Bridge crane and its travel control method and travel control device

Abstract

The present application relates to a bridge crane and a travel control method and a travel control device thereof. When the crane body is in the travel mode, the current position images of the two tracks are obtained, and the marking elements in the current position images of the two tracks are identified; by comparing the current offset difference between the positions of the marking elements on the two tracks, the synchronization of the crane body on the two tracks can be judged, so after adjusting the travel speed of the two travel drive mechanisms that drive the crane body to travel according to the travel distance difference, return to execute the step of obtaining the current position images of the two tracks until the crane body walks in place. The above method and device can ensure that the speed of the crane body walking on different tracks is matched, avoid walking too fast or too slow on one side of the track, reduce the internal force unevenness of the crane body, and thus ensure the stability of the entire crane body structure and the safety of the crane body walking during walking.

Description

Technical Field

[0001] The present application relates to the field of travel control technology, and in particular to a bridge crane and a travel control method and a travel control device thereof. Background Art

[0002] In the field of bridge crane travel control, existing travel control methods, such as patent CN114108478B, which discloses a steel box girder combined bridge crane anchor system and travel method, mainly rely on simple mechanical operation steps, specifically, first lift the bridge crane bracket, and use the travel push cylinder to push the bridge crane bracket forward to slide; when walking to the lifting operation position, check the track anchoring status, and then adjust the bridge crane bracket. The entire walking operation process does not involve precise control of walking. In addition, patent CN117800231A discloses a multifunctional intelligent bridge crane and control method. Although it provides a more detailed walking operation step and controls it through the pressure and stroke sensor data of the walking cylinder, this method still faces challenges in achieving the synchronous walking of the crane body on different guide rails.

[0003] Large bridge cranes usually have at least two parallel guide rails, and their movement depends on the positioning of the ratchet by the slots on the guide rails. Due to processing errors, installation accuracy, and possible front-to-back misalignment of the guide rails after movement, it is difficult to keep the slots on different guide rails aligned, which makes the synchronous movement of the crane body on different guide rails complicated. It is difficult to simply collect data from the walking cylinders to achieve synchronous control of the crane body on different guide rails. When the crane body moves out of sync on different guide rails, it will cause the crane body to be pulled on different guide rails, which will not only affect the stability of the entire crane body structure and the safety of the crane body's movement, but may also cause the crane body to get stuck.

[0004] With the rapid development of image analysis technology, its application in many fields is becoming more and more extensive. For example, in the field of bridge construction, image recognition technology has gradually been applied to construction safety monitoring, stability assessment, precision control, and structural lifting and assembly. For example, patent CN114753256B discloses a machine vision-based steel beam lifting monitoring system and method, which collects and analyzes target information through industrial cameras, realizes precise control of bridge cranes, and provides technical support for the precise splicing of beam sections.

[0005] In view of the potential of image analysis technology in improving the accuracy and safety of bridge construction, it has become a trend to apply it to the field of bridge crane travel control to solve the limitations of existing technologies. The present invention aims to provide a bridge crane travel control system integrating image analysis technology to improve the synchronization and accuracy of the bridge crane during travel. Summary of the invention

[0006] Based on this, it is necessary to provide a bridge crane and its travel control method and travel control device that can improve the structural reliability and safety of the crane body when it travels synchronously on at least two guide rails to address the problems encountered during the travel of the above-mentioned bridge crane.

[0007] A travel control method for a bridge crane, the travel control method comprising:

[0008] Step S1: When the bridge crane is in the crane body walking mode, the current position images of the two tracks are simultaneously acquired;

[0009] Step S2: identifying the marking elements in the current position images of the two tracks respectively;

[0010] Step S3: comparing the current offset difference between the positions of the marking elements in the two current position images to determine the difference in the travel distances of the two travel drive mechanisms;

[0011] Step S4: After adjusting the travel speeds of the two travel drive mechanisms that drive the crane body to travel according to the travel distance difference, return to execute step S1 until the crane body travels to the right position.

[0012] In one embodiment, the method further comprises:

[0013] When the crane body is located at the initial position of the track, initial position images of the two tracks are acquired respectively;

[0014] Respectively identifying the marker elements in the initial position images of the two tracks, and comparing the initial offset differences between the positions of the marker elements in the two initial position images;

[0015] After the current offset difference is calibrated with the initial offset difference, the travel distance difference of the two travel drive mechanisms is determined.

[0016] In one embodiment, the step of obtaining the initial position image of the track further includes:

[0017] The fitting outer contour of the track is obtained by fitting according to the initial position image and the preset walking direction of the crane body;

[0018] The step of comparing the current offset difference between the positions of the marking elements in the two current position images further includes:

[0019] When the current offset difference is greater than or equal to the preset difference, executing step S4;

[0020] When the current offset difference is less than a preset difference, processing the current position image and drawing the outer contour of the current position of the track;

[0021] Superimpose and compare the outer contour of the current position with the fitted outer contour to analyze the degree of deflection of the track relative to the crane body;

[0022] If the deflection degree is greater than or equal to the preset degree, the travel speeds of the two travel drive mechanisms are adjusted according to the deflection degree until the deflection degree is less than the preset degree.

[0023] In one embodiment, the step of superimposing and comparing the outer contour of the current position with the fitted outer contour to analyze the degree of deflection of the track relative to the crane body includes:

[0024] Using image transformation to align the image of the outer contour of the current position with the image of the fitted outer contour;

[0025] The difference metric between the outer contour at the current position and the fitted outer contour is analyzed, and the difference metric is quantified as: ;in, is the pixel value of the fitted outer contour image at point (x, y), is the pixel value of the outer contour image at the current position at point (x, y); M and N are the number of rows and columns of the image;

[0026] Analysis of the current walking speed of the two walking drive mechanisms is: , where f is the image acquisition frequency, k is the adjustment coefficient, and p is the image resolution; the coordinates of the markers to be counted in the current position image collected are (x2, y2), and the coordinates of the markers to be counted in the first n images collected are (x1, y1);

[0027] If the deflection degree is greater than or equal to a preset degree, the walking speeds of the two walking drive mechanisms are adjusted according to the deflection degree until the deflection degree is less than the preset degree, including:

[0028] like ≥ , the quantified difference measurement is used as a feedback signal to adjust the current walking speed V of the two walking drive mechanisms; is the preset degree value;

[0029] Return to the step of obtaining the current position image of the two tracks and obtain the quantized current difference metric ;

[0030] Based on the current difference measure , adjust the current walking speed V of the two walking drive mechanisms until < , adjust the current walking speed V of the two walking drive mechanisms to be consistent.

[0031] In one embodiment, the method according to the current difference metric , adjust the current walking speed V of the two walking drive mechanisms, including:

[0032] The current stepping states of the two travel drive mechanisms are judged respectively, and when one of the travel drive mechanisms is in the ready state, the travel drive mechanism in the forward state stops and waits until all the travel drive mechanisms enter the forward state; wherein the stepping state includes the ready state and the forward state;

[0033] Based on the current difference measure , adjust the current walking speed V of the corresponding one of the walking drive mechanisms to increase and / or adjust the current walking speed V of another of the walking drive mechanisms to decrease.

[0034] A travel control device for a bridge crane, the travel control device comprising an image acquisition module, a mark recognition module, a comparison module and a travel control module, the image acquisition module being used to acquire current position images of two tracks; the mark recognition module being used to respectively recognize the mark elements in the current position images of the two tracks; the comparison module being used to compare the current offset difference between the positions of the mark elements in the two current position images to determine the travel distance difference of two travel drive mechanisms; the travel control module being used to adjust the travel speeds of the two travel drive mechanisms that drive the crane body to travel according to the travel distance difference until the crane body travels into position.

[0035] A bridge crane, comprising a crane body, at least two tracks, two travel drive mechanisms, two image acquisition devices and the travel control device as described above, wherein the tracks are arranged in parallel and at intervals below the crane body; one end of the two travel drive mechanisms is movably arranged on the two tracks, and the other end is rotatably connected to the crane body, and the travel drive mechanisms are used to drive the tracks and the crane body to move relative to each other; the two image acquisition devices are respectively mounted on the crane body, and the two image acquisition devices are respectively positioned opposite to the two tracks, and the two image acquisition devices are respectively used to acquire images of the two tracks; the two travel drive mechanisms and the two image acquisition devices are both electrically connected to the travel control device, and the image acquisition device is used to transmit the acquired track images to the travel control device, and the travel control device is used to control the driving speeds of the two travel drive mechanisms according to the images acquired by the image acquisition devices.

[0036] In one of the embodiments, a plurality of slots arranged at intervals are provided on the track along the length direction of the track; the travel drive mechanism includes a travel drive member, a reversing ratchet block, a sliding bracket and a reversing drive unit, one end of the travel drive member is rotatably connected to the sliding bracket, and the other end is rotatably connected to the crane body; the reversing ratchet block is rotatably arranged on the sliding bracket, and the reversing ratchet block can be inserted into the slot; the reversing drive unit is arranged on the sliding bracket, and the reversing drive unit is used to control the reversing ratchet block to switch between forward rotation and reverse rotation, so as to realize the switching of the travel drive mechanism between the track travel mode and the crane body travel mode.

[0037] In one of the embodiments, the sliding bracket is provided with a first socket and a second socket spaced apart from the first socket, and when the reversing ratchet block is inserted into the slot, the reversing ratchet block is located between the first socket and the second socket; the reversing drive unit includes a first latch, a second latch, a reversing power source and a linkage member, the first latch pair is located in the first socket, the second latch pair is located in the second socket, the first latch and the second latch are both connected to the linkage member, and the reversing power source is used to drive the linkage member to move back and forth to drive the first latch to be inserted in the first socket and the second latch to be inserted in the second socket alternately; when the first latch can be inserted on one side of the reversing ratchet block, the reversing ratchet block can be limited to rotate in the direction of the first latch, and when the second latch can be inserted on the other side of the reversing ratchet block, the reversing ratchet block can be limited to rotate in the direction of the second latch.

[0038] In one embodiment, the linkage member includes an active cam, a linkage body and two connecting parts, the first latch and the second latch are both located below the linkage body, one end of the first latch facing away from the second latch and one end of the second latch facing away from the first latch are respectively connected to opposite ends of the linkage body through the two connecting parts, a sliding groove is formed on the sliding bracket, the linkage body is arranged in the sliding groove and can move in the sliding groove along the axial direction of the first latch and the second latch; an active cavity is formed in the linkage body, the active cam is arranged in the active cavity, and the reversing power source is used to drive the active cam to rotate in the active cavity to push the linkage body to slide in the sliding groove.

[0039] The above-mentioned bridge crane and its travel control method and travel control device, when the bridge crane is in the crane body travel mode, simultaneously obtain the current position images of the two tracks; respectively identify the marking elements in the current position images of the two tracks; compare the current offset difference between the positions of the marking elements in the two current position images to determine the travel distance difference of the two travel drive mechanisms; by comparing the positions of the marking elements on the two tracks, it is possible to judge the synchronization of the crane body on the two tracks, and therefore after adjusting the travel speed of the two travel drive mechanisms driving the crane body to travel according to the travel distance difference, return to execute the step of obtaining the current position images of the two tracks until the crane body travels in place. The above-mentioned method can ensure that the speed of the crane body walking on different tracks matches, avoid walking too fast or too slow on one side of the track, reduce the situation of uneven internal force on the crane body, and thus ensure the stability of the entire crane body structure and the safety of the crane body walking during walking. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application.

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0042] In addition, the drawings are not drawn to a 1:1 scale, and the relative sizes of the various elements are drawn only as examples in the drawings and are not necessarily drawn according to the true scale.

[0043] Figure 1 It is a side view of a bridge crane in one embodiment.

[0044] Figure 2 for Figure 1 Front view of the bridge crane shown.

[0045] Figure 3 for Figure 1 A partial side view of the travel drive mechanism and track.

[0046] Figure 4 for Figure 3 A partial top view of the track in .

[0047] Figure 5 for Figure 3 The travel drive mechanism in the figure omits the side view of the travel drive parts.

[0048] Figure 6 for Figure 5 The front view of the travel drive mechanism is shown.

[0049] Figure 7 for Figure 6 A top view of the linkage member, the first latch and the second latch when inserted into the first socket.

[0050] Figure 8 for Figure 6 A top view of the linkage member, the first latch and the second latch when inserted into the second socket.

[0051] Fig. 9 It is a flow chart of a travel control method of a bridge crane in one embodiment.

[0052] Fig.10 It is a structural block diagram of a travel control device of a bridge crane in one embodiment.

[0053] Description of reference numerals:

[0054] Bridge crane 1; crane body 10; track 20; slot 210; travel drive mechanism 30; travel drive member 301; reversing assembly 302; reversing ratchet block 310; sliding bracket 320; first socket 321; second socket 322; sliding slot 323; reversing drive unit 330; first latch 331; second latch 332; reversing power source 333; linkage member 334; movable cam 3341; linkage body 3342; movable cavity 3343; connecting part 3344; travel control device 40; image acquisition module 410; mark recognition module 420; comparison module 430; travel control module 440; sliding mechanism 50; image acquisition device 70; outrigger mechanism 80; rear anchoring mechanism 90. DETAILED DESCRIPTION

[0055] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0056] See also Figure 1 and Figure 2 The bridge crane 1 in one embodiment of the present application can at least improve the reliability and safety of the bridge crane 1 during the traveling process. Specifically, the bridge crane 1 includes a crane body 10, a track 20, a traveling drive mechanism 30 and a traveling control device 40 (such as Fig. 9As shown). The track 20 is arranged below the crane body 10, one end of the travel drive mechanism 30 is movably arranged on the track 20, and the other end is rotatably connected to the crane body 10, and the travel drive mechanism 30 is used to drive the track 20 and the crane body 10 to move relative to each other. The travel drive mechanism 30 is electrically connected to the travel control device 40, and the travel control device 40 is used to control the driving speed of the travel drive mechanism 30.

[0057] See also Figures 1 to 3 In one embodiment, the travel drive mechanism 30 includes a travel drive member 301 and a reversing assembly 302. One end of the travel drive member 301 is rotatably connected to the reversing assembly 302, and the other end is rotatably connected to the crane body 10. The reversing assembly 302 can switch between the track travel mode and the crane body travel mode. Specifically, the bridge deck crane 1 also includes a sliding mechanism 50, which is rotatably arranged at the bottom of the crane body 10, and the sliding mechanism 50 is slidably connected to the track 20. The other end of the travel drive member 301 is rotatably connected to the front sliding mechanism 50.

[0058] The crane body 10 is slidably connected to the track 20 through the sliding mechanism 50, and the reversing assembly 302 is controlled to switch to the track travel mode, and the travel drive 301 drives the track 20 to move along the forward direction until the track 20 moves into place. Then the reversing assembly 302 is controlled to switch to the crane body travel mode, and the travel drive 301 drives the crane body 10 to move on the track 20, ensuring that the crane body 10 can effectively move along the forward direction until the crane body 10 moves into place.

[0059] See also Figure 4 In one embodiment, along the length direction of the track 20, a plurality of slots 210 are provided on the track 20 at intervals. Specifically, along the length direction of the track 20, the plurality of slots 210 on the track 20 are arranged at equal intervals.

[0060] In one embodiment, the reversing assembly 302 includes a reversing ratchet block 310, a sliding bracket 320 and a reversing drive unit 330. One end of the travel drive member 301 is rotatably connected to the sliding bracket 320. The reversing ratchet block 310 is rotatably disposed on the sliding bracket 320. The reversing ratchet block 310 can be inserted into the card slot 210. The reversing drive unit 330 is disposed on the sliding bracket 320. The reversing drive unit 330 is used to control the reversing ratchet block 310 to switch between forward rotation and reverse rotation, so as to realize the switching of the travel drive mechanism 30 between the track travel mode and the crane body travel mode.

[0061] See also Figures 5 to 8In this embodiment, the sliding bracket 320 is provided with a first insertion hole 321 and a second insertion hole 322 spaced apart from the first insertion hole 321. When the reversing ratchet block 310 is inserted into the card slot 210, the reversing ratchet block 310 is located between the first insertion hole 321 and the second insertion hole 322. Figure 5 As shown, when the reversing ratchet block 310 can rotate toward the direction of the first socket 321, the travel drive mechanism 30 is in the crane body travel mode; when the reversing ratchet block 310 can rotate toward the direction of the second socket 322, the travel drive mechanism 30 is in the track travel mode.

[0062] Specifically, the reversing drive unit 330 includes a first latch 331, a second latch 332, a reversing power source 333 and a linkage 334. The first latch 331 is located opposite to the first plug hole 321, the second latch 332 is located opposite to the second plug hole 322, the first latch 331 and the second latch 332 are both connected to the linkage 334, and the reversing power source 333 is used to drive the linkage 334 to move back and forth, so as to drive the first latch 331 to be inserted into the first plug hole 321 and the second latch 332 to be inserted into the second plug hole 322 alternately. When the first latch 331 can be inserted into one side of the reversing ratchet block 310, the reversing ratchet block 310 can be restricted from rotating in the direction of the first latch 331; when the second latch 332 can be inserted into the other side of the reversing ratchet block 310, the reversing ratchet block 310 can be restricted from rotating in the direction of the second latch 332.

[0063] The first plug 331 and the second plug 332 can be moved synchronously by the reversing power source 333 and the linkage member 334, so that the first plug 331 is inserted into the first plug hole 321 and the second plug 332 is inserted into the second plug hole 322 alternately at the same time. Figure 5 As shown, when the first pin 331 is inserted into the first plug hole 321, the reversing ratchet block 310 is restricted to rotate counterclockwise, and the travel drive mechanism 30 is in the track travel mode; when the second pin 332 is inserted into the second plug hole 322, the reversing ratchet block 310 is restricted to rotate clockwise, and the travel drive mechanism 30 is in the crane body travel mode. Through the cooperation of the reversing power source 333 and the linkage 334, the automatic switching of the travel mode is realized, avoiding manual operation switching.

[0064] like Figure 7 and Figure 8As shown, further, one end of the first latch 331 facing away from the second latch 332 and one end of the second latch 332 facing away from the first latch 331 are both connected to the linkage 334. Among them, the reversing power source 333 and the linkage 334 are both located above the first latch 331 and the second latch 332. Since it is necessary to control the first latch 331 to be inserted into the first plug hole 321 or the second latch 332 to be inserted into the second plug hole 322 at different times, the sliding bracket 320 is to be slidably arranged on the track 20, and thus the space of the sliding bracket 320 in the horizontal direction is limited. If the size of the sliding bracket 320 is increased in the horizontal direction, it may cause the sliding bracket 320 to be subjected to unbalanced force on the track 20, affecting the stability of the sliding. Therefore, the reversing power source 333 and the linkage 334 are arranged above the first latch 331 and the second latch 332, so as to avoid increasing the lateral size of the sliding bracket 320, and make the structure of the reversing assembly 302 more compact.

[0065] In one embodiment, the linkage member 334 includes a movable cam 3341 and a linkage body 3342, the first latch 331 and the second latch 332 are respectively connected to the linkage body 3342; an active cavity 3343 is formed in the linkage body 3342, the movable cam 3341 is arranged in the active cavity 3343, and the reversing power source 333 is used to drive the movable cam 3341 to rotate in the active cavity 3343 to push the linkage body 3342 to slide along the axis direction of the first latch 331 and the second latch 332 on the sliding bracket 320. When the movable cam 3341 is driven to rotate by the reversing power source 333, the sliding bracket 320 is used to limit the rotation of the linkage body 3342, so that the linkage body 3342 can only slide along the axis direction of the first latch 331 and the second latch 332 under the action of the movable cam 3341, so as to achieve the purpose of inserting the first latch 331 into the first plug hole 321 or the second latch 332 into the second plug hole 322. By providing the movable cam 3341 and the linkage body 3342, the first plug 331 can be inserted into the first plug hole 321 or the second plug 332 can be inserted into the second plug hole 322 alternately by only driving the movable cam 3341 to rotate in one direction, and the driving process is convenient and reliable.

[0066] Specifically, a sliding groove 323 is formed on the sliding bracket 320, and the linkage body 3342 is disposed in the sliding groove 323 and can move in the sliding groove 323 along the axis direction of the first latch 331 and the second latch 332. By providing the sliding groove 323, the movable direction of the linkage body 3342 can be more stably limited, ensuring that the first latch 331 can be more stably inserted into the first plug hole 321 or the second latch 332 can be more stably inserted into the second plug hole 322.

[0067] Specifically, the linkage member 334 further includes two connecting parts 3344. The first latch 331 and the second latch 332 are both located below the linkage body 3342. One end of the first latch 331 facing away from the second latch 332 and one end of the second latch 332 facing away from the first latch 331 are respectively connected to opposite ends of the linkage body 3342 through the two connecting parts 3344. The connecting parts 3344 facilitate the connection between the first latch 331 and the second latch 332 and the linkage body 3342, and at the same time, facilitate the arrangement of the first latch 331 and the second latch 332 below the linkage body 3342, thereby improving the compactness of the structure and avoiding affecting the walking stability.

[0068] See also Figure 1 and Figure 2 In one embodiment, the number of the tracks 20 is at least two, and each track 20 is arranged in parallel and spaced relationship below the crane body 10; the number of the travel drive mechanisms 30 is two, and the two travel drive mechanisms 30 are movably arranged on the two tracks 20 respectively. The bridge deck crane 1 also includes two image acquisition devices 70, which are respectively mounted on the crane body 10, and the two image acquisition devices 70 are respectively located on the two tracks 20, and the two image acquisition devices 70 are respectively used to acquire images of the two tracks 20; the two image acquisition devices 70 are both electrically connected to the travel control device 40, and the image acquisition devices 70 are used to transmit the acquired images of the tracks 20 to the travel control device 40, and the travel control device 40 is used to control the driving speed of the two travel drive mechanisms 30 according to the images acquired by the image acquisition devices 70.

[0069] During the movement of the crane body 10, since the crane body 10 needs to move synchronously on at least two tracks 20, at least two travel drive mechanisms 30 need to be driven synchronously. During the movement, two image acquisition devices 70 are used to simultaneously obtain the current position images of the two tracks 20; the marking elements in the current position images of the two tracks 20 are respectively identified; the current offset difference between the positions of the marking elements in the two current position images is compared to determine the travel distance difference of the two travel drive mechanisms 30; by comparing the positions of the marking elements on the two tracks 20, the synchronization of the crane body 10 on the two tracks 20 can be determined, so after adjusting the travel speed of the two travel drive mechanisms 30 that drive the crane body 10 to move according to the travel distance difference, return to the step of obtaining the current position images of the two tracks 20 until the crane body 10 moves in place. The above-mentioned bridge crane 1 can ensure that the speed of the crane body 10 walking on different tracks 20 is matched, avoid walking too fast or too slow on one side of the track 20, reduce the internal force unevenness of the crane body 10, and thus ensure the stability of the entire crane body 10 structure and the safety of the crane body 10 walking during the walking process.

[0070] In this embodiment, there are two tracks 20. In other embodiments, the number of tracks 20 may be three, four, or other numbers, and the two image acquisition devices 70 may only acquire images of two of the tracks 20.

[0071] In one embodiment, the bridge crane 1 further includes a leg mechanism 80, which is telescopically arranged at the bottom of the crane body 10. When the track 20 needs to be moved, the leg mechanism 80 can be driven to prop up the crane body 10 to prevent the gravity of the crane body 10 from being applied to the track 20 through the sliding mechanism 50, thereby affecting the movement of the track 20. Specifically, the number of the leg mechanisms 80 is at least two, wherein the two leg mechanisms 80 are respectively located on the outside of the two tracks 20. By using at least two leg mechanisms 80, the reliability of supporting the crane body 10 can be improved.

[0072] In one embodiment, the bridge crane 1 further includes a rear anchoring mechanism 90, which is arranged at the bottom of the crane body 10 and behind the sliding mechanism 50, and is used to anchor on the bridge deck. The rear anchoring mechanism 90 can improve the reliability of the crane body 10 on the bridge deck.

[0073] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances. If an element is referred to as being "fixed to", "connected to" or "set on" another element, it can be directly on the other element or there can be a central element.

[0074] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "on" or "under" a second feature, etc., it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium.

[0075] See also Figure 1 , Figure 3 , Figure 5 , Figure 7 and Fig. 9 The present application also discloses a travel control method for a bridge crane 1, and the travel control method is applied to the bridge crane 1 in the above embodiment. Specifically, the travel control method includes:

[0076] Control the bridge crane 1 to switch to the track travel mode. Specifically, control the reversing power source 333 to drive the movable cam 3341 to rotate, thereby pushing the linkage body 3342 to move to drive the first latch 331 to withdraw from the first socket 321, while allowing the second latch 332 to be inserted into the first socket 321, and the travel drive mechanism 30 switches to the track travel mode.

[0077] Furthermore, the crane body 10 is controlled to be supported on the bridge deck. The crane body 10 is propped up by the leg mechanism 80 to prevent the gravity of the crane body 10 from being applied to the track 20, so as to facilitate the control of the travel drive mechanism 30 to drive the track 20 to move along the forward direction a. Since the track 20 is now in a state of no positive pressure or less positive pressure, the travel drive member 301 of the travel drive mechanism 30 can more easily drive the track 20 forward.

[0078] The travel drive mechanism 30 is controlled to drive the track 20 to move relative to the crane body 10. Specifically, the travel drive member drives the reversing assembly 302 to continuously extend and retract, thereby continuously driving the track 20 to move step by step in the track travel mode.

[0079] It is determined whether the track 20 is moved to the position; if so, the movement of the travel drive mechanism 30 is stopped, and the crane body 10 is controlled to be placed on the track 20. Specifically, the leg mechanism 80 is controlled to lower the crane body 10 to the track 20 so as to facilitate the subsequent driving of the crane body 10 to move on the track 20.

[0080] See also Figure 1 , Figure 3 , Figure 5 , Figure 8 and Fig. 9 In one embodiment, the bridge crane 1 is controlled to switch to the crane body walking mode. Specifically, after the control reversing assembly 302 is switched to the crane body walking mode, the travel drive member 301 is controlled to drive the crane body 10 to move on the track 20. In this embodiment, the reversing power source 333 is continued to be controlled to drive the movable cam 3341 to rotate, thereby pushing the linkage body 3342 to move in the opposite direction to drive the first pin 331 to insert into the first plug hole 321, so that the second pin 332 is withdrawn from the first plug hole 321, and the travel drive mechanism 30 is switched to the crane body walking mode.

[0081] In this embodiment, the walking control method further includes:

[0082] When the crane body 10 is located at the initial position of the track 20, initial position images of the two tracks 20 are acquired respectively;

[0083] The marking elements in the initial position images of the two tracks 20 are respectively identified, and the initial offset differences between the positions of the marking elements in the two initial position images are compared.

[0084] In this embodiment, on each track 20, a plurality of marking points are arranged at intervals along the length direction of the track 20, and each marking point is arranged at equal intervals, and the marking points form a marking element. In other embodiments, the marking points can also be omitted, and a plurality of slots 210210 arranged at intervals and at equal intervals are provided on the track 20. Therefore, the position of the slot 210210 can be identified as a marking element, and there is no need to set a separate marking point on the track 20. Setting the marking point can reduce the difficulty of image processing, and directly identifying the slot 210210 as a marking element can avoid adding a process for setting the marking point.

[0085] Step S1: When the bridge crane 1 is in the crane body walking mode, the current position images of the two tracks 20 are simultaneously acquired. Specifically, the current position images of the two tracks 20 are acquired by two image acquisition devices 70, so as to control the operation of the walking drive mechanism 30 by analyzing the images later.

[0086] Step S2: Identify the marking elements in the current position images of the two tracks 20 respectively.

[0087] Step S3: comparing the current offset difference between the positions of the marking elements in the two current position images to determine the travel distance difference of the two travel drive mechanisms 30 .

[0088] In this embodiment, the current offset difference is calibrated with the initial offset difference to determine the travel distance difference of the two travel drive mechanisms 30. By identifying the marking elements in the initial position image of the track 20 at the initial position, an initial reference can be provided for the marking elements in the current position image of the track 20 obtained during walking, thereby facilitating the calibration of the marking elements in the subsequently identified images and improving the accuracy of determining the travel distance difference of the two travel drive mechanisms 30.

[0089] In this embodiment, the walking method further includes:

[0090] Determining whether the current offset difference is greater than or equal to a preset difference;

[0091] Step S4: If yes, then adjust the travel speeds of the two travel drive mechanisms 30 that drive the crane body 10 to travel according to the travel distance difference, and then return to step S1 until the crane body 10 moves to the right position.

[0092] When the crane body 10 is driven to move on two tracks 20 by two travel drive mechanisms 30, when the driving speed of the travel drive mechanism 30 on one track 20 is greater than or less than that of the travel drive mechanism 30 on the other track 20, or the two travel drive mechanisms 30 are not in step with each other, then the forward position of the crane body 10 on the two tracks 20 will be inconsistent, and the current offset difference of the marking elements on the two tracks 20 finally identified will be greater than or equal to the preset difference. At this time, it is necessary to increase or decrease the driving speed of one of the travel drive mechanisms 30 according to the size of the current offset difference and the positive and negative of the current offset difference, so as to make the forward position of the crane body 10 on the two tracks 20 consistent, and ensure the stability of the structure of the crane body 10 and the safety of the crane body 10 during its movement.

[0093] In this embodiment, the initial position image of the track 20 is obtained, and then the following steps are further included:

[0094] Step S5: fitting the outer contour of the track 20 according to the initial position image and the preset walking direction of the crane body 10. The fitting outer contour of the track 20 obtained by fitting can provide a reference comparison for the track 20 image obtained after the crane body 10 actually walks on the track 20, so as to facilitate the judgment of whether walking deflection or offset occurs during the actual walking.

[0095] Specifically, the method for fitting the outer contour includes:

[0096] After grayscale processing is performed on the initial position image, Gaussian filtering is used to reduce noise on the initial position image. Grayscale processing can reduce the amount of image data to be processed, which helps to simplify subsequent image processing steps. By applying a Gaussian filter for noise reduction, the image can be smoothed and random noise in the image can be reduced, while retaining the edge information of the image as much as possible.

[0097] The denoised initial position image after Gaussian filtering is binarized to simplify the image so that the image contains only two colors with extremely high contrast, which is convenient for subsequent recognition and processing to obtain the contour image of the track 20.

[0098] The connected contour function is used to draw the track 20 contours in the initial position image to form the initial position contour; for example, the findContours function is used to draw the track 20 contours in the initial position image to form the initial position contour. Through the algorithm for finding contours, the connected areas in the image can be identified, and the contours of these areas can be returned to draw the track 20 contours.

[0099] In the preset walking direction of the crane body 10 , a straight line fitting method is used along the initial position contour to obtain the fitting outer contour of the track 20 .

[0100] Step S6: When the current offset difference is less than the preset difference, the current position image is processed and the current position outer contour of the track 20 is drawn. In this embodiment, the current position image can be processed in the same manner as the initial position image to draw the current position outer contour of the track 20.

[0101] Step S7: superimpose and compare the outer contour of the current position with the fitted outer contour to analyze the degree of deflection of the track 20 relative to the crane body 10. By analyzing the degree of deflection of the track 20 relative to the crane body 10, it is possible to further determine whether the crane body 10 is offset while walking on the track 20.

[0102] Specifically, the method for superimposing and comparing the outer contour of the current position with the fitted outer contour includes:

[0103] The image of the outer contour of the current position is aligned with the image of the fitted outer contour using an image transformation. For example, the outer contour of the current position is aligned with the fitted outer contour using an affine transformation. Affine transformation can adjust the size, direction, rotation, etc. of the image to ensure the consistency of the two contours in space. Aligning the images facilitates subsequent comparison and analysis.

[0104] The difference between the current position outer contour and the fitted outer contour is analyzed as follows:

[0105] ,in, is the pixel value of the fitted outer contour image at point (x, y), is the pixel value of the outer contour image at the current position at point (x, y); M and N are the number of rows and columns of the image. MSE calculates the average of the squares of the difference between the fitted outer contour image and the outer contour image at the current position at each pixel. This metric can reflect the degree of visual difference between the two images.

[0106] The difference metric is quantified as: This quantization makes the difference measure unaffected by image brightness and contrast, and enables comparison between different images. The quantized value ranges from 0 to 1, where 0 means that the two images are exactly the same and 1 means that they are completely different.

[0107] The current walking speeds of the two walking drive mechanisms 30 are analyzed as follows: , where f is the image acquisition frequency, k is the adjustment coefficient, and p is the image resolution; the coordinates of the markers in the current position image collected are (x2, y2), and the coordinates of the markers in the first n images collected are (x1, y1). In this embodiment, n can be 1, and the current walking speed of the walking drive mechanism 30 can be determined by using the coordinates of the markers in the two adjacent images collected. Of course, n can be other values, and the current walking speed of the walking drive mechanism 30 can be determined by using the coordinates of the markers in the current position image and other position images collected. The walking speeds of the two walking drive mechanisms 30 can be analyzed by using their respective collected images to analyze their respective current walking speeds, so that they can be adjusted separately later.

[0108] Step S8: If the deflection degree is greater than or equal to the preset degree, the walking speeds of the two walking drive mechanisms 30 are adjusted according to the deflection degree until the deflection degree is less than the preset degree.

[0109] Specifically, if ≥ , the quantified difference measurement is used as a feedback signal to adjust the current walking speed V of the two walking drive mechanisms 30; is the preset degree value;

[0110] Return to the step of obtaining the current position images of the two tracks 20 to obtain the quantized current difference measure ;

[0111] Based on the current difference measure , adjust the current travel speed V of the two travel drive mechanisms 30 until < , adjust the current walking speeds V of the two walking drive mechanisms 30 to be consistent.

[0112] The quantified difference measurement is used as a feedback signal to control and adjust the travel speed of the two travel drive mechanisms 30. This closed-loop control system ensures that the system can make adaptive adjustments based on the current image differences through real-time monitoring and adjustment to achieve more precise alignment and control.

[0113] In this embodiment, the current difference metric , adjusting the current walking speed V of the two walking drive mechanisms 30, including:

[0114] The current stepping states of the two travel drive mechanisms 30 are respectively determined. When one of the travel drive mechanisms 30 is in the ready state, the travel drive mechanism 30 in the forward state stops and waits until all the travel drive mechanisms 30 enter the forward state; wherein the stepping state includes the ready state and the forward state;

[0115] Based on the current difference measure , adjust the current walking speed V of the corresponding one of the walking drive mechanisms 30 to increase and / or adjust the current walking speed V of another of the walking drive mechanisms 30 to decrease.

[0116] The travel drive mechanism 30 in the present application is a step-by-step drive mode. Taking the driving of the crane body for example, the travel drive member is a hydraulic drive member, and the hydraulic drive member includes two states, namely, the extension and retraction of the hydraulic rod. When the hydraulic rod is extended, the reversing component 302 is driven to move in the direction away from the sliding mechanism, and then the slot 210 on the guide rail can be used to drive the crane body to move in the direction away from the reversing component 302. At this time, the travel drive mechanism 30 is in a forward state. In this state, if another travel drive mechanism 30 is in a ready state, that is, when the hydraulic rod is retracted, the reversing component 302 moves in the direction close to the sliding mechanism, and the crane body will not walk on the track 20, then the deviation of the crane body may be aggravated, and the walking may be out of sync. Therefore, when each travel drive mechanism 30 is in the same state, adjusting its walking speed is conducive to synchronous adjustment and control.

[0117] In this embodiment, when the current offset difference is less than the preset difference, it is judged from the dimension of the forward direction that the crane body 10 is walking in a relatively balanced manner at this time. Therefore, it is necessary to further judge whether the deflection degree is greater than the preset degree. If the deflection degree is still greater than the preset degree, it proves that the crane body 10 is still unbalanced during walking, and then it is necessary to adjust one of the walking drive mechanisms 30 or synchronously adjust the two walking drive mechanisms 30 according to the deflection degree and the direction of the deflection to increase or decrease the walking drive speed.

[0118] In this embodiment, the walking control method further includes:

[0119] The PID controller is used to respectively control the travel speeds of the two travel drive mechanisms 30. The travel drive speed of the travel drive mechanism 30 can be accurately adjusted by the PID controller, and the PID controller can quickly respond to system deviations and adjust inputs in a timely manner.

[0120] In the above-mentioned travel control method, when it is determined that the track 20 has moved into position, the crane body 10 is controlled to be placed on the track 20; after the reversing component 302 is controlled to switch to the crane travel mode, the travel drive 301 is controlled to drive the crane body 10 to move on the track 20. When the bridge crane 1 is in the crane body travel mode, the current position images of the two tracks 20 are obtained at the same time; the marking elements in the current position images of the two tracks 20 are respectively identified; the current offset difference between the positions of the marking elements in the two current position images is compared to determine the travel distance difference of the two travel drive mechanisms 30; by comparing the positions of the marking elements on the two tracks 20, the synchronization of the crane body 10 on the two tracks 20 can be determined, so after adjusting the travel speed of the two travel drive mechanisms 30 that drive the crane body 10 to travel according to the travel distance difference, the step of obtaining the current position images of the two tracks 20 is returned to execute until the crane body 10 moves into position. The above method can ensure that the speed of the crane body 10 walking on different tracks 20 is matched, avoid walking too fast or too slow on one side of the track 20, reduce the internal force unevenness of the crane body 10, and thus ensure the stability of the entire crane body 10 structure and the safety of the crane body 10 walking during the walking process.

[0121] At the same time, the above-mentioned walking control method can effectively realize the automatic control of the walking process of the bridge crane 1, improve the displacement efficiency and accuracy of the bridge crane 1, reduce the participation and operation of construction personnel, and improve the safety of the bridge crane 1 during the displacement process.

[0122] Unless otherwise specified herein, the execution order of the steps of the walking control method described above is not strictly limited, and the steps may be executed in other orders. Moreover, at least a part of the steps described above may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but may be executed at different times. The execution order of these steps or stages is not necessarily sequential, but may be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0123] In one embodiment, Figure 6As shown, a travel control device 40 of a bridge crane 1 is provided, and the travel control device 40 includes: an image acquisition module 410, a mark recognition module 420, a comparison module 430 and a travel control module 440. The image acquisition module 410 is used to acquire the current position images of the two tracks 20; the mark recognition module 420 is used to respectively identify the mark elements in the current position images of the two tracks 20; the comparison module 430 is used to compare the current offset difference between the positions of the mark elements in the two current position images to determine the travel distance difference of the two travel drive mechanisms 30; the travel control module 440 is used to adjust the travel speed of the two travel drive mechanisms 30 that drive the crane body 10 to travel according to the travel distance difference until the crane body 10 walks to the position.

[0124] For the specific definition of the walking control device 40, please refer to the definition of the walking control method above, which will not be repeated here. Each module in the walking control device 40 can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0125] In one embodiment, a computer device is provided, which may be a terminal. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected through a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, an operator network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a walking control method is implemented. The display screen of the computer device may be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device may be a touch layer covered on the display screen, or a key, a trackball or a touchpad provided on the housing of the computer device, or an external keyboard, touchpad or mouse, etc.

[0126] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0127] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0128] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0129] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0130] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A travel control method for a bridge crane, characterized in that: The walking control method comprises: When the crane body is located at the initial position of the track, initial position images of the two tracks are acquired respectively; The fitting outer contour of the track is obtained by fitting according to the initial position image and the preset walking direction of the crane body; Respectively identifying the marker elements in the initial position images of the two tracks, and comparing the initial offset differences between the positions of the marker elements in the two initial position images; Step S1: When the bridge crane is in the crane body walking mode, the current position images of the two tracks are simultaneously acquired; Step S2: identifying the marking elements in the current position images of the two tracks respectively; Step S3: comparing the current offset difference between the positions of the marking elements in the two current position images, and calibrating the current offset difference with the initial offset difference to determine the travel distance difference of the two travel drive mechanisms; When the current offset difference is greater than or equal to the preset difference, step S4 is executed: after adjusting the walking speeds of the two walking drive mechanisms driving the crane body to walk according to the walking distance difference, the step S1 is returned to be executed until the crane body walks into place; When the current offset difference is less than a preset difference, processing the current position image and drawing the outer contour of the current position of the track; Superimpose and compare the outer contour of the current position with the fitted outer contour to analyze the degree of deflection of the track relative to the crane body; If the deflection degree is greater than or equal to the preset degree, the travel speeds of the two travel drive mechanisms are adjusted according to the deflection degree until the deflection degree is less than the preset degree.

2. The walking control method according to claim 1, characterized in that: The step of superimposing and comparing the outer contour of the current position with the fitted outer contour and analyzing the degree of deflection of the track relative to the crane body includes: Using image transformation to align the image of the current position outer contour with the image of the fitted outer contour; The difference metric between the outer contour at the current position and the fitted outer contour is analyzed, and the difference metric is quantified as: Among them, I f (x, y) is the pixel value of the fitted contour image at point (x, y), I c (x, y) is the pixel value of the outer contour image at the current position at point (x, y); M and N are the number of rows and columns of the image; Analysis of the current walking speed of the two walking drive mechanisms is: Where, f is the image acquisition frequency, k is the adjustment coefficient, and p is the image resolution; the coordinates of the markers to be counted in the current position image collected are (x2, y2), and the coordinates of the markers to be counted in the first n images collected are (x1, y1); If the deflection degree is greater than or equal to a preset degree, the walking speeds of the two walking drive mechanisms are adjusted according to the deflection degree until the deflection degree is less than the preset degree, including: If N MSE ≥N 预 , the quantified difference measurement is used as a feedback signal to adjust the current walking speed V of the two walking drive mechanisms; where N 预 is the preset degree value; Return to the step of obtaining the current position images of the two tracks and obtain the quantized current difference metric N MSE ; According to the current difference metric N MSE , adjust the current walking speed V of the two walking drive mechanisms until N MSE <N 预 , adjust the current walking speed V of the two walking drive mechanisms to be consistent.

3. The walking control method according to claim 2, characterized in that: According to the current difference metric N MSE , adjust the current walking speed V of the two walking drive mechanisms, including: The current stepping states of the two travel drive mechanisms are judged respectively, and when one of the travel drive mechanisms is in the ready state, the travel drive mechanism in the forward state stops and waits until all the travel drive mechanisms enter the forward state; wherein the stepping state includes the ready state and the forward state; According to the current difference metric N MSE , adjust the current walking speed V of the corresponding one of the walking drive mechanisms to increase and / or adjust the current walking speed V of another of the walking drive mechanisms to decrease.

4. A travel control device for a bridge crane, characterized in that: The walking control device comprises: An initial image acquisition module, used to acquire initial position images of the two tracks respectively when the crane body is located at the initial position of the track; An initial contour fitting module is used to fit the outer contour of the track according to the initial position image and the preset walking direction of the crane body; The initial offset determination module is used to identify the marker elements in the initial position images of the two tracks respectively, and compare the initial offset difference between the positions of the marker elements in the two initial position images. An image acquisition module, used to simultaneously acquire current position images of two tracks when the bridge crane is in the crane body walking mode; A marker recognition module, used to respectively recognize marker elements in the current position images of the two tracks; A comparison module, used for comparing the current offset difference between the positions of the marking elements in the two current position images, and determining the travel distance difference of the two travel drive mechanisms after calibrating the current offset difference with the initial offset difference; A walking control module, used for adjusting the walking speeds of two walking drive mechanisms driving the crane body to walk according to the walking distance difference when the current offset difference is greater than or equal to a preset difference, until the crane body walks into position; A current contour fitting module, used for processing the current position image and drawing the current position outer contour of the track when the current offset difference is less than a preset difference; A contour comparison module, used for superimposing and comparing the outer contour of the current position with the fitted outer contour, and analyzing the degree of deflection of the track relative to the crane body; The deflection control module is used to adjust the walking speeds of the two walking drive mechanisms according to the deflection degree if the deflection degree is greater than or equal to the preset degree, until the deflection degree is less than the preset degree.

5. A bridge crane, characterized in that: The bridge crane comprises: Crane body; At least two tracks, each of which is arranged in parallel and at intervals below the crane body; Two travel drive mechanisms, one end of each of the two travel drive mechanisms is movably disposed on the two tracks, and the other end of each of the two travel drive mechanisms is rotatably connected to the crane body, and the travel drive mechanisms are used to drive the tracks and the crane body to move relative to each other; Two image acquisition devices, the two image acquisition devices are respectively mounted on the crane body, and the two image acquisition devices are respectively located opposite to the two tracks, and the two image acquisition devices are respectively used to acquire images of the two tracks; and According to the walking control device as described in claim 4, the two walking drive mechanisms and the two image acquisition devices are electrically connected to the walking control device, the image acquisition device is used to transmit the acquired track image to the walking control device, and the walking control device is used to control the driving speed of the two walking drive mechanisms according to the images acquired by the image acquisition device.

6. The bridge crane according to claim 5, characterized in that: A plurality of slots arranged at intervals are provided on the track along the length direction of the track; the travel drive mechanism comprises a travel drive member, a reversing ratchet block, a sliding bracket and a reversing drive unit, one end of the travel drive member is rotatably connected to the sliding bracket, and the other end is rotatably connected to the crane body; the reversing ratchet block is rotatably arranged on the sliding bracket, and the reversing ratchet block can be inserted into the slot; the reversing drive unit is arranged on the sliding bracket, and the reversing drive unit is used to control the reversing ratchet block to switch between forward rotation and reverse rotation, so as to realize the switching of the travel drive mechanism between the track travel mode and the crane body travel mode.

7. The bridge crane according to claim 6, characterized in that: The sliding bracket is provided with a first insertion hole and a second insertion hole arranged at an interval with the first insertion hole, and when the reversing ratchet block is inserted in the card slot, the reversing ratchet block is located between the first insertion hole and the second insertion hole; the reversing drive unit includes a first pin, a second pin, a reversing power source and a linkage member, the first pin pair is located in the first insertion hole, the second pin pair is located in the second insertion hole, the first pin and the second pin are both connected to the linkage member, and the reversing power source is used to drive the linkage member to move back and forth to drive the first pin to be inserted in the first insertion hole and the second pin to be inserted in the second insertion hole alternately; when the first pin can be inserted on one side of the reversing ratchet block, the reversing ratchet block is restricted from rotating in the direction of the first pin, and when the second pin can be inserted on the other side of the reversing ratchet block, the reversing ratchet block is restricted from rotating in the direction of the second pin.

8. The bridge crane according to claim 7, characterized in that: The linkage member includes an active cam, a linkage body and two connecting parts, the first latch and the second latch are both located below the linkage body, one end of the first latch facing away from the second latch and one end of the second latch facing away from the first latch are respectively connected to opposite ends of the linkage body through the two connecting parts, a sliding groove is formed on the sliding bracket, the linkage body is arranged in the sliding groove and can move in the sliding groove along the axial direction of the first latch and the second latch; an active cavity is formed in the linkage body, the active cam is arranged in the active cavity, and the reversing power source is used to drive the active cam to rotate in the active cavity to push the linkage body to slide in the sliding groove.

Images