Cranes are widely deployed for lifting and moving heavy objects in dynamic environments with human coexistence. Suddenly appeared workers, vehicles, and robots can affect the safety of the cranes. To avoid possible collisions, the cranes must have prediction ability to know how dangerous the situation is. In this paper, we address the safety issues of bridge cranes based on its online physical states and control model. Due to the swing of the payload, the safe braking distance cannot be a constant value. Therefore, we here propose a model prediction control (MPC)-based anti-swing method for non-zero initial states, where a new reference trajectory and a new cost function for optimization are proposed, such that the proposed MPC method can control the crane to follow the proposed reference trajectory and achieve a stable stop state with anti-swing. Furthermore, an offline learning mechanism is introduced to learn a statistical model between the velocity of the crane and the safe braking distance achieved by using the proposed MPC braking control method. In this way, we can predict how far the crane would require to safely stop without swing based on its current velocity, which is the safe distance prediction to evaluate the dangerous level of the dynamic obstacle. Experiments using both a simulated crane and a real crane demonstrate that the proposed safe braking distance prediction method is effective for safe braking control of the bridge cranes.

中文翻译：

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考虑抗摇摆的桥式起重机制动控制安全距离预测

起重机被广泛用于在人类共存的动态环境中起吊和移动重物。突然出现的工人、车辆和机器人会影响起重机的安全。为了避免可能的碰撞，起重机必须具有预测能力，知道情况有多危险。在本文中，我们根据桥式起重机的在线物理状态和控制模型解决了桥式起重机的安全问题。由于有效载荷的摆动，安全制动距离不可能是一个恒定值。因此，我们在此提出了一种基于模型预测控制 (MPC) 的非零初始状态的反摆动方法，其中提出了新的参考轨迹和新的优化成本函数，使得所提出的 MPC 方法可以控制起重机遵循建议的参考轨迹并实现具有抗摆动的稳定停止状态。此外，引入离线学习机制来学习使用所提出的MPC制动控制方法实现的起重机速度与安全制动距离之间的统计模型。这样，我们就可以根据起重机当前的速度预测起重机在不摆动的情况下安全停止需要多远，这是评估动态障碍物危险程度的安全距离预测。仿真起重机和真实起重机的实验表明，所提出的安全制动距离预测方法对桥式起重机的安全制动控制是有效的。我们可以根据起重机当前的速度预测起重机在不摆动的情况下安全停止需要多远，这是评估动态障碍物危险程度的安全距离预测。仿真起重机和真实起重机的实验表明，所提出的安全制动距离预测方法对桥式起重机的安全制动控制是有效的。我们可以根据起重机当前的速度预测起重机在不摆动的情况下安全停止需要多远，这是评估动态障碍物危险程度的安全距离预测。仿真起重机和真实起重机的实验表明，所提出的安全制动距离预测方法对桥式起重机的安全制动控制是有效的。