Crane operation control method, device, equipment and storage medium

Abstract

The present application relates to the field of rail transportation, and discloses a crane operation control method, device, equipment and storage medium, which are used for improving operation safety. The crane operation control method comprises the following steps: when a target instruction is received, it is detected whether the mobile overhead line system is in a first storage area, the target instruction is that the crane is used to overhaul the tram in the working area, if not, the mobile overhead line system is adjusted to an unlocked state, the mobile overhead line system is controlled to move to the first storage area, and then the mobile overhead line system is adjusted to a locked state; if yes, the crane is adjusted to the unlocked state, the crane is controlled to move from a second storage area to above the working area to perform a task, when the task is completed, the crane is controlled to return to the second storage area, and the crane is set to the locked state.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of rail transit, and in particular to a crane operation control method, device, equipment and storage medium. BACKGROUND

[0002] When the electric car needs to be repaired, the electric car is driven into the working area, the mobile contact network is used to supply power to the vehicle, and the crane is used to disassemble and assemble the large parts on the roof of the vehicle. During the repair process, the crane and the mobile contact network are used alternately.

[0003] At present, the state and relative position of the crane and the mobile contact network are mainly judged by the on-site staff to control the use of the equipment. Since the factors that determine the state are complex, the staff is prone to make mistakes, and the crane has a certain height, so the staff is prone to inaccurate judgment of the relative position, causing equipment collision and having great safety hazards. SUMMARY

[0004] The main purpose of the present application is to provide a crane operation control method, device, equipment and storage medium, which is used to solve the problem of collision between the crane and the mobile contact network and improve the safety of the crane and the mobile contact network during operation.

[0005] The first aspect of the present application provides a crane operation control method applied to a rail transit operation system, wherein the rail transit operation system comprises a mobile contact network and a crane, and the crane operation control method comprises: when a target instruction is received, detecting whether the mobile contact network is in a first storage area, wherein the target instruction is an instruction for operating the crane to repair an electric car in a working area; if not, adjusting the mobile contact network to an unlocked state, controlling the mobile contact network to move to the first storage area, and then adjusting the mobile contact network to a locked state; if yes, adjusting the crane to an unlocked state, controlling the crane to move from a second storage area to above the working area to perform a task; when the task is completed, controlling the crane to return to the second storage area and setting the crane to a locked state.

[0006] In an implementable embodiment, the control of the crane to return to the second storage area and set the crane to a locked state when the task is completed comprises: when the task is completed, the control of the crane to move to the second storage area, the second storage area is provided with a first sensor and a second sensor, the distance between the first sensor and the second sensor is equal to the width of the crane; data acquisition is performed through the first sensor and the second sensor to generate a first result and a second result; when the first result and the second result both indicate that an object is detected, it is determined that the crane returns to the second storage area; when the crane returns to the second storage area, the power supply control box of the crane is turned off and the power supply of the crane is disconnected.

[0007] In an implementable embodiment, after the data acquisition through the first sensor and the second sensor to generate a first result and a second result, before the power supply control box of the crane is turned off and the power supply of the crane is disconnected when the crane returns to the second storage area, it further comprises: when the first result and the second result both indicate that no object is detected, it is determined that the crane does not enter the second storage area; when the first result indicates that an object is detected and the second result indicates that no object is detected, it is determined that the crane starts to return to the second storage area.

[0008] In an implementable embodiment, the detection of whether the mobile overhead contact system is in the first storage area when the target instruction is received comprises: when the target instruction is received, the first storage area is photographed through a pre-set first camera to obtain a first picture; a pre-set image recognition model is called to identify whether the mobile overhead contact system exists in the first picture; if yes, it is determined that the mobile overhead contact system is in the first storage area; if no, it is determined that the mobile overhead contact system is not in the first storage area.

[0009] In an implementable embodiment, if no, the mobile overhead contact system is adjusted to an unlocked state, the mobile overhead contact system is controlled to move to the first storage area, and then the mobile overhead contact system is adjusted to a locked state, which comprises: if the mobile overhead contact system is not in the first storage area, it is detected whether the crane is in the second storage area; if the crane is not in the second storage area, a moving route is planned and the crane is controlled to move to the second storage area along the moving route; if the crane is in the second storage area, the mobile overhead contact system is adjusted to an unlocked state and the mobile overhead contact system is controlled to move to the first storage area; when the mobile overhead contact system is in the first storage area, the mobile overhead contact system is adjusted to a locked state.

[0010] In an implementation, if the crane is not in the second storage area, the method further comprises: detecting positions of the crane and the mobile overhead line system; planning a moving route according to the positions of the crane and the mobile overhead line system; and controlling the crane to move to the second storage area along the moving route.

[0011] In an implementation, if the crane is not in the second storage area, the detecting the positions of the crane and the mobile overhead line system comprises: capturing a second picture by a preset second camera, the second camera capturing a range covering the first storage area, the second storage area, the working area, and an area where the crane and the mobile overhead line system move; calling a preset abnormality processing model to identify the crane and the mobile overhead line system in the second picture; and calculating world coordinates of the crane and the mobile overhead line system to obtain the positions of the crane and the mobile overhead line system.

[0012] In an implementation, the rail transit operation system further comprises an isolation knife switch, a mobile overhead line system power supply switch, a grounding cabinet, a pantograph, and a platform control switch, and if the crane is in the second storage area, the method further comprises: determining a state of the mobile overhead line system according to a preset rule, the preset rule being that if the isolation knife switch is off, the mobile overhead line system power supply switch is off, the grounding cabinet is grounded, the pantograph is lowered, and the platform control switch is off, the mobile overhead line system is determined to be in an unlocked state, otherwise, the mobile overhead line system is determined to be in a locked state; when the mobile overhead line system is in the locked state, controlling the isolation knife switch, the mobile overhead line system power supply switch, the grounding cabinet, the pantograph, or the platform control switch to operate to adjust the mobile overhead line system to the unlocked state; and when the mobile overhead line system is in the unlocked state, controlling the mobile overhead line system to move to the first storage area.

[0013] In an embodiment, when the mobile overhead contact system is in the locked state, the isolating switch, the mobile overhead contact power supply switch, the grounding cabinet, the pantograph or the platform control switch are controlled to operate to adjust the mobile overhead contact system to the unlocked state, including: when the mobile overhead contact system is in the locked state, detecting whether the isolating switch is closed, if yes, then disconnecting the isolating switch; detecting whether the mobile overhead contact power supply switch is disconnected, if not, then disconnecting the mobile overhead contact power supply switch; detecting whether the grounding cabinet is grounded, if not, then grounding the grounding cabinet; detecting whether the pantograph is lowered, if not, then controlling the pantograph to lower; detecting whether the platform control switch is disconnected, if not, then sending a command to disconnect the platform control switch to a management terminal; when receiving the disconnection feedback information of the platform control switch, determining that the mobile overhead contact system is in the unlocked state.

[0014] In an embodiment, the rail transit operation system further comprises a crane power control box, and if yes, the crane is adjusted to the unlocked state, and the crane is controlled to move from the second storage area to the upper part of the working area to perform a task, including: if the mobile overhead contact system is in the first storage area, then starting the crane power control box to turn on the power supply of the crane; and controlling the crane to move from the second storage area to the upper part of the working area to perform a task.

[0015] In an embodiment, after the task is performed, the crane is controlled to return to the second storage area, and the crane is set to the locked state, and then the mobile overhead contact system is adjusted to the unlocked state, and the mobile overhead contact system is controlled to move from the first storage area to the working area; and the mobile overhead contact system is adjusted to the locked state, so that the mobile overhead contact system can supply power to the tram.

[0016] In an embodiment, the mobile overhead contact system is adjusted to the locked state, so that the mobile overhead contact system can supply power to the tram, including: turning on the isolating switch and the mobile overhead contact power supply switch; disconnecting the grounding cabinet from the ground; and controlling the pantograph to rise, so that the mobile overhead contact system can supply power to the tram.

[0017] The second aspect of the present application provides a crane operation control device, comprising: a detection module configured to detect whether the mobile overhead line is in a first storage area when a target instruction is received, the target instruction being an instruction to operate the crane to maintain the trolley in a work area; a first adjustment control module configured to adjust the mobile overhead line to an unlocked state if the mobile overhead line is not in the first storage area, control the mobile overhead line to move to the first storage area, and then adjust the mobile overhead line to a locked state; a second adjustment control module configured to adjust the crane to an unlocked state if the mobile overhead line is in the first storage area, control the crane to move from a second storage area to above the work area to perform a task; and a control setting module configured to control the crane to return to the second storage area and set the crane to a locked state when the task is completed.

[0018] In an implementable embodiment, the control setting module comprises: a first control unit configured to control the crane to move to the second storage area when the task is completed, the second storage area being provided with a first sensor and a second sensor, the distance between the first sensor and the second sensor being equal to the width of the crane; a generation unit configured to generate a first result and a second result by collecting data through the first sensor and the second sensor; a first determination unit configured to determine that the crane returns to the second storage area when the first result and the second result both indicate that an object is detected; and a disconnect unit configured to turn off a power supply control box of the crane and disconnect the power supply of the crane when the crane returns to the second storage area.

[0019] In an implementable embodiment, the control setting module comprises: a first control unit configured to control the crane to move to the second storage area when the task is completed, the second storage area being provided with a first sensor and a second sensor, the distance between the first sensor and the second sensor being equal to the width of the crane; a generation unit configured to generate a first result and a second result by collecting data through the first sensor and the second sensor; a first determination unit configured to determine that the crane returns to the second storage area when the first result and the second result both indicate that an object is detected; and a disconnect unit configured to turn off a power supply control box of the crane and disconnect the power supply of the crane when the crane returns to the second storage area.

[0020] In an implementable embodiment, the detection module is specifically configured to: capture the first storage area by a preset first camera to obtain a first picture when the target instruction is received; call a preset image recognition model to identify whether the mobile overhead line exists in the first picture; if the mobile overhead line exists, it is determined that the mobile overhead line is in the first storage area; and if the mobile overhead line does not exist, it is determined that the mobile overhead line is not in the first storage area.

[0021] In an implementation, the first adjustment control module comprises: a detection submodule for detecting whether the crane is in a second storage area if the mobile contact net is not in a first storage area; a planning submodule for planning a moving route and controlling the crane to move to the second storage area along the moving route if the crane is not in the second storage area; an adjustment control submodule for adjusting the mobile contact net to an unlocked state and controlling the mobile contact net to move to the first storage area if the crane is in the second storage area; and an adjustment submodule for adjusting the mobile contact net to a locked state when the mobile contact net is in the first storage area.

[0022] In an implementation, the planning submodule comprises: a detection unit for detecting positions of the crane and the mobile contact net if the crane is not in the second storage area; a planning unit for planning a moving route according to the positions of the crane and the mobile contact net; and a second control unit for controlling the crane to move to the second storage area along the moving route.

[0023] In an implementation, the detection unit is specifically configured to: capture a second picture by using a preset second camera if the crane is not in the second storage area, the second camera having a capturing range covering the first storage area, the second storage area, the working area, and an area in which the crane and the mobile contact net move; call a preset abnormality processing model to identify the crane and the mobile contact net in the second picture; and calculate world coordinates of the crane and the mobile contact net to obtain the positions of the crane and the mobile contact net.

[0024] In an implementation, the adjustment control submodule comprises: a judgment unit for judging a state of the mobile contact net according to a preset rule if the crane is in the second storage area, the preset rule being that if an isolation knife switch is disconnected, a mobile contact net power supply switch is disconnected, a grounding cabinet is grounded, a pantograph is lowered, and a platform control switch is disconnected, the mobile contact net is determined to be in the unlocked state, otherwise, the mobile contact net is determined to be in the locked state; a control adjustment unit for controlling the isolation knife switch, the mobile contact net power supply switch, the grounding cabinet, the pantograph, or the platform control switch to operate to adjust the mobile contact net to the unlocked state when the mobile contact net is in the locked state; and a control moving unit for controlling the mobile contact net to move to the first storage area when the mobile contact net is in the unlocked state.

[0025] In an implementable embodiment, the control adjustment unit is specifically configured to: when the mobile overhead line system is in a locked state, detect whether the isolating switch is closed, and if so, disconnect the isolating switch; detect whether the mobile overhead line system power supply switch is disconnected, and if not, disconnect the mobile overhead line system power supply switch; detect whether the grounding cabinet is grounded, and if not, ground the grounding cabinet; detect whether the pantograph is lowered, and if not, control the pantograph to be lowered; detect whether the platform control switch is disconnected, and if not, send a command to disconnect the platform control switch to a management terminal; and when receiving a disconnection feedback information of the platform control switch, determine that the mobile overhead line system is in an unlocked state.

[0026] In an implementable embodiment, the second adjustment control module is specifically configured to: if the mobile overhead line system is in a first storage area, start the crane power supply control box to turn on the power supply of the crane; and control the crane to move from the second storage area to above the working area to perform a task.

[0027] In an implementable embodiment, after the control setting module, a third adjustment control module is further included, and the third adjustment control module includes: a third control unit configured to adjust the mobile overhead line system to an unlocked state and control the mobile overhead line system to move from the first storage area to the working area; and an adjustment unit configured to adjust the mobile overhead line system to a locked state, so that the mobile overhead line system can supply power to the electric car.

[0028] In an implementable embodiment, the adjustment unit is specifically configured to: turn on the isolating switch and the mobile overhead line system power supply switch, disconnect the grounding cabinet from the ground, and control the pantograph to be raised, so that the mobile overhead line system can supply power to the electric car.

[0029] The third aspect of the present application provides a crane operation control device, including: a memory and at least one processor, the memory stores instructions; the at least one processor calls the instructions in the memory, so that the crane operation control device executes the crane operation control method described above.

[0030] The fourth aspect of the present application provides a computer readable storage medium, the computer readable storage medium stores instructions, when it runs on a computer, makes the computer execute the crane operation control method described above.

[0031] The technical scheme provided by the present application comprises the following steps: when a target instruction is received, it is detected whether the mobile overhead contact system is in a first storage area, the target instruction is that the crane is operated to maintain the tramcar in the working area; if not, the mobile overhead contact system is adjusted to an unlocked state, the mobile overhead contact system is controlled to move to the first storage area, and then the mobile overhead contact system is adjusted to a locked state; if yes, the crane is adjusted to an unlocked state, the crane is controlled to move from a second storage area to above the working area to perform a task; when the task is completed, the crane is controlled to return to the second storage area, and the crane is set to a locked state. In the embodiment of the present application, the crane and the mobile overhead contact system are provided with respective storage areas, only when one of the crane and the mobile overhead contact system is in the set area, the other can be operated, the collision between the crane and the mobile overhead contact system is avoided, and the safety is improved. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 An embodiment of the crane operation control method in the present application is shown in the figure;

[0033] Figure 2 An embodiment of the crane operation control method in the present application is shown in the figure;

[0034] Figure 3 An embodiment of the crane operation control method in the present application is shown in the figure;

[0035] Figure 4 An embodiment of the crane operation control method in the present application is shown in the figure;

[0036] Figure 5 An embodiment of the crane operation control method in the present application is shown in the figure;

[0037] Figure 6 An embodiment of the crane operation control method in the present application is shown in the figure;

[0038] Figure 7 An embodiment of the crane operation control method in the present application is shown in the figure;

[0039] Figure 8 An embodiment of the crane operation control method in the present application is shown in the figure. DETAILED DESCRIPTION

[0040] The present application provides a crane operation control method, device, equipment and storage medium, which are used to solve the collision problem between the crane and the mobile overhead contact system, and improve the safety of the crane and the mobile overhead contact system during operation.

[0041] The terms "first", "second", "third", "fourth" and the like in the description and in the claims of the present application, and above-mentioned drawings, if any, are used to distinguish between similar objects and are not necessarily used to describe a particular sequential or chronological order. It is to be understood that the use of the terms so-termed, where appropriate, can be interchanged with each other to the extent that the embodiments described herein can be implemented in other than the order illustrated or described herein. Furthermore, the terms "comprise" or "have" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or apparatus comprising a list of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or apparatuses.

[0042] For the sake of understanding, the specific flow of the embodiments of the present application is described below. It can be understood that the execution subject of the present application can be a crane operation control device, and can also be a terminal or a server, and the specific place is not limited here. The embodiments of the present application take the server as the execution subject as an example for description.

[0043] Please refer to Figure 1 An embodiment of the crane operation control method in the embodiments of the present application comprises:

[0044] 101, when receiving a target instruction, detecting whether the mobile overhead contact system is in the first storage area, the target instruction being an instruction of operating the crane to overhaul the tramcar in the working area;

[0045] The application scenario of the embodiment is tramcar overhaul. When it is necessary to overhaul the top related equipment of the tramcar, the tramcar is driven to the working area, the mobile overhead contact system is used to supply power to the tramcar, and the crane is used to assist in removing the top of the tramcar. As shown in Figure 2 The track is provided outside the working area for parking the tramcar, and two cross beams are provided above the working area, the cross beams cross the working area and extend to the second storage area, the second storage area is used to place the crane, and the crane reciprocates above the working area and the second storage area through the cross beams. In addition, the first storage area is also provided for placing the mobile overhead contact system, the two cross beams are connected end to end to form a rectangle, the rectangle extends to the ground to form a cuboid interval with the ground. In an ideal case, the first storage area is located at any position outside the cuboid interval, and the first storage area marked in the figure is only an example. The first sensor and the second sensor are provided on one side of the second storage area, the distance between the first sensor and the second sensor is equal to the width of the crane in the cross beam direction, and the detection result of the sensor is to detect an object or not to detect an object.

[0046] When the server receives a target instruction of operating the crane to maintain the trolley of the work area, a first storage area is photographed to obtain a first picture, and whether the mobile overhead contact system exists in the first picture is detected by an image recognition model. If the mobile overhead contact system exists, it is determined that the mobile overhead contact system is in the first storage area, otherwise, the mobile overhead contact system is not in the first storage area.

[0047] 102、If not, the mobile overhead contact system is adjusted to an unlocked state, the mobile overhead contact system is controlled to move to the first storage area, and then the mobile overhead contact system is adjusted to a locked state;

[0048] If the mobile overhead contact system is not in the first storage area, the state of the mobile overhead contact system is identified by the server. The state of the mobile overhead contact system is a locked state or an unlocked state. The server cannot control the mobile overhead contact system in the locked state to move. Only when the mobile overhead contact system is changed from the locked state to the unlocked state, the server can control the mobile overhead contact system to move. Therefore, when the server identifies that the mobile overhead contact system is in the unlocked state, the mobile overhead contact system can be directly controlled to move from an initial position to the first storage area. When the server identifies that the mobile overhead contact system is in the locked state, the mobile overhead contact system is first adjusted from the locked state to the unlocked state according to a first preset rule, and then the mobile overhead contact system is controlled to move from the initial position to the first storage area. The first preset rule is a node condition that meets the safe operation of the mobile overhead contact system. In this way, safety accidents can be avoided. The initial position is a position where the mobile overhead contact system normally supplies power to the trolley.

[0049] The first storage area is monitored by taking pictures to obtain a monitoring video. In order to save time and resources, the server extracts video frames from the monitoring video at a preset frame rate for identification. When a complete mobile overhead contact system is identified, the server determines that the mobile overhead contact system is in the first storage area. At this time, the mobile overhead contact system is adjusted to a locked state.

[0050] 103、If yes, the crane is adjusted to an unlocked state, and the crane is controlled to move from the second storage area to above the work area to perform a task;

[0051] After the mobile overhead contact system returns to the first storage area, the state of the crane is identified by the server. The state of the crane is a locked state or an unlocked state. The server cannot control the crane in the locked state to move. Only when the crane is changed from the locked state to the unlocked state, the server can control the crane to move. Therefore, when the server identifies that the crane is in the unlocked state, the crane can be directly controlled to move from the second storage area to above the work area to perform a task. When the server identifies that the crane is in the locked state, the crane is first adjusted from the locked state to the unlocked state according to a second preset rule, and then the crane is controlled to move from the second storage area to above the work area to perform a task. The second preset rule is to turn on the power supply of the crane.

[0052] 104、When the task is completed, the crane is controlled to return to the second storage area, and the crane is set to the locked state.

[0053] When the task of the crane is completed, the server controls the crane to return to the second storage area along the original route, and the server detects whether the crane is in the second storage area through the first sensor and the second sensor. The first sensor and the second sensor can be a travel switch or a photoelectric sensor. When neither the first sensor nor the second sensor detects an object, it is determined that the crane is not in the second storage area. When the first sensor detects an object and the second sensor does not detect an object, it is determined that the crane is starting to enter or exit the second storage area. When both the first sensor and the second sensor detect an object, it is determined that the crane is in the second storage area. When the crane is in the second storage area, the crane is adjusted from the unlocked state to the locked state according to a third preset rule. The third preset rule is to disconnect the power supply of the crane.

[0054] In the embodiment of the application, the crane and the mobile catenary are provided with respective storage areas. Only when one of the crane and the mobile catenary is in the set area can the other one be operated, so as to avoid collision between the crane and the mobile catenary and improve safety.

[0055] Please refer to Figure 3 Another embodiment of the crane operation control method in the embodiment of the application includes:

[0056] 301、When receiving a target instruction, it is detected whether the mobile catenary is in the first storage area. The target instruction is to operate the crane to maintain the tramcar in the working area.

[0057] The application scenario of the embodiment is tramcar maintenance. When it is necessary to remove the top related equipment of the tramcar for maintenance, the tramcar is driven to the working area, the tramcar is powered through the mobile catenary, and the crane is used to assist in removing the top of the tramcar. Figure 2As shown, a lane is arranged outside the working area for parking the trolley, and two cross beams are arranged above the working area, the cross beams span the working area and extend to the second storage area for placing the crane, and the crane reciprocates above the working area and the second storage area through the cross beams. In addition, a first storage area is also provided for placing the mobile catenary, and the two cross beams are connected end to end to form a rectangle, and the rectangle extends to the ground to form a three-dimensional interval with the ground. In an ideal case, the first storage area is located at any position outside the three-dimensional interval, and the first storage area marked in the figure is only an example. A first sensor and a second sensor are arranged on one side of the second storage area, and the first sensor and the second sensor can be a travel switch or a photoelectric sensor, the distance between the first sensor and the second sensor is equal to the width of the crane in the cross beam direction, and the detection result of the sensor is to detect an object or not to detect an object.

[0058] When the server receives a target instruction for operating the crane to maintain the trolley in the working area, a first camera is preset to capture the first storage area to obtain a first picture, a preset image recognition model is called to identify whether the mobile catenary exists in the first picture, if the mobile catenary exists, it is determined that the mobile catenary is in the first storage area, and if the mobile catenary does not exist, it is determined that the mobile catenary is not in the first storage area.

[0059] 302、If the mobile catenary is not in the first storage area, whether the crane is in the second storage area is detected;

[0060] If the mobile catenary is not in the first storage area, the server collects data through the first sensor and the second sensor, and the first sensor and the second sensor are part of a crane position detection circuit, such as Figure 4 As shown, the crane position detection circuit also includes a data processing device and a measurement and control device, the crane position detection circuit is connected with the relay of the mobile catenary, the server initializes the data collected by the first sensor and the second sensor, and then transmits the data to the data processing device for logical judgment. Only when the result of logical judgment meets the preset condition, the data processing device will send a signal to the measurement and control device, the measurement and control device connects the relay of the mobile catenary, at this time, the server can operate the mobile catenary, and the preset condition is that the first sensor and the second sensor both detect an object.

[0061] The server pre-processes the data collected by the first sensor and the second sensor to generate a first result and a second result that can be logically judged.

[0062] A preprocessing scheme is provided here: a preset numerical interval is set, data within the preset numerical interval indicates that an object is detected, data outside the preset numerical interval indicates that no object is detected, when the data collected by the sensor is within the preset numerical interval, the result is set to 1, when the data collected by the sensor is not within the preset numerical interval, the result is set to 0, at this time, the first result and the second result are 0 or 1.

[0063] The server makes a logical judgment through the data processing device of the crane position detection loop, when the first result and the second result both indicate that an object is detected, it is determined that the crane is in the second storage area; when the first result and the second result both indicate that no object is detected, it is determined that the crane is not in the second storage area; when the first result indicates that an object is detected and the second result indicates that no object is detected, it is determined that the crane is starting to enter or starting to exit the second storage area.

[0064] For example, when the first result and the second result are both 1, the server makes a logical judgment through the data processing device to determine that the crane is in the second storage area; when the first result and the second result are both 0, the server makes a logical judgment through the data processing device to determine that the crane is not in the second storage area; when the first result is 1 and the second result is 0, the server makes a logical judgment through the data processing device to determine that the crane is starting to enter or starting to exit the second storage area.

[0065] 303、If the crane is not in the second storage area, a moving route is planned and the crane is controlled to move along the moving route to the second storage area;

[0066] If the crane is not in the second storage area, the server detects the positions of the crane and the mobile overhead contact system, specifically, a second camera is pre-set to take a second picture, the range of the second camera covers the first storage area, the second storage area, the working area, and the area where the crane and the mobile overhead contact system move, an abnormality processing model is called to identify the crane and the mobile overhead contact system in the second picture, the world coordinates of the crane and the mobile overhead contact system are calculated to obtain the positions of the crane and the mobile overhead contact system, the abnormality processing model has the functions of identifying images, calculating pixel coordinates, and converting the pixel coordinates into world coordinates according to the parameters of the second camera.

[0067] The server plans a moving route according to the positions of the crane and the mobile catenary, and controls the crane to move along the moving route to the second storage area. The position of the crane and the mobile catenary is detected by: obtaining a second picture taken by a preset camera, the preset camera being one or more, the second picture containing the crane and the mobile catenary, the second picture being a picture taken by one camera or a picture obtained by synthesizing pictures taken by multiple cameras at the same time, calling a preset abnormality processing model to identify the crane and the mobile catenary in the second picture, and calculating the world coordinates of the crane and the mobile catenary to obtain the positions of the crane and the mobile catenary.

[0068] When the crane moves along the cross beam, if the position of the mobile catenary does not affect the movement of the crane along the cross beam to the second storage area, the moving route is the direction of the cross beam between the crane and the second storage area; if the position of the mobile catenary hinders the movement of the crane along the cross beam to the second storage area, a standby guide rail is called to connect the crane and the second storage area, and the moving route is the direction of the standby guide rail between the crane and the second storage area, and the server controls the crane to move along the moving route to the second storage area.

[0069] 304. If the crane is in the second storage area, the mobile catenary is adjusted to the unlocked state, the mobile catenary is controlled to move to the first storage area, and then the mobile catenary is adjusted to the locked state;

[0070] If the crane is in the second storage area, the server determines the state of the mobile catenary according to a preset rule. If the isolation knife switch in the rail transit operation system is open, the mobile catenary power supply switch is open, the grounding cabinet is grounded, the pantograph is lowered, and the platform control switch is open, the mobile catenary is determined to be in the unlocked state, otherwise, the mobile catenary is determined to be in the locked state. When the mobile catenary is in the locked state, the isolation knife switch, the mobile catenary power supply switch, the grounding cabinet, the pantograph, or the platform control switch is operated to adjust the mobile catenary to the unlocked state. When the mobile catenary is in the unlocked state, the mobile catenary is controlled to move from the initial position to the first storage area. The initial position is the position of the mobile catenary when it normally supplies power to the tramcar.

[0071] The mobile catenary is adjusted to the unlocked state in the following manner: when the mobile catenary is in the locked state, the server detects whether the isolation knife switch is closed. If yes, the isolation knife switch is opened. If the mobile catenary power supply switch is not open, the mobile catenary power supply switch is opened. If the grounding cabinet is not grounded, the grounding cabinet is grounded. If the pantograph is not lowered, the pantograph is controlled to lower. If the platform control switch is not open, the platform control switch is opened.

[0072] Send a command to the management terminal to disconnect the platform control switch; upon receiving feedback information indicating the platform control switch has disconnected, determine that the mobile contact network is in the unlocked state. When the mobile contact network is in the first storage state...

[0073] In the case of a region, the mobile contact wire is adjusted to the locked state. The method for adjusting the mobile contact wire to the locked state is to disconnect the relay of the mobile contact wire.

[0074] 305. If the mobile contact wire is in the first storage area, adjust the crane to the unlocked state and control the crane to move from the second storage area to above the work area to perform the task;

[0075] If the mobile overhead contact line is in the first storage area, the server will activate the crane power control box in the rail transit operation system to turn on the crane's power; and control the crane to move from the second storage area to directly above the work area to perform the task.

[0076] Specifically, after the mobile overhead contact line returns to the first storage area, the server identifies the crane's status.

[0077] The crane is in either a locked or unlocked state. The server cannot control the movement of a crane in a locked state; it can only move the crane when it changes from a locked to an unlocked state. Therefore, when the server detects that the crane is unlocked, it can directly control the crane to move from the second storage area to the area above the work area to perform the task. When the server detects that the crane is locked, it first turns on the crane's power to unlock it.

[0078] The crane is then moved from the second storage area to above the work area to perform the task. 0306. When the task is completed, the crane is returned to the second storage area and locked.

[0079] When the task is completed, the server controls the crane to move to the second storage area, collects data through the first and second sensors, and generates a first result and a second result. When the first result...

[0080] When both the first and second results indicate that an object has been detected, it is determined that the crane has returned to the second storage area; when both the first and second results indicate that no object has been detected, it is determined that the crane has not entered the second storage area.

[0081] When the first result indicates that an object has been detected and the second result indicates that no object has been detected, the crane is determined to begin returning to the second storage area. Once the crane has returned to the second storage area, the crane power control box is shut off, disconnecting the crane's power supply.

[0082] To avoid the interference of other objects to the sensor and improve the detection effect, a sensor detection crane is provided, as shown in Figure 5 The speed sensor is arranged in front of the second storage area, the server monitors the speed of the crane moving on the cross beam through the speed sensor, calculates the target time length required for the crane to move from the first sensor position to the second sensor position according to the distance between the first sensor and the second sensor, calls the local clock, records the time point and / or time area when the first sensor detects the object, filters out the first effective time point from the recorded time point and / or time area, the first effective time point refers to the starting time point when the first sensor detects the object and continuously detects the object within the preset time length, and the second effective time point is obtained by superimposing the target time length on the basis of the first effective time point, if the second sensor detects the object before the second effective time point, it is considered that there is object interference, and the second sensor is misdetected.

[0083] At this time, it is assumed that the first sensor is C1 and the second sensor is C2, when the sensor detects the object, the detection result is assigned as "1", and when the sensor does not detect the object, the detection result is assigned as "0", during the process that the crane enters the second storage area, the detection results of the first sensor and the second sensor change as follows:

[0084] 1) The crane does not enter the second storage area, and the whole does not pass through, at this time C1=0, C2=0;

[0085] 2) The crane starts to enter the second storage area, triggering the first sensor, at this time C1=1, C2=0;

[0086] 3) The crane enters the second storage area completely, triggering the first sensor and the second sensor, at this time C1=1, C2=1.

[0087] 307, adjust the movable catenary to the unlocked state, control the movable catenary to move from the first storage area to the working area;

[0088] When the crane returns to the second storage area, the server controls the movable catenary to return to the initial position from the first storage area.

[0089] 308, adjust the movable catenary to the locked state, so that the movable catenary can supply power to the tramcar.

[0090] The server connects the isolation knife switch and the movable catenary power supply switch, disconnects the connection between the grounding cabinet and the ground, controls the pantograph to rise, so that the movable catenary can supply power to the tramcar.

[0091] In the embodiment of the present application, the crane and the mobile contact net are provided with respective storage areas, whether the crane is in the storage area thereof is judged by a sensor, and the mobile contact net can be operated only when the crane is in the set area, whether the mobile contact net is in the storage area thereof is judged by image recognition, and the crane can be operated only when the mobile contact net is in the set area, so that the crane and the mobile contact net are prevented from colliding, and safety is improved.

[0092] The crane operation control method in the embodiment of the present application is described above, and the crane operation control device in the embodiment of the present application is described below, please refer to Figure 6 The crane operation control device in the embodiment of the present application includes one embodiment:

[0093] The detection module 601 is configured to detect whether the mobile contact net is in the first storage area when a target instruction is received, and the target instruction is to operate the crane to overhaul the tramcar in the working area.

[0094] The first adjustment control module 602 is configured to adjust the mobile contact net to an unlocked state if the mobile contact net is not in the first storage area, control the mobile contact net to move to the first storage area, and then adjust the mobile contact net to a locked state.

[0095] The second adjustment control module 603 is configured to adjust the crane to the unlocked state if the crane is in the first storage area, and control the crane to move to the upper side of the working area to perform a task.

[0096] The control setting module 604 is configured to control the crane to return to the second storage area and set the crane to the locked state when the task is completed.

[0097] In the embodiment of the present application, the crane and the mobile contact net are provided with respective storage areas, and one of the crane and the mobile contact net can be operated only when the one is in the set area, so that the crane and the mobile contact net are prevented from colliding, and safety is improved.

[0098] Please refer to Figure 7 Another embodiment of the crane operation control device in the embodiment of the present application includes:

[0099] The detection module 601 is configured to detect whether the mobile contact net is in the first storage area when a target instruction is received, and the target instruction is to operate the crane to overhaul the tramcar in the working area.

[0100] The first adjustment control module 602 is configured to adjust the mobile contact net to an unlocked state if the mobile contact net is not in the first storage area, control the mobile contact net to move to the first storage area, and then adjust the mobile contact net to a locked state.

[0101] The second adjustment control module 603 is configured to adjust the crane to an unlocked state if so, and control the crane to move from the second storage area to the working area above to perform a task.

[0102] The control setting module 604 is configured to control the crane to return to the second storage area and set the crane to a locked state when the task is completed.

[0103] Optionally, the control setting module 604 further comprises:

[0104] The first control unit 6041 is configured to control the crane to move to the second storage area when the task is completed, the second storage area is provided with a first sensor and a second sensor, and the distance between the first sensor and the second sensor is equal to the width of the crane.

[0105] The generation unit 6042 is configured to collect data through the first sensor and the second sensor, and generate a first result and a second result.

[0106] The first determination unit 6043 is configured to determine that the crane returns to the second storage area when the first result and the second result both indicate that an object is detected.

[0107] The disconnect unit 6044 is configured to turn off the power supply control box of the crane and disconnect the power supply of the crane when the crane returns to the second storage area.

[0108] Optionally, the control setting module 604 further comprises:

[0109] The second determination unit 6045 is configured to determine that the crane does not enter the second storage area when the first result and the second result both indicate that no object is detected.

[0110] The third determination unit 6046 is configured to determine that the crane starts to return to the second storage area when the first result indicates that an object is detected and the second result indicates that no object is detected.

[0111] Optionally, the detection module 601 is specifically configured to:

[0112] When the target instruction is received, the first storage area is photographed through the preset first camera to obtain a first picture; a preset image recognition model is called to recognize whether the mobile overhead contact system exists in the first picture; if the mobile overhead contact system exists, it is determined that the mobile overhead contact system is in the first storage area; if the mobile overhead contact system does not exist, it is determined that the mobile overhead contact system is not in the first storage area.

[0113] Optionally, the first adjustment control module 602 comprises:

[0114] The detection sub-module 6021 is configured to detect whether the crane is in the second storage area if the mobile overhead contact system is not in the first storage area.

[0115] planning submodule 6022, if no, planning a moving route, controlling the crane to move to the second storage area along the moving route;

[0116] adjustment control submodule 6023, if yes, adjusting the mobile catenary to an unlocked state, and controlling the mobile catenary to move to the first storage area;

[0117] adjustment submodule 6024, for adjusting the mobile catenary to a locked state when the mobile catenary is in the first storage area.

[0118] Optionally, the planning submodule 6022 comprises:

[0119] detection unit 60221, if no, detecting positions of the crane and the mobile catenary;

[0120] planning unit 60222, for planning a moving route according to the positions of the crane and the mobile catenary;

[0121] second control unit 60223, for controlling the crane to move to the second storage area along the moving route.

[0122] Optionally, the detection unit 60221 is specifically configured to:

[0123] if no, capturing a second picture by using a preset second camera, the second camera capturing a range covering the first storage area, the second storage area, the working area, and an area where the crane and the mobile catenary move, calling a preset abnormality processing model to identify the crane and the mobile catenary in the second picture, and calculating world coordinates of the crane and the mobile catenary to obtain the positions of the crane and the mobile catenary.

[0124] Optionally, the adjustment control submodule 6023 comprises:

[0125] determination unit 60231, for determining a state of the mobile catenary according to a preset rule if yes, the preset rule being that if an isolation knife switch is disconnected, a mobile catenary power supply switch is disconnected, a grounding cabinet is grounded, a pantograph is lowered, and a platform control switch is disconnected, the mobile catenary is determined to be in the unlocked state, otherwise, the mobile catenary is determined to be in the locked state;

[0126] control adjustment unit 60232, for controlling the isolation knife switch, the mobile catenary power supply switch, the grounding cabinet, the pantograph, or the platform control switch to operate when the mobile catenary is in the locked state, and adjusting the mobile catenary to the unlocked state;

[0127] The control moving unit 60233 is configured to control the mobile overhead line to move to the first storage area when the mobile overhead line is in the unlocking state.

[0128] Optionally, the control adjusting unit 60232 is specifically configured to:

[0129] When the mobile overhead line is in the locking state, it is detected whether the isolation switch is closed, and if yes, the isolation switch is disconnected; it is detected whether the mobile overhead line power supply switch is disconnected, and if no, the mobile overhead line power supply switch is disconnected; it is detected whether the grounding cabinet is grounded, and if no, the grounding cabinet is grounded; it is detected whether the pantograph is lowered, and if no, the pantograph is controlled to be lowered; it is detected whether the platform control switch is disconnected, and if no, an instruction of disconnecting the platform control switch is sent to the management terminal; when the disconnection feedback information of the platform control switch is received, it is determined that the mobile overhead line is in the unlocking state.

[0130] Optionally, the second adjusting control module 603 is specifically configured to:

[0131] If yes, the crane power control box is started, the power supply of the crane is connected, and the crane is controlled to move from the second storage area to the working area above to perform a task.

[0132] Optionally, the crane operation control device further comprises a third adjusting control module 605, and the third adjusting control module 605 comprises:

[0133] The third control unit 6051 is configured to adjust the mobile overhead line to the unlocking state, and control the mobile overhead line to move from the first storage area to the working area.

[0134] The adjusting unit 6052 is configured to adjust the mobile overhead line to the locking state, so that the mobile overhead line can supply power to the tramcar.

[0135] Optionally, the adjusting unit 6052 is specifically configured to:

[0136] The isolation switch and the mobile overhead line power supply switch are connected, the grounding cabinet is disconnected from the ground, the pantograph is controlled to be raised, and the mobile overhead line can supply power to the tramcar.

[0137] In the embodiment of the application, the crane and the mobile overhead line are provided with respective storage areas, it is judged by a sensor whether the crane is in the storage area thereof, only when the crane is in the set area, the mobile overhead line can be operated, it is judged by image recognition whether the mobile overhead line is in the storage area thereof, only when the mobile overhead line is in the set area, the crane can be operated, the crane and the mobile overhead line are prevented from colliding, and the safety is improved.

[0138] The above Figure 6 andFigure 7 The crane operation control device in the embodiments of the present application is described in detail from the perspective of the modular functional entity, and the crane operation control device in the embodiments of the present application is described in detail from the perspective of hardware processing.

[0139] Figure 8 Fig. 8 is a structural schematic diagram of a crane operation control device provided by the embodiments of the present application. The crane operation control device 800 can be greatly different due to different configurations or performances, and can include one or more processors (central processing units, CPU) 810 (for example, one or more processors) and a memory 820, one or more storage media 830 (for example, one or more mass storage devices) storing application programs 833 or data 832. The memory 820 and the storage media 830 can be temporary storage or persistent storage. The programs stored in the storage media 830 can include one or more modules (not shown in the figure), and each module can include a series of instruction operations in the crane operation control device 800. Further, the processor 810 can be configured to communicate with the storage media 830 and execute a series of instruction operations in the storage media 830 on the crane operation control device 800.

[0140] The crane operation control device 800 can further include one or more power supplies 840, one or more wired or wireless network interfaces 850, one or more input / output interfaces 860, and / or one or more operating systems 831, such as Windows Serve, Mac OS X, Unix, Linux, FreeBSD, and the like. Those skilled in the art can understand that the crane operation control device 800 can include more or fewer components than those shown in the figure, or some components can be combined, or different components can be arranged. Figure 8 The crane operation control device structure shown does not constitute a limitation on the crane operation control device, and can include more or fewer components than those shown in the figure, or some components can be combined, or different components can be arranged.

[0141] The present application also provides a crane operation control device, which includes a memory and a processor, the memory stores computer readable instructions, and the computer readable instructions are executed by the processor to make the processor execute the steps of the crane operation control method in each of the embodiments.

[0142] The present application also provides a computer readable storage medium, which can be a non-volatile computer readable storage medium or a volatile computer readable storage medium, and the computer readable storage medium stores instructions, and the instructions make the computer execute the steps of the crane operation control method when the instructions are executed on the computer.

[0143] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, and will not be described here.

[0144] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0145] The above-described and the above embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A crane operation control method applied to a rail transit operation system, the rail transit operation system comprising a mobile contact network and a crane, characterized in that, The crane operation control method includes: When a target instruction is received, it is detected whether the mobile contact network is in the first storage area. The target instruction is to operate the crane to repair the trolley in the work area. If not, adjust the mobile contact wire to the unlocked state, control the mobile contact wire to move to the first storage area, and then adjust the mobile contact wire to the locked state; If so, the crane is adjusted to the unlocked state, and the crane is controlled to move from the second storage area to above the work area to perform the task; When the task is completed, control the crane to return to the second storage area and set the crane to a locked state; The step of detecting whether the mobile contact network is in the first storage area when a target instruction is received includes: when the target instruction is received, taking a picture of the first storage area using a preset first camera to obtain a first image; calling a preset image recognition model to identify whether the mobile contact network exists in the first image; if it exists, determining that the mobile contact network is in the first storage area; if it does not exist, determining that the mobile contact network is not in the first storage area.

2. The crane operation control method according to claim 1, characterized by, When the task is completed, controlling the crane to return to the second storage area and setting the crane to a locked state includes: When the task is completed, the crane is controlled to move to the second storage area, which is equipped with a first sensor and a second sensor. The distance between the first sensor and the second sensor is equal to the width of the crane. Data is collected using the first sensor and the second sensor to generate a first result and a second result. When both the first and second results indicate that an object has been detected, the crane is determined to return to the second storage area; When the crane returns to the second storage area, the power control box of the crane is turned off, and the power supply to the crane is disconnected.

3. The crane operation control method according to claim 2, characterized by, After data acquisition via the first and second sensors, generating a first result and a second result, and before shutting off the crane's power control box and disconnecting the crane's power supply when the crane returns to the second storage area, the method further includes: When both the first and second results indicate that no object was detected, it is determined that the crane has not entered the second storage area; When the first result indicates that an object has been detected and the second result indicates that no object has been detected, the crane is determined to begin returning to the second storage area.

4. The crane operation control method according to claim 1, characterized in that, If not, then the mobile contact wire is adjusted to the unlocked state, the mobile contact wire is moved to the first storage area, and then the mobile contact wire is adjusted to the locked state, including: If the mobile contact wire is not in the first storage area, then detect whether the crane is in the second storage area; If the crane is not in the second storage area, a movement route is planned, and the crane is controlled to move along the movement route to the second storage area; If the crane is in the second storage area, the mobile contact wire is adjusted to the unlocked state, and the mobile contact wire is controlled to move to the first storage area; When the mobile contact wire is in the first storage area, the mobile contact wire is adjusted to a locked state.

5. The crane operation control method according to claim 4, characterized in that, If the crane is not in the second storage area, then planning a movement route and controlling the crane to move along the movement route to the second storage area includes: If the crane is not in the second storage area, then the positions of the crane and the mobile contact wire are detected; Plan the movement route based on the positions of the crane and the mobile overhead contact line; Control the crane to move along the moving route to the second storage area.

6. The crane operation control method according to claim 5, characterized in that, If the crane is not in the second storage area, the detection of the position of the crane and the mobile contact network includes: If the crane is not in the second storage area, a second image is obtained by taking a picture through a pre-set second camera. The range of the second camera covers the first storage area, the second storage area, the working area, and the area where the crane and the mobile contact wire move. The preset anomaly handling model is invoked to identify the crane and the mobile overhead contact line in the second image; Calculate the world coordinates of the crane and the mobile overhead contact line to obtain their positions.

7. The crane operation control method according to claim 4, wherein the rail transit operation system further includes an isolating switch, a mobile contact network power supply switch, a grounding cabinet, a pantograph, and a platform control switch, characterized in that, If the crane is in the second storage area, the mobile contact wire is adjusted to the unlocked state, and the mobile contact wire is controlled to move to the first storage area, including: If the crane is in the second storage area, the state of the mobile contact network is determined according to a preset rule. The preset rule is that if the isolating switch is open, the mobile contact network power supply switch is open, the grounding cabinet is grounded, the pantograph is lowered, and the platform control switch is open, the mobile contact network is determined to be in an unlocked state; otherwise, the mobile contact network is determined to be in a locked state. When the mobile contact network is in the locked state, the control isolating switch, the mobile contact network power supply switch, the grounding cabinet, the pantograph or the platform control switch are operated to adjust the mobile contact network to the unlocked state; When the mobile contact network is in the unlocked state, control the mobile contact network to move to the first storage area.

8. The crane operation control method according to claim 7, characterized in that, When the mobile contact network is in a locked state, the control switches for isolating disconnectors, mobile contact network power supply, grounding cabinet, pantograph, or platform control are operated to adjust the mobile contact network to an unlocked state, including: When the mobile contact network is in a locked state, it is detected whether the isolating switch is closed; if so, the isolating switch is opened. Check whether the mobile contact network power supply switch is off. If it is not off, disconnect the mobile contact network power supply switch. Check if the grounding cabinet is grounded; if not, ground the grounding cabinet. The system detects whether the pantograph has been lowered; if not, it controls the pantograph to be lowered. The system detects whether the platform control switch is off. If it is not off, it sends a command to the management terminal to disconnect the platform control switch. When the platform control switch receives a disconnect feedback message, it is determined that the mobile contact network is in an unlocked state.

9. The crane operation control method according to claim 1, wherein the rail transit operation system further includes a crane power control box, characterized in that, If so, the crane is adjusted to the unlocked state, and the crane is controlled to move from the second storage area to above the work area to perform the task, including: If the mobile contact wire is in the first storage area, then the crane power control box is activated to connect the power supply to the crane; The crane is controlled to move from the second storage area to directly above the work area to perform the task.

10. The crane operation control method according to any one of claims 7-8, characterized in that, After the task is completed, the crane is controlled to return to the second storage area and the crane is locked, the method further includes: Adjust the mobile contact wire to the unlocked state, and control the mobile contact wire to move from the first storage area to the working area; Adjust the movable contact wire to the locked state so that the movable contact wire can supply power to the tram.

11. The crane operation control method according to claim 10, characterized in that, Adjusting the movable overhead contact line to a locked state so that it can supply power to the trolley includes: Connect the isolating switch and the mobile contact network power supply switch, disconnect the grounding cabinet from the ground, and control the pantograph to raise, so that the mobile contact network can supply power to the tram.

12. A crane operation control device, characterized in that, Applied to a rail transit operation system, the rail transit operation system including a mobile overhead contact line and a crane, the crane operation control device includes: The detection module is used to detect whether the mobile contact network is in the first storage area when a target instruction is received, wherein the target instruction is to operate the crane to repair the trolley in the work area; The first adjustment control module is used to, if not, adjust the mobile contact wire to the unlocked state, control the mobile contact wire to move to the first storage area, and then adjust the mobile contact wire to the locked state; The second adjustment control module is used to adjust the crane to the unlocked state if the condition is met, and control the crane to move from the second storage area to above the working area to perform the task. The control setting module is used to control the crane to return to the second storage area and set the crane to a locked state when the task is completed; The detection module is specifically used for: when receiving a target instruction, taking a picture of the first storage area using a preset first camera to obtain a first image; calling a preset image recognition model to identify whether a mobile contact wire exists in the first image; if it exists, determining that the mobile contact wire is in the first storage area; if it does not exist, determining that the mobile contact wire is not in the first storage area.

13. A crane operation control device, characterized in that, The crane operation control device includes a memory and at least one processor, wherein the memory stores instructions; The at least one processor invokes the instructions in the memory to cause the crane operation control device to execute the crane operation control method as described in any one of claims 1-11.

14. A computer-readable storage medium storing instructions thereon, characterized in that, When the instructions are executed by the processor, they implement the crane operation control method as described in any one of claims 1-11.

Images