rising identification sequence; S202, calling the curvature ascending identification sequence, acquiring space distance data from the front edge of the lifting appliance to the stacking boundary of the container, comparing each space distance value with a preset space distance threshold value, and screening distance points which do not exceed the space distance threshold value to obtain a distance set which does not reach the threshold value; and S203, searching points which simultaneously meet the curvature rising state and the space distance of which are not up to the threshold according to the corresponding relation between the curvature rising identification sequence and the set of the distance which is not up to the threshold, and performing aggregation marking on the points to generate potential risk points.
5. The remote control method for hoisting and positioning of port container crane according to claim 4, wherein the spatial distance threshold value is obtained by counting the spatial distance data from the front edge of the hoisting tool to the stacking boundary of the container, extracting the minimum safe operation interval value, and performing weighting correction setting in combination with the dynamic offset margin generated in the operation process of the equipment.
6. The remote control method for hoisting and positioning of a port container crane according to claim 1, wherein the specific step of S3 is: s301, acquiring tangential velocity data of a lifting appliance in a corresponding direction based on the potential risk points, and correspondingly recording the index position of each risk point and an instantaneous tangential velocity value to obtain a tangential velocity sequence; S302, calling the tangential velocity sequence, carrying out ratio operation on each spatial distance and the corresponding tangential velocity according to the spatial distance value corresponding to the potential risk point, and summarizing the ratio result as the collision time advance to generate a collision time advance sequence; S303, according to the numerical distribution of the collision time advance sequence, carrying out time sequence prediction processing, and correspondingly associating the predicted time sequence result with the potential risk point position to obtain a risk time predicted value.
7. The remote control method for hoisting and positioning of a port container crane according to claim 1, wherein the specific step of S4 is: S401, acquiring three-dimensional pose parameters of the lifting appliance in a corresponding time period based on the risk time predicted value, aggregating three-dimensional pose data in multiple time periods according to a time index, and calling space geometric construction operation to form a three-dimensional outer wrapping surface of the lifting appliance in a three-dimensional coordinate system; s402, calling the three-dimensional outer wrapping surface of the lifting appliance, and carrying out difference value operation on the space distances from the multipoint of the surface of the outer wrapping surface to the coordinate points of the boundary according to the position of the coordinate system of the stacking boundary of the container to obtain a space distance error sequence; s403, according to the space distance error sequence, carrying out aggregation calibration on all error points, and carrying out mapping coding on the distribution form in the three-dimensional space to generate the space error distribution of the lifting appliance.
8. The remote control method for hoisting and positioning of a port container crane according to claim 1, wherein the specific step of S5 is: S501, establishing projection in the vertical direction corresponding to the stacking boundary surface of the container based on the space error distribution of the lifting appliance, and converting displacement data of multiple coordinate points in the space error distribution to a vertical plane to generate an error projection area; s502, calling the error projection area, and calculating the proportion of the area of the projection area to the total area of the boundary surface according to the current plane area parameter of the stacked boundary surface of the container to obtain the projection coverage proportion; S503, according to the numerical value of the projection coverage proportion and calling the risk time prediction value, comparing the coverage proportion with a coverage proportion threshold value, judging the time prediction value and the time threshold value, and if both conditions are met, marking a region on a stacking boundary surface to generate a hoisting positioning risk region; The coverage proportion threshold value is set according to the coverage condition of the error projection area and the stacking boundary surface in the operation process of the lifting appliance.
9. The remote control method for hoisting and positioning of port container crane according to claim 8, wherein the time threshold is set by counting the time distribution of dangerous event occurrence period and normal operation period in the operation process of the lifting appliance and taking the shortest early warning time before the dangerous event as a reference, and combining with the allowable safe buffer duration in the operation process.
10. A hoisting and positioning remote control system for a port container crane, characterized in that the system is used for realizing the hoisting and positioning remote control method for the port container crane according to any one of claims 1-9, the system comprises: The track generation module is used for collecting a space position coordinate sequence of the lifting appliance in the running process, analyzing vector included angles and displacement lengths of adjacent points of the lifting appliance, calculating a local curvature value, generating a lifting appliance track curvature sequence and transmitting the lifting appliance track curvature sequence to the risk identification module; The risk identification module is used for comparing the lifting appliance track curvature sequence with the acquired space distance from the lifting appliance front edge to the container stacking boundary, and generating potential risk points and transmitting the potential risk points to the collision prediction module when the lifting appliance track curvature sequence is ascending and the space distance does not reach a space distance threshold value; the collision prediction module is used for acquiring tangential speeds of the lifting appliance in the corresponding directions based on the potential risk point positions, calculating the ratio of the space distance to the tangential speeds as a collision time advance and performing time sequence prediction, generating a risk time prediction value and transmitting the risk time prediction value to the error analysis module; the error analysis module is used for acquiring three-dimensional pose parameters of the lifting appliance in a corresponding time period based on the risk time predicted value, constructing a three-dimensional outer envelope surface, calculating the error of the space distance between the three-dimensional pose parameters and the stacking boundary coordinates of the container, generating lifting appliance space error distribution and transmitting the lifting appliance space error distribution to the risk evaluation module; and the risk assessment module is used for generating a lifting positioning risk area based on the space error distribution of the lifting appliance and projecting the space error distribution to the vertical plane of the stacking boundary surface of the container and calculating the coverage proportion of the projection area when the coverage proportion exceeds a coverage proportion threshold value and the risk time predicted value is earlier than a time threshold value.

Description

Remote control method and system for hoisting and positioning of port container crane Technical Field The invention relates to the technical field of remote control, in particular to a hoisting and positioning remote control method and system for a port container crane. Background The field of remote control technology includes related technologies for implementing operation and management of a target device through a remote signal. The core content comprises a control instruction transmitted based on a wired or wireless communication network, and the accurate control of the equipment is realized by combining a position detection mechanism, a state monitoring mechanism and a feedback mechanism. The whole technical field of the system relates to the links of instruction generation, signal coding and transmission, actuator driving, real-time state monitoring and feedback control. The remote control method and the remote control system for the hoisting and positioning of the port container crane are characterized in that a pointer is used for hoisting operation scenes of the port container crane, accurate positioning of the equipment hoisting tool in the horizontal and vertical directions is achieved through a preset control strategy, relative position data of the hoisting tool and the container are collected through a sensor, and monitoring data are transmitted to a remote control platform based on a real-time communication link. Although the prior art realizes remote control and monitoring of equipment, certain limitation exists in actual operation. First, conventional control methods mostly rely on simple instruction generation and feedback mechanisms, and lack careful analysis and accurate prediction of the motion state of the device. In hoist operation of hoist, though can acquire the state feedback of equipment, but its real-time supervision precision to hoist and container relative position is lower, especially in dynamic environment, can not effectively predict potential collision risk. Secondly, there is a delay in the signal transmission and response execution in the prior art, so that when facing a complex operation environment, the system cannot adjust the device action in real time, and may cause delay of risk. In addition, the existing monitoring and control means are rough, error accumulation and deviation change in the running process of equipment cannot be recognized and processed in time, and high-precision dynamic control on the posture and the position of the equipment is difficult to carry out in real-time operation, so that the operation efficiency and the safety are affected. Disclosure of Invention In order to solve the technical problems in the prior art, the embodiment of the invention provides a remote control method for hoisting and positioning of a port container crane, which comprises the following steps: In order to achieve the purpose, the invention adopts the following technical scheme that the remote control method for hoisting and positioning of the port container crane comprises the following steps: S1, acquiring a space position coordinate sequence of a lifting appliance in the running process, analyzing vector included angles and displacement lengths of adjacent points of the lifting appliance, calculating a local curvature value, and generating a lifting appliance track curvature sequence; S2, comparing the acquired space distance from the front edge of the lifting appliance to the stacking boundary of the container based on the lifting appliance track curvature sequence, and generating potential risk points when the lifting appliance track curvature sequence rises and the space distance does not reach a space distance threshold value; s3, acquiring tangential speeds of the lifting appliance in the corresponding directions based on the potential risk point positions, calculating the ratio of the space distance to the tangential speeds as the collision time advance, and carrying out time sequence prediction to generate a risk time prediction value; S4, based on the risk time predicted value, acquiring three-dimensional pose parameters of the lifting appliance in a corresponding time period, constructing a three-dimensional outer envelope surface, calculating the error of the space distance between the three-dimensional pose parameters and the stacking boundary coordinates of the container, and generating lifting appliance space error distribution; And S5, based on the space error distribution of the lifting appliance and projected to the vertical plane of the stacking boundary surface of the container, calculating the coverage ratio of the projection area, and generating a lifting positioning risk area when the coverage ratio exceeds a coverage ratio threshold value and the risk time predicted value is earlier than a time threshold value. As a further scheme of the invention, the lifting appliance track curvature sequence is specifically a local curvature sequence, an adja