A control method for a port-specific bridge crane

Abstract

This invention discloses a control method for a port-specific bridge crane, relating to the field of crane technology. The key technical points include the following steps: when an abnormal movement influencing factor exists in the airspace during crane operation, it is determined whether the abnormal movement influencing factor is a detached part of the crane's own structure; if the abnormal movement influencing factor is a detached part of the crane's own structure and can directly affect the normal operation of the crane, then the crane operation is stopped; if the abnormal movement influencing factor is a detached part of the crane's own structure but cannot directly affect the normal operation of the crane, or if the abnormal movement influencing factor is not a detached part of the crane's own structure, then the movement status information of the abnormal movement influencing factor and the lifting status information of the crane during operation are obtained. The effect is to reduce swaying, offset, and other issues caused by external interference during lifting, thereby improving the stability and reliability of the operation.

Description

Technical Field

[0001] This invention relates to the field of crane technology, and more specifically, to a control method for a port-specific bridge crane. Background Technology

[0002] In modern industry, especially in ports, large logistics centers, and heavy machinery manufacturing, cranes play a crucial role as essential material handling equipment. However, with the continuous expansion of industrial production and the increasing complexity of operating environments, cranes face numerous threats from abnormal movement factors during operation. Existing technologies and equipment have limitations in addressing these issues. For example, after prolonged use and operation, some structural components of the crane may wear out or loosen. For instance, birds or flying objects may appear in the air above the crane's working area; some connecting bolts may gradually loosen and fall off due to vibration; and severely worn small parts may fall off during operation. Once these detached structural components of the crane enter the air, they become abnormal movement factors, posing a threat to the safety of the crane itself, surrounding equipment, and personnel.

[0003] Traditional cranes often cannot determine whether abnormal moving factors will affect the operation of the crane according to the predetermined lifting status information when faced with abnormal moving factors. As a result, they cannot adjust and control the lifting status of the crane accordingly. Therefore, it is easy for abnormal moving factors to collide with the crane, causing safety accidents. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, the purpose of this invention is to provide a control method for a port-specific bridge crane.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A control method for a port-specific bridge crane, the method comprising the following steps:

[0007] When there are abnormal movement factors in the air area during the operation of a crane, determine whether the abnormal movement factors are the crane's own structure that has detached.

[0008] If the abnormal movement is caused by a structural component of the crane detaching and can directly affect the normal operation of the crane, then the crane operation should be stopped.

[0009] When the abnormal movement influencing factor is the crane's own structure that has detached but cannot directly affect the normal operation of the crane, or when the abnormal movement influencing factor is not the crane's own structure that has detached, then the movement status information of the abnormal movement influencing factor and the hoisting status information of the crane during operation are obtained.

[0010] Based on the movement status information of the abnormal movement influencing factors and the hoisting status information of the crane during operation, it is determined whether the abnormal movement influencing factors affect the operation of the crane that is operating according to the predetermined hoisting status information. If it does have an impact, the hoisting status of the crane is adjusted and controlled.

[0011] Preferably, the movement status information of the abnormal movement influencing factor includes the movement speed information and the movement direction information of the abnormal movement influencing factor.

[0012] Preferably, the hoisting status information includes hoisting trajectory information and hoisting speed information.

[0013] Preferably, the method further includes the following steps:

[0014] Based on whether the crane's components can move, the crane's components can be divided into fixed crane components and mobile crane components.

[0015] Preferably, the abnormal movement influencing factor is used to determine whether it affects the operation of the crane according to the predetermined hoisting status information based on the movement status information of the abnormal movement influencing factor and the hoisting status information of the crane during operation. If it does affect the operation, the hoisting status of the crane is adjusted. This specifically includes the following steps:

[0016] Determine whether the abnormal moving influencing factor can collide with the fixed component structure of the crane based on the information on the direction of movement of the abnormal moving influencing factor.

[0017] If abnormal movement factors can impact the fixed components of the crane, then identify the number of abnormal movement factors that can affect the fixed components of the crane, the types of abnormal movement factors, and the weight of a single abnormal movement factor.

[0018] The impact degree of abnormal movement factors on the fixed components of the crane is determined based on the number of abnormal movement factors, the types of abnormal movement factors, the weight of a single abnormal movement factor, and the movement speed of the abnormal movement factors. When the impact degree of abnormal movement factors on the fixed components of the crane affects the normal operation of the crane, the lifting status of the crane is adjusted and controlled according to the situation.

[0019] If the impact of the abnormal movement influence factor on the fixed component structure of the crane does not affect the normal operation of the crane, or if the abnormal movement influence factor cannot impact the fixed component structure of the crane, obtain the distance value between the abnormal movement influence factor and the moving component structure of the crane at this time.

[0020] Based on the abnormal movement influencing factor's movement speed information, abnormal movement influencing factor's movement direction information, crane travel trajectory information, crane travel speed information, and the distance between the abnormal movement influencing factor and the crane's moving component structure, it is determined whether the abnormal movement influencing factor has collided with the crane's moving component structure operating according to the predetermined lifting state information. If it has affected the crane's moving component structure, the lifting state of the crane is adjusted and controlled.

[0021] Preferably, if the movement of the crane's components affects the crane's lifting configuration, the crane's lifting status is adjusted, specifically including the following steps:

[0022] Identify the location of the abnormal movement influencing factors that impact the moving components of the crane, and adjust the corresponding parts of the moving components of the crane to avoid impact from the abnormal movement influencing factors.

[0023] Determine the location of the abnormal movement influencing factor that impacts the moving components of the crane. If the impacting part of the abnormal movement influencing factor is the trolley or the crane trolley, adjust the hoisting speed of the trolley or the crane trolley of the moving components of the crane to avoid impact from the abnormal movement influencing factor.

[0024] If the abnormal movement impacts the lifting equipment or cargo of the crane's moving structure, determine the location of the impact and adjust the position of the lifting equipment or cargo using the lifting ropes to avoid further impact.

[0025] If the abnormal movement influencing factor impacts the lifting rope of the crane's moving structure, it is determined that the lifting rope can be wound upwards to avoid the impact of the abnormal movement influencing factor. If the lifting rope can be wound upwards to avoid the impact of the abnormal movement influencing factor, the lifting rope of the crane's moving structure is controlled to be wound upwards. If the lifting rope can be wound upwards but cannot avoid the impact of the abnormal movement influencing factor, the moving speed of the lifting rope of the crane's moving structure is controlled to avoid the impact of the abnormal movement influencing factor.

[0026] Preferably, when the impact of abnormal movement factors on the fixed components of the crane affects the normal operation of the crane, the lifting status of the crane is adjusted and controlled according to the situation, specifically including the following steps:

[0027] Identify whether the lifting devices of the moving components of a crane are lifting goods;

[0028] If the lifting equipment of the moving component of the crane is not lifting any goods, then the crane operation shall be stopped;

[0029] If the lifting device of the crane's moving component structure is used to lift goods, then the lifting stage of the goods lifting by the crane's moving component structure is determined; wherein, the lifting stage includes the goods grabbing stage, the goods moving stage, and the goods unloading stage;

[0030] Calculate the time required to lift goods using the crane's mobile component lifting device based on the lifting stage of the crane's mobile component lifting device, and mark it as the second time value;

[0031] Obtain the time required for the cargo-grabbing phase when the crane's mobile component spreader is lifting goods and mark it as the cargo-grabbing time value;

[0032] Obtain the time required for the unloading phase when the crane's mobile component spreader lifts goods and mark it as the unloading time value.

[0033] Obtain the distance traveled along the crane's trajectory; calculate the time required to transport the goods based on the distance traveled along the crane's trajectory and the crane's speed information;

[0034] If the lifting phase of the crane's moving component structure lifting equipment is the cargo grabbing phase, then the second time value is obtained by summing the time value required for grabbing the cargo, the time value required for moving the cargo, and the time value required for unloading the cargo.

[0035] If the lifting phase of the crane's moving component structure lifting the goods is the goods operation phase, then the value of the transport distance between the goods and the goods placement area is obtained when the goods are running according to the predetermined lifting status information. The lifting time value is calculated based on the transport distance value and the lifting speed information. The lifting time value and the unloading time value are added together to obtain the second time value.

[0036] If the lifting phase of the crane's moving component structure lifting equipment is the unloading phase, then the time required for unloading the goods is marked as the second time value.

[0037] Obtain the distance between the abnormal movement influencing factor and the fixed component of the crane. Calculate the duration of the impact of the abnormal movement influencing factor on the fixed component of the crane based on the distance and the movement speed information of the abnormal movement influencing factor, and mark it as the first duration value.

[0038] The hoisting status information of the crane is adjusted and controlled based on the first duration value and the second duration value.

[0039] Preferably, adjusting the hoisting status information of the crane according to the first duration value and the second duration value specifically includes the following steps:

[0040] If the first duration value is greater than or equal to the second duration value, the crane will stop working after the moving component structure lifting tool has lifted the goods to the goods placement area;

[0041] If the first duration value is less than the second duration value, the state of the lifting stage of the goods being lifted by the crane's mobile component lifting device is identified, and the lifting status information of the crane is adjusted and controlled according to the state of the lifting stage of the goods being lifted by the crane's mobile component lifting device.

[0042] If the crane's mobile component spreader is in the cargo grabbing stage, the time required for the crane's mobile component spreader to place the cargo in the cargo grabbing area is obtained. If the time required for the cargo to be placed in the cargo grabbing area is less than or equal to the first time value, the crane's mobile component spreader is controlled to stop working after placing the grabbed cargo in the cargo grabbing area. If the time required for the cargo to be placed in the cargo grabbing area is greater than the first time value, the crane's work is stopped at this time.

[0043] If the crane's mobile spreader is in the cargo handling phase, the time required for the crane to place the cargo in the cargo grabbing area is obtained. If the time required for the crane to place the cargo in the cargo grabbing area is less than or equal to a first time value, the crane will stop working after placing the grabbed cargo in the cargo grabbing area. If the time required for the crane to place the cargo in the cargo grabbing area is greater than the first time value, the crane will stop working at this time.

[0044] If the crane's moving component lifting equipment is in the unloading phase while lifting goods, then the crane should stop operating at this time.

[0045] Preferably, the method further includes the following steps:

[0046] The cranes directly affected by the abnormal movement impact factor are marked as control cranes, and the remaining cranes are marked as normal cranes.

[0047] Obtain the distance value between the normal crane and the controlled crane and mark it as the interval distance value;

[0048] The impact degree of abnormal movement factors on the control crane is determined based on the movement speed information, movement direction information, number of abnormal movement factors, type of abnormal movement factors, and weight of a single abnormal movement factor.

[0049] The impact of abnormal movement on the control crane is used to determine whether it is necessary to stop the normal operation of the crane.

[0050] Preferably, determining whether to stop normal crane operation based on the impact degree of abnormal movement on the controlled crane specifically includes the following steps:

[0051] The impact of abnormal movement factors on the control crane is used to determine whether a damage movement factor has been generated.

[0052] If the abnormal movement factor does not cause damage to the control crane due to the impact, then the normal operation of the crane will not be stopped.

[0053] If the abnormal moving factor causes damage to the control crane, the radiation range of the abnormal moving factor is determined based on the moving speed information, moving direction information, number of abnormal moving factors, type of abnormal moving factors, and weight of a single abnormal moving factor.

[0054] Determine whether the damage to the mobile factor affects the normal crane. If it does, stop the normal crane from operating.

[0055] Compared with the prior art, the present invention has the following beneficial effects:

[0056] In this invention, by real-time monitoring of abnormal movement factors affecting the crane's working area, it is possible to accurately determine whether the detachment is due to structural components falling off the crane itself. If a detached structure is found to directly affect the crane's normal operation, work can be stopped immediately. This effectively avoids serious damage accidents such as violent collisions and tipping caused by detached structural components, fundamentally reducing the risk of major equipment failures and significantly extending the crane's overall service life, thus reducing the high costs associated with equipment maintenance and replacement. For abnormal movement factors that are structural components falling off the crane itself but do not directly affect operation, or those not related to the crane's own structure, this solution analyzes their movement status and the crane's lifting status. If it is predicted that they may affect the crane's normal operation, the lifting status is adjusted in a timely manner, such as adjusting the lifting speed and optimizing the lifting trajectory. This series of measures ensures that the crane can maintain stable operation even in the face of complex and changing working environments and emergencies, effectively reducing swaying and deviation caused by external interference during lifting, and improving the stability and reliability of operations. Attached Figure Description

[0057] Figure 1 A flowchart illustrating a control method for a port-specific bridge crane proposed in this invention;

[0058] Figure 2 This invention provides a schematic flowchart illustrating the control method for a port-specific bridge crane, specifically the process of controlling the crane's lifting state when impacting the crane's fixed components.

[0059] Figure 3This invention provides a schematic diagram of the process for determining when to stop normal operation of a port-specific bridge crane in its control method. Detailed Implementation

[0060] Reference Figures 1 to 3 As shown.

[0061] The embodiments further illustrate the control method for a port-specific bridge crane proposed in this invention.

[0062] A control method for a port-specific bridge crane, the method comprising the following steps:

[0063] When there are abnormal movement factors in the air area during the operation of a crane, determine whether the abnormal movement factors are the crane's own structure that has detached.

[0064] The crane is equipped with multiple cameras to monitor various parts of the equipment in real time. If the shape, material, or other characteristics of an abnormal movement in the air are found to match the crane's own components, such as seeing an object resembling a bolt or small part moving in the air, it is initially suspected that the crane has detached from its structure. At the same time, key parts of the crane, such as joints and easily worn areas, are also equipped with displacement and vibration sensors. When abnormal displacement or vibration changes are detected in these parts, combined with the camera footage, it can help determine whether any parts have detached.

[0065] Establish a crane component database to record the specifications, location, and other information of each component. By comparing historical data with the current status, if a component's position changes and it moves abnormally in the air, it can be identified as a detached component. For example, if the database shows that a bolt at a certain location should be fixed, but the bolt at that location is currently detected to be missing and an object resembling a bolt is moving in the air, this can be identified.

[0066] If the abnormal movement is caused by a structural component of the crane detaching and can directly affect the normal operation of the crane, then the crane operation should be stopped.

[0067] The crane's control system monitors the operational status of each functional module in real time, such as the power output, speed, and position feedback parameters of the hoisting, traveling, and slewing mechanisms. If abnormal movement factors detach, causing power interruptions, abnormal speed fluctuations, or position control failures in related mechanisms, it indicates a direct impact on normal operation. For example, if the wire rope of the hoisting mechanism detaches, the hoisting operation cannot proceed normally, which is a direct impact.

[0068] Cranes are equipped with a variety of safety protection devices, such as limit switches and overload limiters. When abnormal movement causes these safety protection devices to be triggered, such as a limit switch malfunction causing the crane to stop, or an overload limiter alarm affecting normal lifting operations, it can be determined that the factor directly affects normal operation.

[0069] When the abnormal movement influencing factor is the crane's own structure that has detached but cannot directly affect the normal operation of the crane, or when the abnormal movement influencing factor is not the crane's own structure that has detached, then the movement status information of the abnormal movement influencing factor and the hoisting status information of the crane during operation are obtained.

[0070] The crane's control system continuously monitors the operating parameters of its main functional modules, such as hoisting, running, and slewing, including motor current, running speed, and position feedback. If the abnormal movement is caused by a detached part of the crane's own structure, but the operating parameters of these functional modules remain within the normal operating range without any abnormal fluctuations or fault alarms, it indicates that the factor cannot directly affect the crane's normal operation. For example, even if a small, non-critical component detaches, as long as the motor current of the hoisting mechanism remains stable and the cargo can be lifted and lowered normally, it indicates that it has not directly affected normal operation.

[0071] Cranes are equipped with various safety protection devices such as limit switches, overload limiters, and anti-collision devices. When abnormal movement occurs, check whether these safety protection devices trigger alarms or put the crane into a protective shutdown state. If none of the safety protection devices activate, it means that the factor does not pose a direct threat to the safe operation of the crane, that is, it cannot directly affect the normal operation of the crane. For example, if the detached part does not touch the limit switch or trigger the overload limiter alarm, it can be determined that it will not directly affect the normal operation of the crane for the time being.

[0072] Based on the movement status information of the abnormal movement influencing factors and the hoisting status information of the crane during operation, it is determined whether the abnormal movement influencing factors affect the operation of the crane that is operating according to the predetermined hoisting status information. If it does have an impact, the hoisting status of the crane is adjusted and controlled.

[0073] Throughout the entire operation of the port-specific bridge crane, the system continuously monitors the airspace in real time. If an abnormal movement influencing factor is detected, the judgment procedure is immediately initiated. The primary task is to determine whether the abnormal movement influencing factor is a structural component that has detached from the crane itself.

[0074] Among them, abnormal movement influencing factors may be the detachment of the crane's own structure, such as the detachment of nuts and bolts due to loose connections after long-term use of the crane. Abnormal movement influencing factors may also be birds or flying objects.

[0075] This application confirms whether the abnormal movement is caused by a detached structure from the crane itself, and whether this detached structure can directly affect the normal operation of the crane, such as potentially causing damage to critical crane components or loss of operational control. In such cases, the system will quickly and decisively issue a command to stop the crane's operation. This emergency response measure can cut off the source of potential danger in the shortest possible time, prevent further deterioration and escalation of the accident, and maximize the safety of equipment and personnel.

[0076] When the abnormal movement influencing factor is a detached part of the crane's own structure but cannot directly affect the crane's normal operation, or when the abnormal factor is not a detached part of the crane's own structure, the system acquires the movement status information of the abnormal movement influencing factor. At the same time, it acquires the crane's hoisting status information during operation. Subsequently, based on this comprehensive and accurate information, the system will conduct an in-depth and detailed analysis and evaluation to determine whether the abnormal movement influencing factor will have a substantial impact on the operation of the crane, which is operating according to the predetermined hoisting status information.

[0077] The movement status information of the abnormal movement influencing factors includes the movement speed information and the movement direction information of the abnormal movement influencing factors.

[0078] Multiple high-speed cameras or vision sensors are strategically installed around the crane's working area. These devices can capture motion images of abnormally moving influencing factors at high frame rates. Image recognition algorithms are used to extract and match features of the influencing factors in consecutive frames, calculating their positional changes at different times to determine their speed and direction of movement. For example, optical flow analysis can be used to analyze the motion vectors of pixels in the image, thereby determining the movement of the influencing factors.

[0079] The hoisting status information includes the hoisting trajectory information and the hoisting speed information.

[0080] Existing cranes can automatically plan the hoisting trajectory and speed based on the location of the cargo grabbing area and cargo placement area, and store the hoisting trajectory and speed inside the crane's system. Therefore, the hoisting trajectory and speed information can be obtained by retrieving the hoisting trajectory and speed information.

[0081] The crane is equipped with high-precision positioning devices, such as GPS, Beidou satellite navigation system or laser and vision-based indoor positioning system, to accurately obtain the location information of the cargo grabbing area and cargo placement area. At the same time, various sensors, such as laser rangefinders and cameras, are also installed in the crane's working area to monitor the working environment in real time and obtain information such as the location and size of obstacles.

[0082] After receiving the location information of the cargo grabbing and placement areas, the crane's control system, combined with obstacle information in the working environment, uses path planning algorithms (such as A* algorithm, Dijkstra's algorithm, etc.) to search for a collision-free and relatively shortest or optimal hoisting trajectory route from the cargo grabbing area to the cargo placement area within the workspace. This process comprehensively considers the crane's motion limitations, such as turning radius and lifting height limits, to ensure that the planned trajectory route is feasible.

[0083] Based on factors such as the planned hoisting trajectory, the weight and characteristics of the goods, and the performance parameters of the crane itself, the control system uses a speed planning algorithm to determine the appropriate speed for each stage of hoisting.

[0084] Once the hoisting trajectory and speed are determined, the control system stores this information in the crane system's internal storage module. The stored data is then associated with corresponding task identifiers or work scenario information for easy and accurate retrieval later.

[0085] When performing a similar lifting task again, the operator can issue instructions through the human-machine interface to retrieve previously stored lifting trajectory and speed information from the system. Based on the retrieved data, the control system controls the crane to run along the planned trajectory and speed to complete the lifting of the goods.

[0086] It also includes the following steps:

[0087] Based on whether the crane's components can move, the crane's components can be divided into fixed crane components and mobile crane components.

[0088] Each component of the crane is assessed and classified individually. For example, the crane's bridge support legs are fixed in position during normal operation and belong to the fixed component; while the trolley on the bridge can move horizontally along the bridge track to adjust the position of the lifting device, so the trolley belongs to the movable component. At the same time, the main trolley, lifting ropes, and lifting device are all movable components of the crane.

[0089] Based on the movement status information of the abnormal movement influencing factors and the lifting status information of the crane during operation, it is determined whether the abnormal movement influencing factors affect the operation of the crane that is operating according to the predetermined lifting status information. If an impact is caused, the lifting status of the crane is adjusted, specifically including the following steps:

[0090] Determine whether the abnormal moving influencing factor can collide with the fixed component structure of the crane based on the information on the direction of movement of the abnormal moving influencing factor.

[0091] If abnormal movement factors can impact the fixed components of the crane, then identify the number of abnormal movement factors that can affect the fixed components of the crane, the types of abnormal movement factors, and the weight of a single abnormal movement factor.

[0092] The impact degree of abnormal movement factors on the fixed components of the crane is determined based on the number of abnormal movement factors, the types of abnormal movement factors, the weight of a single abnormal movement factor, and the movement speed of the abnormal movement factors. When the impact degree of abnormal movement factors on the fixed components of the crane affects the normal operation of the crane, the lifting status of the crane is adjusted and controlled according to the situation.

[0093] If the impact of the abnormal movement influence factor on the fixed component structure of the crane does not affect the normal operation of the crane, or if the abnormal movement influence factor cannot impact the fixed component structure of the crane, obtain the distance value between the abnormal movement influence factor and the moving component structure of the crane at this time.

[0094] Based on the abnormal movement influencing factor's movement speed information, abnormal movement influencing factor's movement direction information, crane travel trajectory information, crane travel speed information, and the distance between the abnormal movement influencing factor and the crane's moving component structure, it is determined whether the abnormal movement influencing factor has collided with the crane's moving component structure operating according to the predetermined lifting state information. If it has affected the crane's moving component structure, the lifting state of the crane is adjusted and controlled.

[0095] When the crane is working, the system acquires in real time the movement direction information of abnormal movement influencing factors and the crane hoisting status information (crane travel trajectory information, crane travel speed information). First, based on the movement direction information of the abnormal movement influencing factors, it is determined whether they may collide with the fixed components of the crane, because once the fixed components are damaged, it may affect the overall stability and basic functions of the crane.

[0096] If it is determined that abnormal moving factors can impact the fixed components of the crane, the number, type, and weight of the abnormal moving factors that can affect the fixed components of the crane are identified. Then, combined with the moving speed information of the abnormal moving factors, the degree of impact of the abnormal moving factors on the fixed components of the crane is comprehensively judged through mechanical models and algorithms.

[0097] The more abnormal movement factors there are, the more obvious the cumulative effect of impact on the fixed components of the crane under the same conditions. When multiple factors impact the same part or different key parts at the same time, the possibility and severity of structural damage will increase.

[0098] Different types of abnormal movement factors have different physical properties, and their damage to structures varies in mode and degree. For example, metal components have a greater impact force, which may cause dents, deformation, or even cracks on the structural surface; while some sharp objects, such as fallen steel bars, may not only generate impact force, but also pierce the structural surface and damage the internal structure.

[0099] The greater the weight of a single anomalous movement influencing factor, the greater its impact according to the kinetic energy formula. ,in As kinetic energy, For quality, The greater the speed, the greater the kinetic energy at the same speed, the more energy is released upon impact, resulting in a stronger impact force on the fixed structure of the crane and potentially more severe damage. For example, a heavy mechanical part falling and impacting a fixed structure is more likely to cause cracks or deformation compared to a lighter object.

[0100] The velocity of abnormal moving factors is one of the key factors affecting the severity of an impact. The faster the velocity, the greater the kinetic energy of the abnormal moving factors, and the greater the impact force generated at the moment of impact. Moreover, high-speed impacts may prevent the structure from evenly dispersing the impact force, leading to localized stress concentration and making the structure more susceptible to damage. For example, a high-speed object impacting the fixed structure of a crane may instantly destroy critical connections.

[0101] A collision severity assessment model was constructed, assigning corresponding weights to the number, type, individual weight, and speed of abnormal movement influencing factors based on the importance of each factor's impact on the collision severity. For example, analysis of numerous historical cases and experimental data revealed that speed has the greatest impact on collision severity, assigned a weight of 0.4; individual weight is second, assigned a weight of 0.3; the type of abnormal movement influencing factor has a weight of 0.2; and the number has a weight of 0.1. However, these weights are not fixed and need to be adjusted according to different crane types, working environments, and other actual conditions.

[0102] The process involves quantifying various factors, directly counting the number of abnormal movement influencing factors, and classifying and assigning values ​​to different types of abnormal movement influencing factors. For example, metal parts are assigned a value of 3, sharp objects a value of 4, and ordinary lightweight debris a value of 1. The weight of each abnormal movement influencing factor is estimated using weighing equipment or based on experience and then quantified. The movement speed of the abnormal movement influencing factors is acquired in real time using devices such as radar and visual sensors and converted into numerical values. The quantified factor values ​​are multiplied by their corresponding weights and then summed to obtain a comprehensive impact severity value. Assuming the number of abnormal movement influencing factors is... The category quantification value is Individual weight quantization value Quantized value of movement speed The corresponding weights are respectively , , , The impact severity value .

[0103] Different impact severity ranges are preset, corresponding to different impact severity levels, such as minor, moderate, and severe. For example, when the S value is less than 20, it is judged as a minor impact, which may only cause slight surface damage to the fixed components of the crane and basically does not affect normal operation; when 20≤S<50, it is a moderate impact, which may cause local deformation of the structure and requires close monitoring and timely inspection and maintenance; when the S value is greater than or equal to 50, it is judged as a severe impact, which may cause damage to key parts of the structure and affect the normal operation of the crane, requiring immediate measures to adjust the lifting status or stop work for inspection and maintenance.

[0104] In practical applications, it is also necessary to dynamically adjust and comprehensively evaluate the impact severity assessment results by considering factors such as the material, strength, and design load-bearing capacity of the crane's fixed components. This will allow for a more accurate determination of the actual impact of abnormal movement factors on the crane's fixed components.

[0105] If the impact affects the normal operation of the crane, such as potentially causing structural deformation or damage to critical components, the crane's lifting status should be adjusted according to the actual situation. This could involve reducing the lifting speed, changing the lifting trajectory, or even stopping the lifting operation altogether to avoid or mitigate the impact damage. If the impact does not affect the normal operation of the crane, it indicates that the current situation does not pose a substantial threat to the crane's basic functions. In this case, the next step, assessing the moving components, can be initiated.

[0106] When the impact of the abnormal movement influence factor on the fixed component structure of the crane does not affect the normal operation of the crane, or when it is determined that the abnormal movement influence factor cannot impact the fixed component structure of the crane, the system obtains the distance value between the abnormal movement influence factor and the moving component structure of the crane at this time.

[0107] Based on the crane's working area, a suitable three-dimensional coordinate system is established to clarify the influencing factors of abnormal movement and the initial positions of the crane's moving components within this coordinate system. For example, taking a point on the crane's fixed base as the origin, the directions of the X, Y, and Z axes are determined, corresponding to the two horizontal directions and the vertical direction, respectively.

[0108] Predicting the trajectory of anomalous moving factors involves using kinematic formulas to forecast their positions at different future time points based on their speed and direction of movement. Assume the initial position of the anomalous moving factor is... Movement speed The direction vector of movement is (Already normalized), then in time... After that, its position It can be calculated using the following formula:

[0109]

[0110]

[0111]

[0112] In practice, if the working environment includes factors such as wind and airflow, it is necessary to correct the trajectory of abnormal movement factors. This can be achieved by establishing an environmental factor model, converting factors such as wind into additional velocity components, and incorporating them into the above calculations.

[0113] The movement trajectory of the crane's moving components is determined, and the positions of the crane's moving components at different points in time are determined based on the crane's travel trajectory information and travel speed information.

[0114] Calculate the dynamic distance between the two. In the coordinate system established above, for each predicted time point, calculate the distance between the abnormal movement influence factor and the crane's moving components. Using the distance formula in three-dimensional space. ,in, The impact factor of abnormal movement in time Location, The position of the moving components of the crane in time.

[0115] Observation distance The trend of change over time, if within a certain period of time, the distance If the distance continues to decrease and falls below a preset safety distance threshold (which is determined based on the size of the crane's moving components and actual safety requirements), it indicates a risk of collision.

[0116] A comprehensive judgment is made by combining the dynamic distance calculation results with the abnormal movement impact factor and the motion trajectory of the crane's moving components. If, in the future, the motion trajectories of the two tend to intersect and the distance continues to approach or falls below the safe distance threshold, it is determined that the abnormal movement impact factor will collide with the crane's moving components operating according to the predetermined hoisting status information; otherwise, it is determined that no collision will occur.

[0117] When a collision risk is identified, appropriate measures can be taken, such as adjusting the hoisting status or stopping operations, based on the proximity to the safe distance threshold and the remaining time, to avoid a collision accident.

[0118] If the assessment result indicates a potential collision, since the moving component directly participates in the hoisting operation, in order to avoid affecting the hoisting work or even causing an accident, the system will adjust the control of the crane's hoisting status, such as adjusting the running speed of the moving component and changing its running trajectory, so that the crane's moving component avoids abnormal movement influencing factors and ensures the safe and smooth progress of the hoisting operation.

[0119] If the movement of the crane's components is affected, the crane's lifting status will be adjusted, specifically including the following steps:

[0120] Identify the location of the abnormal movement influencing factors that impact the moving components of the crane, and adjust the corresponding parts of the moving components of the crane to avoid impact from the abnormal movement influencing factors.

[0121] Determine the location of the abnormal movement influencing factor that impacts the moving components of the crane. If the impacting part of the abnormal movement influencing factor is the trolley or the crane trolley, adjust the hoisting speed of the trolley or the crane trolley of the moving components of the crane to avoid impact from the abnormal movement influencing factor.

[0122] If the abnormal movement impacts the lifting equipment or cargo of the crane's moving structure, determine the location of the impact and adjust the position of the lifting equipment or cargo using the lifting ropes to avoid further impact.

[0123] If the abnormal movement influencing factor impacts the lifting rope of the crane's moving structure, it is determined that the lifting rope can be wound upwards to avoid the impact of the abnormal movement influencing factor. If the lifting rope can be wound upwards to avoid the impact of the abnormal movement influencing factor, the lifting rope of the crane's moving structure is controlled to be wound upwards. If the lifting rope can be wound upwards but cannot avoid the impact of the abnormal movement influencing factor, the moving speed of the lifting rope of the crane's moving structure is controlled to avoid the impact of the abnormal movement influencing factor.

[0124] The crane is equipped with various sensors and monitoring devices, such as cameras, proximity sensors, and position sensors, to monitor the relative position and motion status of abnormal moving factors and the crane's moving components in real time. When the system determines that an abnormal moving factor may affect the crane's moving components, it first obtains detailed information through these devices to accurately determine the specific location of the impact, whether it is the trolley, the crane itself, or the lifting equipment, cargo, or lifting ropes.

[0125] For adjustments made to the trolley or vehicle: If the impact of the abnormal movement factor is determined to be on either the trolley or vehicle, the control system will calculate a suitable speed adjustment scheme based on the speed and direction of the abnormal movement factor, as well as the current operating status of the trolley or vehicle. For example, if the abnormal movement factor rapidly approaches the vehicle from the front, the system will control the vehicle to decelerate or accelerate, changing its operating speed so that the vehicle has moved away from its original position when the abnormal movement factor arrives, thus avoiding a collision. The adjusted speed information will be sent to the drive system of the trolley or vehicle, and the drive system will adjust parameters such as motor speed according to the instructions to achieve the speed change.

[0126] For adjustments to the spreader or cargo: When an abnormal movement impacts the spreader or cargo, sensors first accurately determine the point of impact. Then, the control system sends a command to the sling drive, which adjusts the sling length and tension accordingly, thereby changing the position of the spreader or cargo. For example, if an abnormal movement approaches the spreader from above, the system shortens the sling appropriately, lowering the spreader to avoid impact. During the adjustment process, sensors monitor the position of the spreader and cargo in real time to ensure accuracy and safety.

[0127] Regarding the adjustment of the suspension rope: If the impact of the abnormal movement factor is determined to be on the suspension rope, the system first determines whether the impact can be avoided by winding the rope upwards. This requires analysis of information such as the movement trajectory and speed of the abnormal movement factor, as well as the current length and position of the suspension rope. If the analysis indicates that winding the rope upwards can avoid the impact, the control system sends an upward winding command to the rope winding device. The upward winding device then winds the rope upwards according to the command. If upward winding cannot avoid the impact, the suspension rope is moved at that speed to change its relative position with the abnormal movement factor, thereby avoiding the impact.

[0128] When abnormal movement factors affect the impact of the crane's fixed structural components on the crane's normal operation, the crane's lifting status will be adjusted accordingly, specifically including the following steps:

[0129] Identify whether the lifting devices of the moving components of a crane are lifting goods;

[0130] If the lifting equipment of the moving component of the crane is not lifting any goods, then the crane operation shall be stopped;

[0131] If the lifting device of the crane's moving component structure is used to lift goods, then the lifting stage of the goods being lifted by the lifting device of the crane's moving component structure is determined; the lifting stage includes the goods grabbing stage, the goods moving stage, and the goods unloading stage;

[0132] Calculate the time required to lift goods using the crane's mobile component lifting device based on the lifting stage of the crane's mobile component lifting device, and mark it as the second time value;

[0133] Obtain the time required for the cargo-grabbing phase when the crane's mobile component spreader is lifting goods and mark it as the cargo-grabbing time value;

[0134] Obtain the time required for the unloading phase when the crane's mobile component spreader lifts goods and mark it as the unloading time value.

[0135] Obtain the distance traveled along the crane's trajectory; calculate the time required to transport the goods based on the distance traveled along the crane's trajectory and the crane's speed information;

[0136] If the lifting phase of the crane's moving component structure lifting equipment is the cargo grabbing phase, then the second time value is obtained by summing the time value required for grabbing the cargo, the time value required for moving the cargo, and the time value required for unloading the cargo.

[0137] If the lifting phase of the crane's moving component structure lifting the goods is the goods operation phase, then the value of the transport distance between the goods and the goods placement area is obtained when the goods are running according to the predetermined lifting status information. The lifting time value is calculated based on the transport distance value and the lifting speed information. The lifting time value and the unloading time value are added together to obtain the second time value.

[0138] If the lifting phase of the crane's moving component structure lifting equipment is the unloading phase, then the time required for unloading the goods is marked as the second time value.

[0139] Obtain the distance between the abnormal movement influencing factor and the fixed component of the crane. Calculate the duration of the impact of the abnormal movement influencing factor on the fixed component of the crane based on the distance and the movement speed information of the abnormal movement influencing factor, and mark it as the first duration value.

[0140] The hoisting status information of the crane is adjusted and controlled based on the first duration value and the second duration value.

[0141] When this application detects that the impact of abnormal movement factors on the fixed components of the crane has affected the normal operation of the crane, it first identifies whether the lifting device of the moving components of the crane is lifting goods. If it is determined that the lifting device is not lifting goods, in order to avoid potential danger, it directly issues a command to stop the crane's operation, cuts off the crane's power source, and stops the operation of its various mechanisms to prevent the abnormal movement factors from causing further damage.

[0142] If the spreader is lifting goods, it is necessary to further determine the lifting stage of the goods by the crane's moving components, namely the goods grabbing stage, the goods moving stage, and the goods unloading stage. This can be determined by obtaining information such as the position and movement status of the spreader and the state of the goods through sensors. For example, if the spreader is in the goods stacking area and is in a closed grabbing action, it can be determined that it is in the goods grabbing stage.

[0143] If the lifting phase of the crane's mobile spreader is the cargo-grabbing phase, the time required for this phase is obtained (the cargo-grabbing time value). This data can be determined through historical records, equipment parameters, and the current progress of the grabbing action. Simultaneously, the distance traveled along the crane's trajectory is obtained, and combined with the crane's travel speed information, the time required to move the cargo is calculated. This is then added to the time required for the cargo unloading phase (the unloading time value can be determined based on equipment parameters and historical data). These three time values ​​are summed to obtain the second time value, which is the total time required to complete the lifting of the cargo in this phase.

[0144] If the lifting phase of the crane's moving component structure lifting the goods is the goods operation phase, the distance traveled between the goods and the goods placement area is obtained according to the predetermined lifting status information. The lifting time is calculated based on the distance traveled and the lifting speed information. This time is then added to the time required to unload the goods to obtain the second time value.

[0145] If the lifting phase of the crane's moving component structure lifting equipment is the unloading phase, the time required for unloading the goods is directly marked as the second time value.

[0146] The impact duration of the abnormal movement impact factor is calculated by obtaining the distance between the abnormal movement impact factor and the fixed structure of the crane through sensors, and combining the movement speed information of the abnormal movement impact factor. The duration of the impact of the abnormal movement impact factor on the fixed structure of the crane is calculated using the formula "time = distance ÷ speed", and is marked as the first duration value.

[0147] Adjusting the lifting status information of the crane based on the first duration value and the second duration value specifically includes the following steps:

[0148] If the first duration value is greater than or equal to the second duration value, the crane will stop working after the moving component structure lifting tool has lifted the goods to the goods placement area;

[0149] If the first duration value is less than the second duration value, the state of the lifting stage of the goods being lifted by the crane's mobile component lifting device is identified, and the lifting status information of the crane is adjusted and controlled according to the state of the lifting stage of the goods being lifted by the crane's mobile component lifting device.

[0150] If the crane's mobile component spreader is in the cargo grabbing stage, the time required for the crane's mobile component spreader to place the cargo in the cargo grabbing area is obtained. If the time required for the cargo to be placed in the cargo grabbing area is less than or equal to the first time value, the crane's mobile component spreader is controlled to stop working after placing the grabbed cargo in the cargo grabbing area. If the time required for the cargo to be placed in the cargo grabbing area is greater than the first time value, the crane's work is stopped at this time.

[0151] If the crane's mobile spreader is in the cargo handling phase, the system obtains the time required for the cargo to be placed in the cargo grabbing area and the location of the cargo on the lifting trajectory. Since the crane can automatically plan its lifting trajectory based on the locations of the cargo grabbing and placement areas, obtaining the remaining distance of the cargo on the lifting trajectory at this time allows the calculation of the time required for the crane to place the cargo in the cargo grabbing area. If the time required for the crane to place the cargo in the cargo grabbing area is less than or equal to a first time value, the crane stops working after placing the grabbed cargo in the cargo grabbing area. If the time required for the crane to place the cargo in the cargo grabbing area is greater than the first time value, the crane stops working at this time.

[0152] If the crane's moving component lifting equipment is in the unloading phase while lifting goods, then the crane should stop operating at this time.

[0153] Once the system obtains the first duration value (calculated by the distance between the abnormal movement influence factor and the fixed component of the crane and the movement speed information of the abnormal movement influence factor) and the second duration value (calculated based on the lifting stage of the goods being lifted by the lifting device of the moving component of the crane), it first compares the magnitudes of the two.

[0154] If the first duration value is greater than or equal to the second duration value, this indicates that the crane has sufficient time to complete the cargo lifting operation according to the predetermined lifting state before the abnormal movement influencing factor impacts the crane's fixed component structure. At this time, the crane's lifting device will continue to lift the cargo to the cargo placement area according to the predetermined lifting trajectory and speed. Once the cargo is successfully placed, the system will issue a command to stop the crane's operation, ensuring the entire lifting process concludes safely and smoothly.

[0155] If the first duration value is less than the second duration value, it means that the current lifting task cannot be completed before the abnormal movement impact factor collides with the fixed component structure of the crane. At this time, the system will further identify the lifting stage of the goods being lifted by the crane's moving component structure.

[0156] If the crane's moving component spreader is in the cargo-grabbing phase, the system obtains the time required for the spreader to place the cargo into the cargo-grabbing area. If this time is less than or equal to a first time value, it means there is sufficient time to safely place the grabbed cargo back into the cargo-grabbing area before the impact of the abnormal movement factor. Therefore, the system controls the crane's moving component spreader to place the cargo in the cargo-grabbing area and then stops the crane's operation. If this time exceeds the first time value, it indicates that the cargo cannot be placed back into the cargo-grabbing area before impact, and to avoid danger, the system immediately stops the crane's operation.

[0157] If the crane's mobile spreader is in the cargo handling phase, the system obtains the time required for the cargo to be placed in the cargo grabbing area (calculated based on the current spreader position, lifting trajectory, and lifting speed). If this time is less than or equal to a first time value, the system controls the crane to place the cargo in the grabbing area and then stops the crane. If the time exceeds the first time value, the system immediately stops the crane to prevent more serious consequences from collisions caused by abnormal movement factors.

[0158] If the crane's moving component spreader is in the unloading stage while lifting goods, and since it is close to the unloading process but cannot be completed before the impact of abnormal movement factors, the system will directly issue an instruction to stop the crane's operation to ensure safety and prevent continued operation in a dangerous situation.

[0159] It also includes the following steps:

[0160] The cranes directly affected by the abnormal movement impact factor are marked as control cranes, and the remaining cranes are marked as normal cranes.

[0161] Obtain the distance value between the normal crane and the controlled crane and mark it as the interval distance value;

[0162] The impact degree of abnormal movement factors on the control crane is determined based on the movement speed information, movement direction information, number of abnormal movement factors, type of abnormal movement factors, and weight of a single abnormal movement factor.

[0163] The impact of abnormal movement on the control crane is used to determine whether it is necessary to stop the normal operation of the crane.

[0164] This application uses various monitoring devices (such as cameras) installed within the crane's working area to monitor the dynamics of abnormal movement influencing factors and the crane's status in real time. If an abnormal movement influencing factor is found to directly affect a crane, such as an impact or impending impact, the crane will be marked as a control crane. At the same time, other cranes that are not directly affected will be marked as normal cranes.

[0165] Using a positioning system or sensor-based ranging technology, the distance between a normal crane and a controlled crane is obtained and marked as an interval distance value.

[0166] The system collects data such as the movement speed, direction of movement, quantity, type, and weight of individual abnormal movement influencing factors.

[0167] We collected a large number of past cases of abnormal moving factors impacting cranes, and compiled relevant information on the abnormal moving factors in each case (speed, direction, quantity, type, individual weight), the specific circumstances of the impact, and the extent of damage to the crane, to establish a detailed historical case database.

[0168] When faced with new abnormal movement influencing factors, the characteristics of the current abnormal movement influencing factor are matched with cases in the historical case database. Cases with high similarity are identified, and the damage to cranes in these cases is referenced to preliminarily determine the impact severity of the current abnormal movement influencing factor on the controlled crane. For example, if the characteristics of the current abnormal movement influencing factor are similar to a historical case that caused severe deformation of the crane structure, it can be preliminarily considered that a severe impact is likely.

[0169] The impact of abnormal movement on the control crane is used to determine whether it is necessary to stop the normal operation of the crane.

[0170] Determining whether to stop normal crane operation based on the impact of abnormal movement factors on the control crane involves the following steps:

[0171] The impact of abnormal movement factors on the control crane is used to determine whether a damage movement factor has been generated.

[0172] If the abnormal movement factor does not cause damage to the control crane due to the impact, then the normal operation of the crane will not be stopped.

[0173] If the abnormal moving factor causes damage to the control crane, the radiation range of the abnormal moving factor is determined based on the moving speed information, moving direction information, number of abnormal moving factors, type of abnormal moving factors, and weight of a single abnormal moving factor.

[0174] Determine whether the damage to the mobile factor affects the normal crane. If it does, stop the normal crane from operating.

[0175] This application, based on the impact of abnormal movement factors on the control crane, further determines whether a damaging movement factor will be generated (e.g., control crane components detaching due to impact becoming a new abnormal movement factor). If the impact does not generate a damaging movement factor, it indicates a low potential threat to the normal crane, and the normal crane operation is not stopped. If the impact generates a damaging movement factor, the radiation range of the damaging movement factor is compared with the interval distance value. If the radiation range may cover the normal crane, i.e., affect the normal crane, the normal crane operation is stopped to prevent the accident from escalating. If the radiation range does not affect the normal crane, the normal crane continues to operate.

[0176] Based on the impact severity of the abnormal movement influencing factors on the control crane, further assessment is made as to whether damaging movement factors will emerge (e.g., control crane components detaching due to the impact becoming new abnormal movement influencing factors). If the impact does not generate damaging movement factors, the potential threat to the normal crane is relatively small, and normal crane operation is not stopped. If the impact generates damaging movement factors, a precise model is established using finite element analysis software such as ANSYS or ABAQUS, based on the structural characteristics and material properties of the control crane, as well as the physical characteristics (such as mass, shape, and hardness) of the damaging movement factors. Relevant parameters of the abnormal movement influencing factors, such as movement speed and impact angle, are input to simulate the scattering or movement of the damaging movement factors after impacting the control crane. The software calculates the mechanical response, including stress, strain, and displacement, to predict the possible propagation path and impact range of the damaging movement factors. For example, the trajectory of metal fragments after impact is simulated to determine the area that may be affected.

[0177] Multibody dynamics simulation software, such as ADAMS, is suitable for simulating the interactions between multiple objects. Models of a crane, a damage-causing factor, and the surrounding environment are built within this software, and the motion parameters and physical properties of each object are set. Through simulation, the motion state of the damage-causing factor after colliding with the crane is observed, including changes in velocity and direction, and its impact range can be inferred. For example, the impact of falling parts bouncing off the ground on the surrounding area can be simulated.

[0178] It can also collect data on past impact events involving similar abnormal moving factors, including the type of damaging moving factor, its cause, trajectory, and the extent of its impact, to build a database. When a new damaging moving factor occurs, the relevant parameters of the current anomaly are matched and compared with historical data. Using data mining and machine learning algorithms, the radiation range of the current damaging moving factor is predicted based on patterns in historical data. For example, by analyzing the dispersion of debris from past metal component impacts, the radiation range of debris in similar situations can be predicted.

[0179] Next, the radiation range of the damaged movement factor is compared with the interval distance value. If the radiation range may cover the normal crane, that is, affect the normal crane, then the normal crane is stopped from working to prevent the accident from escalating; if the radiation range does not affect the normal crane, then the normal crane continues to work.

[0180] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for a port-specific bridge crane, characterized in that, The method includes the following steps: When there are abnormal movement factors in the air area during the operation of a crane, determine whether the abnormal movement factors are the crane's own structure that has detached. If the abnormal movement is caused by a structural component of the crane detaching and can directly affect the normal operation of the crane, then the crane operation should be stopped. When the abnormal movement influencing factor is the crane's own structure that has detached but cannot directly affect the normal operation of the crane, or when the abnormal movement influencing factor is not the crane's own structure that has detached, then the movement status information of the abnormal movement influencing factor and the hoisting status information of the crane during operation are obtained. The movement status information of the abnormal movement influencing factor includes the movement speed information and the movement direction information of the abnormal movement influencing factor; The hoisting status information includes hoisting trajectory information and hoisting speed information; Based on the movement status information of the abnormal movement influencing factors and the lifting status information of the crane during operation, it is determined whether the abnormal movement influencing factors affect the operation of the crane that is operating according to the predetermined lifting status information. If an impact is caused, the lifting status of the crane is adjusted, specifically including the following steps: Based on the information on the direction of movement of the abnormal moving influencing factor, determine whether the abnormal moving influencing factor can collide with the fixed component structure of the crane. If the abnormal movement influencing factors can collide with the fixed components of the crane, the degree of impact of the abnormal movement influencing factors on the fixed components of the crane is determined based on the number of abnormal movement influencing factors, the type of abnormal movement influencing factors, the weight of a single abnormal movement influencing factor, and the movement speed of the abnormal movement influencing factors. When the degree of impact of the abnormal movement influencing factors on the fixed components of the crane affects the normal operation of the crane, the lifting status of the crane is adjusted and controlled according to the situation. If the impact of the abnormal movement influencing factor on the fixed component of the crane does not affect the normal operation of the crane, or if the abnormal movement influencing factor cannot impact the fixed component of the crane, the abnormal movement influencing factor is used to determine whether it impacts the crane's mobile component that is operating according to the predetermined hoisting state information, based on the abnormal movement influencing factor's movement speed information, abnormal movement influencing factor's movement direction information, crane's travel trajectory information, crane's travel speed information, and the distance between the abnormal movement influencing factor and the crane's mobile component. If the abnormal movement affects the moving components of the crane, the lifting status of the crane will be adjusted. Specifically, the location of the abnormal movement impact factor that impacts the moving components of the crane will be determined, and the corresponding part of the moving components of the crane will be adjusted to avoid the impact of the abnormal movement impact factor.

2. The control method for a port-specific bridge crane according to claim 1, characterized in that, When abnormal movement factors affect the impact of the crane's fixed structural components on the crane's normal operation, the crane's lifting status will be adjusted accordingly, specifically including the following steps: Identify whether the lifting devices of the moving components of a crane are lifting goods; If the lifting equipment of the moving component of the crane is not lifting any goods, then the crane operation shall be stopped; If the lifting device of the crane's moving component structure is used to lift goods, then the lifting stage of the goods lifting by the crane's moving component structure is determined; wherein, the lifting stage includes the goods grabbing stage, the goods moving stage, and the goods unloading stage; Obtain the distance between the abnormal movement influencing factor and the fixed component of the crane. Calculate the duration of the impact of the abnormal movement influencing factor on the fixed component of the crane based on the distance and the movement speed information of the abnormal movement influencing factor, and mark it as the first duration value. The hoisting status information of the crane is adjusted and controlled based on the first duration value and the second duration value.

3. The control method for a port-specific bridge crane according to claim 2, characterized in that, Adjusting the lifting status information of the crane based on the first duration value and the second duration value specifically includes the following steps: If the first duration value is greater than or equal to the second duration value, the crane will stop working after the moving component structure lifting tool has lifted the goods to the goods placement area; If the first duration value is less than the second duration value, the lifting status information of the crane is adjusted and controlled according to the lifting stage of the crane's moving component structure lifting tool.

4. The control method for a port-specific bridge crane according to claim 3, characterized in that, It also includes the following steps: The cranes directly affected by the abnormal movement impact factor are marked as control cranes, and the remaining cranes are marked as normal cranes. Obtain the distance value between the normal crane and the controlled crane and mark it as the interval distance value; The impact degree of abnormal movement factors on the control crane is determined based on the movement speed information, movement direction information, number of abnormal movement factors, type of abnormal movement factors, and weight of a single abnormal movement factor. The impact of abnormal movement on the control crane is used to determine whether it is necessary to stop the normal operation of the crane.

5. The control method for a port-specific bridge crane according to claim 4, characterized in that, Determining whether to stop normal crane operation based on the impact of abnormal movement factors on the control crane involves the following steps: The impact of abnormal movement factors on the control crane is used to determine whether a damage movement factor has been generated. If the abnormal movement factor does not cause damage to the control crane due to the impact, then the normal operation of the crane will not be stopped. If the abnormal moving factor causes damage to the control crane, the radiation range of the abnormal moving factor is determined based on the moving speed information, moving direction information, number of abnormal moving factors, type of abnormal moving factors, and weight of a single abnormal moving factor. The impact on normal cranes is determined based on the radiation range and interval distance of the damaged movement factor. If normal cranes are affected, their operation is stopped.

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