Bridge crane and operation protection method thereof

Abstract

The invention discloses a bridge crane and an operation protection method thereof. The bridge crane comprises a bearing rail beam, a cart moving mechanism and a trolley moving mechanism, the detection assembly is used for detecting first real-time position data of the cart moving mechanism and second real-time position data of the trolley moving mechanism; the protection assembly is used for outputting a first protection signal and a second protection signal when the cart moving mechanism and the trolley moving mechanism move to the forbidden area; the controller is used for determining a first distance between the trolley moving mechanism and the forbidden area based on the first real-time position data, determining a second distance between the trolley moving mechanism and the forbidden area based on the second real-time position data, and determining the forbidden area based on the relationship between the first distance and the second distance and a preset safety distance; and controlling the cart moving mechanism and the trolley moving mechanism to run at a limited speed, and controlling the cart moving mechanism and the trolley moving mechanism to stop running based on the first protection signal and the second protection signal. Therefore, double protection can be performed on the bridge crane.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical equipment, and in particular to a bridge crane and an operation protection method thereof. Background Art

[0002] Bridge crane is a kind of lifting equipment used for handling, loading and unloading and transporting heavy objects. In modern industrial production, bridge cranes are widely used in various occasions, such as steel mills, ports, mines, etc. With the development of automation technology, the control of bridge cranes has gradually developed from manual control to automatic control.

[0003] In the related art, a position encoder is installed on a bridge crane to control the bridge crane. However, since the bridge crane is a special equipment, during operation, there are various working areas on the ground where the bridge crane is prohibited from entering to avoid collisions and other problems. The use of position encoders is prone to positioning deviations due to wheel slippage and encoder cumulative errors, which makes it easy for the bridge crane to enter the prohibited area, thereby affecting the safety of the bridge crane. Summary of the invention

[0004] The present invention aims to solve one of the technical problems in the related art at least to a certain extent. To this end, the first object of the present invention is to provide a bridge crane, which can provide double protection for the bridge crane and improve the safety of operation.

[0005] The second object of the present invention is to provide an operation protection method for a bridge crane.

[0006] To achieve the above-mentioned purpose, a first embodiment of the present invention proposes a bridge crane, comprising: a track-bearing beam, a trolley moving mechanism and a trolley moving mechanism, the trolley moving mechanism being movably arranged on the track-bearing beam along a first direction, and the trolley moving mechanism being movably arranged on the trolley moving mechanism along a second direction; a detection component, the detection component being used to detect first real-time position data of the trolley moving mechanism on the track-bearing beam and second real-time position data of the trolley moving mechanism on the trolley moving mechanism; a protection component, the protection component being used to output a first protection signal when the trolley moving mechanism moves to a prohibited area and output a second protection signal when the trolley moving mechanism moves to the prohibited area domain; a controller, the controller is connected to the large vehicle moving mechanism, the trolley moving mechanism, the detection component and the protection component respectively, and is used to determine a first distance between the trolley moving mechanism and the prohibited area in a first direction based on the first real-time position data, and determine a second distance between the trolley moving mechanism and the prohibited area in a second direction based on the second real-time position data, and control the large vehicle moving mechanism and the trolley moving mechanism to operate at a limited speed based on a relationship between the first distance and the second distance and a preset safety distance, and control the large vehicle moving mechanism and the trolley moving mechanism to stop operating based on the first protection signal and the second protection signal.

[0007] According to the bridge crane of the embodiment of the present invention, the detection component detects the first real-time position data of the trolley moving mechanism on the track beam and the second real-time position data of the trolley moving mechanism on the trolley moving mechanism, and the protection component outputs the first protection signal when the trolley moving mechanism moves to the prohibited area and outputs the second protection signal when the trolley moving mechanism moves to the prohibited area, and the controller determines the first distance between the trolley moving mechanism and the prohibited area in the first direction based on the first real-time position data, and determines the second distance between the trolley moving mechanism and the prohibited area in the second direction based on the second real-time position data, and based on the relationship between the first distance and the second distance and the preset safety distance, the trolley moving mechanism and the trolley moving mechanism are controlled to operate at a limited speed, and the trolley moving mechanism and the trolley moving mechanism are controlled to stop operating based on the first protection signal and the second protection signal, thereby providing double protection for the bridge crane and improving the safety of operation.

[0008] In some embodiments, the detection component includes: a first position detection component, fixedly mounted on the large vehicle moving mechanism, for detecting first real-time position data; a second position detection component, fixedly mounted on the small vehicle moving mechanism, for detecting second real-time position data.

[0009] In some embodiments, the protection component includes: a first protection component, which is arranged on the cart moving mechanism and the track supporting beam, and is used to output a first protection signal when the cart moving mechanism moves to a prohibited area; a second protection component, which is arranged on the cart moving mechanism and the trolley moving mechanism, and is used to output a second protection signal when the trolley moving mechanism moves to a prohibited area.

[0010] In some embodiments, the first protection component includes a first protection detection component and a first protection structure, the first protection structure is fixed to the track supporting beam, the first protection detection component is fixed to the trolley moving mechanism and is used to detect the first protection structure, and outputs a first protection signal when the first protection structure is detected; the second protection component includes a second protection detection component and a second protection structure, the second protection structure is fixed to the trolley moving mechanism, the second protection detection component is fixed to the trolley moving mechanism and is used to detect the second protection structure, and outputs a second protection signal when the second protection structure is detected; wherein, the first protection structure and the second protection structure define a prohibited area.

[0011] In some embodiments, the bridge crane also includes: a correction component, which is used to output a first position correction signal when the trolley moving mechanism moves to a first correction position and to output a second position correction signal when the trolley moving mechanism moves to a second correction position; the controller is also connected to the correction component, and is used to correct the first real-time position data based on the first position correction signal and the first correction position and to correct the second real-time position data based on the second position correction signal and the second correction position.

[0012] In some embodiments, the correction component includes: a first correction component, which is arranged on the cart moving mechanism and the track supporting beam, and is used to output a first position correction signal when the cart moving mechanism moves to a first correction position; a second correction component, which is arranged on the cart moving mechanism and the trolley moving mechanism, and is used to output a second position correction signal when the trolley moving mechanism moves to a second correction position.

[0013] In some embodiments, the first correction component includes a first correction detection component and a first position correction structure, the first position correction structure is fixed to the track beam, the first correction detection component is fixed to the trolley moving mechanism and is used to detect the first position correction structure, and outputs a first position correction signal when the first position correction structure is detected; the second correction component includes a second correction detection component and a second position correction structure, the second position correction structure is fixed to the trolley moving mechanism, the second correction detection component is fixed to the trolley moving mechanism and is used to detect the second position correction structure, and outputs a second position correction signal when the second position correction structure is detected; wherein, the first position correction structure corresponds to the first correction position setting, and the second position correction structure corresponds to the second correction position setting.

[0014] To achieve the above-mentioned purpose, a second embodiment of the present invention proposes an operation protection method for a bridge crane, which is applied to the aforementioned bridge crane, and the method includes: obtaining first real-time position data of a trolley moving mechanism on the track beam and second real-time position data of a trolley moving mechanism on the trolley moving mechanism; determining a first distance between the trolley moving mechanism and a prohibited area in a first direction based on the first real-time position data, and determining a second distance between the trolley moving mechanism and the prohibited area in a second direction based on the second real-time position data; based on the relationship between the first distance and the second distance and a preset safety distance, controlling the trolley moving mechanism and the trolley moving mechanism to operate at a limited speed, and controlling the trolley moving mechanism and the trolley moving mechanism to stop operating based on the first protection signal and the second protection signal.

[0015] According to the operation protection method of the embodiment of the present invention, the first real-time position data of the trolley moving mechanism on the track beam and the second real-time position data of the trolley moving mechanism on the trolley moving mechanism are obtained, and the first distance between the trolley moving mechanism and the prohibited area in the first direction is determined based on the first real-time position data, and the second distance between the trolley moving mechanism and the prohibited area in the second direction is determined based on the second real-time position data. Based on the relationship between the first distance and the second distance and the preset safety distance, the trolley moving mechanism and the trolley moving mechanism are controlled to operate at limited speed, and based on the first protection signal and the second protection signal, the trolley moving mechanism and the trolley moving mechanism are controlled to stop operating. In this way, the bridge crane can be doubly protected to improve the safety of operation.

[0016] In some embodiments, based on the relationship between the first distance, the second distance and the preset safety distance, the large vehicle moving mechanism and the trolley moving mechanism are controlled to operate at limited speed, including: when the first distance is less than the first safety distance and greater than the second safety distance, the large vehicle moving mechanism is controlled to slow down based on the first distance, and when the first distance is less than or equal to the second safety distance, the large vehicle moving mechanism is controlled to stop running; when the second distance is less than the first safety distance and greater than the second safety distance, the trolley moving mechanism is controlled to slow down based on the second distance, and when the second distance is less than or equal to the second safety distance, the trolley moving mechanism is controlled to stop running; wherein the second safety distance is less than the first safety distance.

[0017] In some embodiments, the method further includes: correcting the first real-time position data based on the first position correction signal and the first corrected position and correcting the second real-time position data based on the second position correction signal and the second corrected position.

[0018] In some embodiments, correcting the first real-time position data based on the first position correction signal and the first correction position and correcting the second real-time position data based on the second position correction signal and the second correction position include: recording the first real-time position data as the first correction data based on the first position correction signal, and updating the first real-time position data based on the first correction data, the first real-time position data and the first correction position; recording the second real-time position data as the second correction data based on the second position correction signal, and updating the second real-time position data based on the second correction data, the second real-time position data and the second correction position.

[0019] In some embodiments, updating the first real-time position data based on the first correction data, the first real-time position data and the first correction position includes: obtaining the difference between the first real-time position data and the first correction data to obtain a first value; updating the first real-time position data based on the first value and the first correction position; updating the second real-time position data based on the second correction data, the second real-time position data and the second correction position includes: obtaining the difference between the second real-time position data and the second correction data to obtain a second value; updating the second real-time position data based on the second value and the second correction position.

[0020] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a top view of a bridge crane according to one embodiment of the present invention;

[0022] Figure 2 for Figure 1 A first partial front view of the bridge crane shown;

[0023] Figure 3 for Figure 1 a second partial front view of the bridge crane shown;

[0024] Figure 4 for Figure 1 A side view of the bridge crane shown;

[0025] Figure 5 The present invention is a flowchart of an operation protection method for a bridge crane according to one embodiment of the present invention. DETAILED DESCRIPTION

[0026] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0027] The following describes a bridge crane and an operation protection method thereof provided in an embodiment of the present invention with reference to the accompanying drawings.

[0028] Reference Figure 1-Figure 4 The bridge crane 1 includes: a track-bearing beam 5, a trolley moving mechanism 2, a trolley moving mechanism 4, a detection component (not shown), a protection component (not numbered) and a controller (not shown). The trolley moving mechanism 2 is movably disposed on the track-bearing beam 5 along a first direction, and the trolley moving mechanism 4 is movably disposed on the trolley moving mechanism 2 along a second direction. The detection component is used to detect the first real-time position data of the trolley moving mechanism 2 on the track-bearing beam 5 and the second real-time position data of the trolley moving mechanism 4 on the trolley moving mechanism 2. The protection component is used to output a first protection signal when the trolley moving mechanism 2 moves to a prohibited area 15 and to output a second protection signal when the trolley moving mechanism 4 moves to a prohibited area 15. The controller is connected to the large vehicle moving mechanism 2, the trolley moving mechanism 4, the detection component and the protection component respectively, and is used to determine the first distance between the trolley moving mechanism 4 and the prohibited area 15 in the first direction based on the first real-time position data, and determine the second distance between the trolley moving mechanism 4 and the prohibited area 15 in the second direction based on the second real-time position data, and control the large vehicle moving mechanism 2 and the trolley moving mechanism 4 to operate at a limited speed based on the relationship between the first distance and the second distance and the preset safety distance, and control the large vehicle moving mechanism 2 and the trolley moving mechanism 4 to stop operating based on the first protection signal and the second protection signal.

[0029] Specifically, there is a certain angle between the first direction and the second direction, for example, the first direction and the second direction are perpendicular. When the large vehicle moving mechanism 2 moves along the first direction, the detection component detects the real-time position data of the large vehicle moving mechanism 2 in real time, which is recorded as the first real-time position data, and transmits the first real-time position data to the controller. At the same time, the protection component detects whether the large vehicle moving mechanism 2 moves to the prohibited area 15 in the first direction, and when it is detected that the large vehicle moving mechanism 2 moves to the prohibited area 15 in the first direction, it outputs a protection signal, which is recorded as the first protection signal, and transmits it to the controller.

[0030] When the trolley moving mechanism 4 moves along the second direction, the detection component detects the real-time position data of the trolley moving mechanism 4 in real time, recorded as the second real-time position data, and transmits the second real-time position data to the controller. At the same time, the protection component detects whether the trolley moving mechanism 4 moves to the prohibited area 15 in the second direction, and when it detects that the large vehicle moving mechanism 2 moves to the prohibited area 15 in the second direction, it outputs a protection signal, recorded as the second protection signal, and transmits it to the controller.

[0031] The controller calculates the distance between the trolley moving mechanism 4 and the prohibited area 15 in the first direction based on the first real-time position data, recorded as the first distance, and calculates the distance between the trolley moving mechanism 4 and the prohibited area 15 in the second direction based on the second real-time position data, recorded as the second distance, and according to the first distance, the second distance and the preset safety distance, the trolley moving mechanism 2 and the trolley moving mechanism 4 are operated at limited speeds. For example, when the first distance approaches the preset safety distance, the trolley moving mechanism 2 is controlled to stop running, and when the second distance approaches the preset safety distance, the trolley moving mechanism 4 is controlled to stop running, so as to prevent the trolley moving mechanism 4 from entering the prohibited area 15, thereby realizing the first layer of protection for the bridge crane. However, when there is a deviation between the first real-time position data and the second real-time position data, the trolley moving mechanism 4 may mistakenly enter the restricted area 15. At this time, the controller will receive the first protection signal and the second protection signal. Based on the first protection signal and the second protection signal, the controller can determine that the trolley moving mechanism 4 has entered the restricted area 15. The controller controls the trolley moving mechanism 2 and the trolley moving mechanism 4 to stop running, thereby realizing the second layer of protection for the bridge crane.

[0032] In the above embodiment, the trolley moving mechanism and the car moving mechanism are controlled based on the real-time position data detected by the detection component, so as to realize the first layer of protection for the bridge crane. The trolley moving mechanism and the car moving mechanism are controlled based on the protection signal detected by the protection component, so as to realize the second layer of protection for the bridge crane. Thus, the bridge crane can be doubly protected to improve the safety of operation.

[0033] In some embodiments, the detection component includes: a first position detection component and a second position detection component (neither shown in the figure), the first position detection component is fixedly mounted on the large vehicle moving mechanism 2, and is used to detect the first real-time position data; the second position detection component is fixedly mounted on the small vehicle moving mechanism 4, and is used to detect the second real-time position data.

[0034] Specifically, the first position detection component and the second position detection component can be position encoders, which detect the real-time positions of the large vehicle moving mechanism 2 and the small vehicle moving mechanism 4 in real time and obtain corresponding real-time position data, so as to control the large vehicle moving mechanism 2 and the small vehicle moving mechanism 4 according to the real-time position data.

[0035] In this way, the real-time position data of the trolley moving mechanism and the car moving mechanism can be obtained through position detection components such as position encoders, so as to provide the first level of protection for the bridge crane based on the real-time position data.

[0036] In some embodiments, the protection component includes: a first protection component and a second protection component. The first protection component is arranged on the cart moving mechanism 2 and the track supporting beam 5, and is used to output a first protection signal when the cart moving mechanism 2 moves to the restricted area 15; the second protection component is arranged on the cart moving mechanism 2 and the trolley moving mechanism 4, and is used to output a second protection signal when the trolley moving mechanism 4 moves to the restricted area 15.

[0037] Specifically, a first protection component may be arranged between the trolley moving mechanism 2 and the track-bearing beam 5, and the first protection component is used to detect whether the trolley moving mechanism 2 has moved to the prohibited area 15, and a first protection signal is output when the trolley moving mechanism 2 moves to the prohibited area 15; a second protection component may be arranged between the trolley moving mechanism 2 and the car moving mechanism 4, and the second protection component is used to detect whether the car moving mechanism 4 has moved to the prohibited area 15, and a second protection signal is output when the trolley moving mechanism 4 moves to the prohibited area 15.

[0038] In this way, the protection component outputs corresponding protection signals when the trolley moving mechanism and the trolley moving mechanism enter the prohibited area. Regardless of whether the current real-time position data is accurate, the trolley moving mechanism and the trolley moving mechanism can be controlled to stop running in time, thereby realizing the second layer of protection for the bridge crane.

[0039] In some embodiments, the first protection component includes a first protection detection component 11 and a first protection structure 13, the first protection structure 13 is fixedly mounted on the track supporting beam 5, the first protection detection component 11 is fixedly mounted on the trolley moving mechanism 2 and is used to detect the first protection structure 13, and outputs a first protection signal when the first protection structure 13 is detected; the second protection component includes a second protection detection component 12 and a second protection structure 14, the second protection structure 14 is fixedly mounted on the trolley moving mechanism 2, the second protection detection component 12 is fixedly mounted on the trolley moving mechanism 4 and is used to detect the second protection structure 14, and outputs a second protection signal when the second protection structure 14 is detected; wherein, the first protection structure 13 and the second protection structure 14 define a prohibited area 15.

[0040] Specifically, the first protective detection member 11 and the second protective detection member 12 may be protective switches, and the first protective structure 13 and the second protective structure 14 may be protective switch detection bars, whose lengths are consistent with their corresponding detection ranges. The detection ranges corresponding to the first protective structure 13 and the second protective structure 14 jointly define the prohibited area 15. It should be noted that the specific types and structures of the first protective detection member 11, the second protective detection member 12, the first protective structure 13 and the second protective structure 14 are not limited. For example, the sensing principle of the first protective detection member 11 and the second protective detection member 12 can be a mechanical trigger, such as a push-type switch, or it can be a variety of methods such as Hall electromagnetic induction, which are not specifically limited here.

[0041] When the trolley moving mechanism 2 moves along the first direction, the first protection detection member 11 will move along the first direction with the trolley moving mechanism 2. During the movement, when the first protection detection member 11 enters the detection range of the first protection structure 13, the first protection detection member 11 will output a first protection signal, which means that the trolley moving mechanism 2 enters the forbidden area 15 in the first direction. Since the trolley moving mechanism 4 is located on the trolley moving mechanism 2, the corresponding trolley moving mechanism 4 enters the forbidden area 15 in the first direction. When the trolley moving mechanism 4 moves along the second direction, the second protection detection member 12 will move along the second direction with the trolley moving mechanism 4. During the movement, when the second protection detection member 12 enters the detection range of the second protection structure 14, the second protection detection member 12 will output a second protection signal, which means that the trolley moving mechanism 4 enters the forbidden area 15 in the second direction. When the trolley moving mechanism 4 enters the forbidden area 15 in both the first direction and the second direction, there is a safety risk. At this time, the trolley moving mechanism 4 and the trolley moving mechanism 2 can be controlled to stop moving.

[0042] In this way, by setting up protective detection parts and protective structures, a second layer of protection can be provided for the bridge crane.

[0043] In some embodiments, the bridge crane 1 also includes: a correction component, which is used to output a first position correction signal when the trolley moving mechanism 2 moves to a first correction position and to output a second position correction signal when the trolley moving mechanism 4 moves to a second correction position; the controller is also connected to the correction component, which is used to correct the first real-time position data based on the first position correction signal and the first correction position and to correct the second real-time position data based on the second position correction signal and the second correction position.

[0044] Specifically, a first correction position can be set on the track beam 5. When the trolley moving mechanism 2 moves to the first correction position, the correction component outputs a corresponding position correction signal, recorded as the first position correction signal, and outputs it to the controller; at the same time, a second correction position is set on the trolley moving mechanism 2. When the trolley moving mechanism 4 moves to the second correction position, the correction component outputs a corresponding position correction signal, recorded as the second position correction signal, and outputs it to the controller.

[0045] When the controller receives the first position correction signal, it corrects the first real-time position data according to the first correction position, and when it receives the second position correction signal, it corrects the second real-time position data according to the second correction position. Since the first correction position and the second correction position are fixed positions, when the first real-time position data and the second real-time position data are corrected based on the first correction position and the second correction position, the accuracy of the first real-time position data and the second real-time position data can be improved, thereby improving the accuracy of the bridge crane control and improving the effectiveness of the first layer of protection.

[0046] In some embodiments, the correction component includes: a first correction component and a second correction component, the first correction component is arranged on the cart moving mechanism 2 and the track supporting beam 5, and is used to output a first position correction signal when the cart moving mechanism 2 moves to a first correction position; the second correction component is arranged on the cart moving mechanism 2 and the trolley moving mechanism 4, and is used to output a second position correction signal when the trolley moving mechanism 4 moves to a second correction position.

[0047] Specifically, a first correction component may be arranged between the trolley moving mechanism 2 and the track-supporting beam 5, and the first correction component is used to detect whether the trolley moving mechanism 2 has moved to the first correction position, and a first position correction signal is output when the trolley moving mechanism 2 moves to the first correction position; a second correction component may be arranged between the trolley moving mechanism 2 and the car moving mechanism 4, and the second correction component is used to detect whether the car moving mechanism 4 has moved to the second correction position, and a second position correction signal is output when it moves to the second correction position.

[0048] In this way, when the trolley moving mechanism and the car moving mechanism move to the corresponding correction position, the correction component outputs the corresponding position correction signal, so as to correct the real-time position data based on the correction position, so as to improve the accuracy of the real-time position data, thereby improving the accuracy of the control of the bridge crane and improving the effectiveness of the first layer of protection.

[0049] In some embodiments, the first correction component includes a first correction detection component 16 and a first position correction structure 18, the first position correction structure 18 is fixed to the track beam 5, the first correction detection component 16 is fixed to the trolley moving mechanism 2 and is used to detect the first position correction structure 18, and outputs a first position correction signal when the first position correction structure 18 is detected; the second correction component includes a second correction detection component 17 and a second position correction structure 19, the second position correction structure 19 is fixed to the trolley moving mechanism 2, the second correction detection component 17 is fixed to the trolley moving mechanism 4 and is used to detect the second position correction structure 19, and outputs a second position correction signal when the second position correction structure 19 is detected; wherein, the first position correction structure 18 corresponds to the first correction position setting, and the second position correction structure 19 corresponds to the second correction position setting.

[0050] Specifically, the first correction detection member 16 and the second correction detection member 17 can be position proximity switches, the first position correction structure 18 and the second position correction structure 19 can be position correction blocks, and the specific types and structures of the first correction detection member 16, the second correction detection member 17, the first position correction structure 18 and the second position correction structure 19 are not limited.

[0051] During the movement of the trolley moving mechanism 2 and the trolley moving mechanism 4 in the corresponding directions, the real-time position data of the trolley moving mechanism 2 and the trolley moving mechanism 4 will be obtained in real time through position detection components such as position encoders, so as to control the speed of the trolley moving mechanism 2 and the trolley moving mechanism 4. However, due to the cumulative error of the position detection components such as position encoders, the obtained real-time position data is inaccurate, so a first correction detection component 16 and a first position correction structure 18 can be set corresponding to the trolley moving mechanism 2, and the position of the trolley moving mechanism 2 can be corrected in the process of moving in the first direction through the first correction detection component 16 and the first position correction structure 18, so as to obtain accurate real-time position data of the trolley moving mechanism 2; at the same time, a second correction detection component 17 and a second position correction structure 19 are set corresponding to the trolley moving mechanism 4, and the position of the trolley moving mechanism 4 can be corrected in the process of moving in the second direction through the second correction detection component 17 and the second position correction structure 19, so as to obtain accurate real-time position data of the trolley moving mechanism 4.

[0052] Exemplarily, during the movement of the cart moving mechanism 2 along the first direction, when the first correction detection component 16 contacts (including direct contact and indirect contact) the first position correction structure 18, the first correction detection component 16 will output a first position correction signal. At this time, the controller can correct the real-time position data of the cart moving mechanism 2 based on the first correction position corresponding to the first position correction structure 18, such as adjusting the current real-time position data of the cart moving mechanism 2 to the first correction position corresponding to the first position correction structure 18, and in the subsequent sliding process, update the real-time position data of the cart moving mechanism 2 based on the first correction position. Similarly, during the movement of the trolley moving mechanism 4 along the second direction, when the second correction detection component 17 contacts (including direct contact and indirect contact) the second position correction structure 19, the second correction detection component 17 will output a second position correction signal. At this time, the controller can correct the real-time position data of the trolley moving mechanism 4 based on the second correction position corresponding to the second position correction structure 19, such as adjusting the current real-time position data of the trolley moving mechanism 4 to the second correction position corresponding to the second position correction structure 19, and in the subsequent sliding process, update the real-time position data of the trolley moving mechanism 4 based on the second correction position.

[0053] In this embodiment, by providing a correction detection member and a position correction structure, the real-time position data of the large vehicle moving mechanism and the small vehicle moving mechanism can be corrected, thereby improving the accuracy of real-time position data acquisition.

[0054] In some embodiments, reference Figure 1 , the first protection detection member 11 and the first correction detection member 16 are respectively located on opposite sides of the trolley moving mechanism 2; the second protection detection member 12 and the second correction detection member 17 are respectively located on opposite sides of the trolley moving mechanism 4. In this way, the protection detection member and the correction detection member can use the same type of switch, the position correction structure can use a very short protection switch detection strip, and will not cause mutual influence during the detection process, avoiding the problem of false triggering, thereby improving the reliability of the bridge crane.

[0055] In some embodiments, continue to refer to Figure 1-Figure 4 , a frame track 6 is provided on the track-supporting beam 5, the trolley moving mechanism 2 is movably provided on the frame track 6 along the first direction, and the first protective structure 13 and the first position correction structure 18 are provided on the track-supporting beam 5; the trolley moving mechanism 2 includes a main beam 7 and an end beam 9 connected to the main beam 7, a track 8 is provided on the main beam 7, the trolley moving mechanism 4 is movably provided on the track 8 along the second direction, the second protective structure 14 and the second position correction structure 19 are provided on the main beam 7, the first protective detection member 11 and the first correction detection member 16 are provided on the end beam 9; the trolley moving mechanism 4 includes an end portion (unnumbered), and the second protective detection member 12 and the second correction detection member 17 are provided at the end portion.

[0056] Furthermore, the trolley moving mechanism 2 further includes a first motor 20, which drives the trolley moving mechanism 2 to move along the frame rail 6 on the rail beam 5, that is, to move along the first direction. The number of the first motor 20 can be one or more, such as Figure 1 As shown, the first motors 20 include two, which are respectively located on the opposite sides of the trolley moving mechanism 2.

[0057] The trolley moving mechanism 4 also includes a second motor 10, which drives the trolley moving mechanism 4 to move along the track 8 on the main beam 7, that is, to move along the second direction. The number of the second motor 10 can be one or more, such as Figure 1 As shown, the second motor 10 includes two motors, which are respectively located at two opposite ends of the trolley moving mechanism 4. The trolley moving mechanism 4 is also provided with a lifting device 3, through which the lifting device 3 drives the object to be moved along the third direction.

[0058] In some embodiments, reference Figure 5 , the operation protection methods of bridge cranes may include:

[0059] S11, obtaining first real-time position data of the trolley moving mechanism on the track-bearing beam and second real-time position data of the trolley moving mechanism on the trolley moving mechanism.

[0060] S12, determining a first distance between the trolley moving mechanism and the prohibited area in a first direction based on the first real-time position data, and determining a second distance between the trolley moving mechanism and the prohibited area in a second direction based on the second real-time position data.

[0061] S13, based on the relationship between the first distance, the second distance and the preset safety distance, the large vehicle moving mechanism and the small vehicle moving mechanism are controlled to run at limited speed, and based on the first protection signal and the second protection signal, the large vehicle moving mechanism and the small vehicle moving mechanism are controlled to stop running.

[0062] Specifically, during the operation of the bridge crane 1, the controller can obtain the first real-time position data of the trolley moving mechanism 2 when it moves in the first direction and the second real-time position data of the trolley moving mechanism 4 when it moves in the second direction. Then, the controller determines the first distance between the trolley moving mechanism 4 and the forbidden area 15 in the first direction based on the first real-time position data, and determines the second distance between the trolley moving mechanism 4 and the forbidden area 15 in the second direction based on the second real-time position data, and based on the relationship between the first distance and the preset safety distance, and the relationship between the second distance and the preset safety distance, the controller controls the bridge crane 1 to operate at a limited speed to prevent the trolley moving mechanism 4 (that is, the lifting device 3) from entering the forbidden area 15, thereby realizing the first layer of protection for the bridge crane 1.

[0063] It is understandable that, since the first real-time position data and the second real-time position data are usually obtained by sensor + software calculation, there is a possibility of failure and error, so the trolley moving mechanism 4 still has the possibility of entering the forbidden area 15. Therefore, during the operation of the bridge crane 1, the controller also receives the first protection signal of the trolley moving mechanism 2 when it moves to the forbidden area 15 along the first direction and the second protection signal of the trolley moving mechanism 4 when it moves to the forbidden area 15 along the second direction, and controls the trolley moving mechanism 2 and the trolley moving mechanism 4 to stop running when the first protection signal and the second protection signal are received. For example, when the first protection signal is received, the trolley moving mechanism 2 is controlled to stop running, and when the second protection signal is received, the trolley moving mechanism 4 is controlled to stop running; or, when the first protection signal and the second protection signal are received at the same time, the trolley moving mechanism 2 and the trolley moving mechanism 4 are controlled to stop running at the same time. In this way, when the trolley moving mechanism 4 enters the restricted area 15 , the large vehicle moving mechanism 2 and the trolley moving mechanism 4 are promptly controlled to stop running, thereby realizing the second level of protection for the bridge crane 1 .

[0064] It can be understood that the probability of the two layers of protection failing at the same time is multiplication, and the probability of occurrence is very small, so it can improve the reliability of the operation protection function, thereby improving the operation safety of the bridge crane 1.

[0065] In this embodiment, a first distance in the first direction and a second distance in the second direction between the lifting device and the restricted area are determined based on the first real-time position data and the second real-time data, and the bridge crane is controlled to operate at a limited speed according to the relationship between the first distance, the second distance and the preset safety distance, so as to avoid the lifting device from entering the restricted area, thereby realizing the first layer of protection for the bridge crane; at the same time, the bridge crane is controlled to stop operating according to the protection signal emitted by the protection component, thereby avoiding the problem of the lifting device entering the restricted area due to the error in the real-time position data, thereby realizing the double operation protection of the bridge crane and effectively improving the operation safety of the bridge crane.

[0066] In some embodiments, based on the relationship between the first distance, the second distance and the preset safety distance, the large vehicle moving mechanism and the trolley moving mechanism are controlled to operate at limited speed, including: when the first distance is less than the first safety distance and greater than the second safety distance, the large vehicle moving mechanism is controlled to slow down based on the first distance, and when the first distance is less than or equal to the second safety distance, the large vehicle moving mechanism is controlled to stop running; when the second distance is less than the first safety distance and greater than the second safety distance, the trolley moving mechanism is controlled to slow down based on the second distance, and when the second distance is less than or equal to the second safety distance, the trolley moving mechanism is controlled to stop running; wherein the second safety distance is less than the first safety distance.

[0067] Optionally, controlling the vehicle moving mechanism to decelerate based on the first distance includes: determining a first speed reduction amount based on the first distance, and controlling the speed of the vehicle moving mechanism to be reduced by the first speed reduction amount, wherein the first speed reduction amount is negatively correlated with the first distance; or, determining a first target speed after deceleration based on the first distance, and controlling the speed of the vehicle moving mechanism to be reduced to the first target speed, wherein the first target speed is positively correlated with the first distance.

[0068] Optionally, controlling the trolley moving mechanism to decelerate based on the second distance includes: determining a second speed reduction amount based on the second distance, and controlling the speed of the trolley moving mechanism to be reduced by the second speed reduction amount, wherein the second speed reduction amount is negatively correlated with the second distance; or, determining a second target speed after deceleration based on the second distance, and controlling the speed of the trolley moving mechanism to be reduced to the second target speed, wherein the second target speed is positively correlated with the second distance.

[0069] Specifically, the preset safety distance may include a first safety distance and a second safety distance, and the second safety distance is smaller than the first safety distance. The first safety distance may represent a warning distance, indicating that the trolley moving mechanism 4 is at risk of entering the prohibited area 15; the second safety distance may represent a limit distance, indicating that the trolley moving mechanism 4 has reached the boundary of the prohibited area 15.

[0070] Therefore, when the first distance is less than the first safety distance and greater than the second safety distance, it indicates that the trolley moving mechanism 4 has a risk of entering the forbidden area 15 in the first direction. At this time, the large vehicle moving mechanism 2 can be controlled to slow down based on the first distance to prevent the trolley moving mechanism 4 from entering the forbidden area 15. Among them, the deceleration operation mode of the large vehicle moving mechanism 2 may include multiple methods. For example, the speed reduction amount of the large vehicle moving mechanism 2 can be set to a value that is negatively correlated with the first distance, or the target speed of the large vehicle moving mechanism 2 can be set to a value that is positively correlated with the first distance, so as to achieve the effect that the smaller the first distance, the smaller the target speed of the large vehicle moving mechanism 2. When the first distance is less than or equal to the second safety distance, it indicates that the trolley moving mechanism 4 has entered the forbidden area 15 in the first direction. At this time, the large vehicle moving mechanism 2 can be controlled to stop running to avoid continuing to enter the forbidden area 15 and causing losses.

[0071] Similarly, when the second distance is less than the first safety distance and greater than the second safety distance, it indicates that the trolley moving mechanism 4 has entered the prohibited area 15 in the second direction. At this time, the trolley moving mechanism 4 can be controlled to slow down based on the second distance to prevent the trolley moving mechanism 4 from entering the prohibited area 15. The deceleration operation mode of the trolley moving mechanism 4 is similar to the deceleration operation mode of the large vehicle moving mechanism 2, which will not be described here. When the second distance is less than or equal to the second safety distance, it indicates that the trolley moving mechanism 4 has entered the prohibited area 15 in the second direction. At this time, the trolley moving mechanism 4 can be controlled to stop running to avoid continuing to enter the prohibited area 15 and causing losses.

[0072] In the above embodiment, by pre-setting the first safety distance and the second safety distance, and adjusting the speeds of the trolley moving mechanism and the trolley moving mechanism in the corresponding directions based on the first distance and the second distance between the trolley moving mechanism and the prohibited area, it can not only ensure that the trolley moving mechanism will not intrude into the prohibited area and realize the operation protection function of the bridge crane, but also retain the operation speeds of the trolley moving mechanism and the trolley moving mechanism to the greatest extent, thereby improving the operation safety and efficiency of the bridge crane.

[0073] In some embodiments, the method further includes: correcting the first real-time position data based on the first position correction signal and the first correction position and correcting the second real-time position data based on the second position correction signal and the second correction position. In this way, the accuracy of the first real-time position data and the second real-time position data can be improved.

[0074] In some embodiments, correcting the first real-time position data based on the first position correction signal and the first correction position and correcting the second real-time position data based on the second position correction signal and the second correction position include: recording the first real-time position data as the first correction data based on the first position correction signal, and updating the first real-time position data based on the first correction data, the first real-time position data and the first correction position; recording the second real-time position data as the second correction data based on the second position correction signal, and updating the second real-time position data based on the second correction data, the second real-time position data and the second correction position.

[0075] Specifically, a first position detection component such as a position encoder is provided on the trolley moving mechanism 2 for detecting position data, and a second position detection component such as a position encoder is provided on the trolley moving mechanism 4 for detecting position data. At the same time, the end beam 9 of the trolley moving mechanism 2 and the end of the trolley moving mechanism 4 are provided with a first correction detection component 16 and a second correction detection component 17, and the track supporting beam 5 and the main beam 7 of the trolley moving mechanism 2 are provided with a first position correction structure 18 and a second position correction structure 19.

[0076] During the movement of the trolley moving mechanism 2 and the trolley moving mechanism 4, the controller can obtain the first real-time position data output by the first position detection component on the trolley moving mechanism 2, and obtain the second real-time position data output by the second position detection component on the trolley moving mechanism 4. The first real-time position data and the second real-time position data can represent the real-time position of the trolley moving mechanism 4 in the rectangular area formed by the frame track 6 and the track 8. At the same time, during the movement of the trolley moving mechanism 2, when the first correction detection component 16 senses the corresponding first position correction structure 18, the first correction detection component 16 will output a first position correction signal, and during the movement of the trolley moving mechanism 4, when the second correction detection component 17 senses the second position correction structure 19, the second correction detection component 17 will output a second position correction signal.

[0077] After receiving the first position correction signal and the second position correction signal, the controller corrects the acquired first real-time position data and the second real-time position data to obtain the final first real-time position data and the second real-time position data, thereby improving the accuracy of the acquired position data. For ease of explanation, taking the first position detection element as the first position encoder and the second position detection element as the second position encoder as an example, the specific correction principle is as follows:

[0078] In the absence of deviation, the actual distance corresponding to the coded data output by the position encoder multiplied by a single code number is equal to the real-time position data of the corresponding travel mechanism. However, the coded data output by the position encoder may have a large amount of deviation due to wheel slippage of the travel mechanism, or a small amount of accumulated deviation due to the back-and-forth movement of the travel mechanism.

[0079] Therefore, in an embodiment of the present invention, when the controller receives the first position correction signal, it multiplies the first coded data output by the first position encoder by the actual distance corresponding to the single code number to obtain the first real-time position data, and records the first real-time position data as the first correction data, and the first correction data corresponds to the first correction position of the first position correction structure 18 on the track beam 5. The controller can use this to determine the deviation between the detection data and the actual position data in the first direction, and then correct the first real-time position data according to the deviation, so as to determine the final first real-time position data. Similarly, when the controller receives the second position correction signal, it can multiply the second coded data output by the second position encoder by the actual distance corresponding to the single code number to obtain the second real-time position data, and record the second real-time position data as the second correction data, and the second correction data corresponds to the second correction position of the second position correction structure 19 on the main beam 7. The controller can use this to determine the deviation between the detection data and the actual position data in the second direction, and then correct the second real-time position data according to the deviation, so as to determine the final second real-time position data.

[0080] In this embodiment, a correction function of the detected real-time position data based on the position correction signal output by the correction detection element is implemented, thereby effectively improving the accuracy of the acquired first real-time position data and the second real-time position data.

[0081] In some embodiments, updating the first real-time position data based on the first corrected data, the first real-time position data and the first corrected position includes: obtaining a first value by acquiring a difference between the first real-time position data and the first corrected data; and updating the first real-time position data based on the first value and the first corrected position.

[0082] In some embodiments, updating the second real-time position data based on the second corrected data, the second real-time position data and the second corrected position includes: obtaining the difference between the second real-time position data and the second corrected data to obtain a second value; and updating the second real-time position data based on the second value and the second corrected position.

[0083] Specifically, take the first position detection component as the first position encoder and the second position detection component as the second position encoder as an example. The controller can obtain the first coded data output by the first position encoder, and record the first coded data when receiving the first position correction signal as the first corrected coded data, and then obtain the product of the first coded data and the actual distance corresponding to the single code number of the encoder to obtain the first real-time position data, and obtain the product of the first corrected coded data and the actual distance corresponding to the single code number of the encoder to obtain the first corrected data; then, obtain the difference between the first real-time position data and the first corrected data, and sum the difference with the first corrected position to obtain the final first real-time position data. For example, the final first real-time position data can be determined according to the following formula (1):

[0084] POSx=(ECx-EAx)*mmx+Emx(1)

[0085] Among them, POSx is the final first real-time position data, ECx is the first coded data, EAx is the first corrected coded data, mmx is the actual distance corresponding to a single code number of the encoder on the vehicle moving mechanism 2, and Emx is the first corrected position. Among them, mmx and Emx are preset values, which can be obtained by looking up the table; the first coded data ECx and the first corrected coded data EAx are detection values, which can be obtained by real-time detection. The correction of the first real-time position data can be achieved through the above formula (1).

[0086] Similarly, the controller can obtain the second coded data output by the second position encoder, and record the second coded data when receiving the second position correction signal as the second corrected coded data, and then obtain the product of the second coded data and the actual distance corresponding to the single code number of the encoder to obtain the second real-time position data, and obtain the product of the second corrected coded data and the actual distance corresponding to the single code number of the encoder to obtain the second corrected data; then, obtain the difference between the second real-time position data and the second corrected data, and sum the difference with the second corrected position to obtain the final second real-time position data. For example, the final second real-time position data can be determined according to the following formula (2):

[0087] POSy=(ECy-EAy)*mmy+Emy(2)

[0088] Among them, POSy is the final second real-time position data, ECy is the second coded data, EAy is the second corrected coded data, mmy is the actual distance corresponding to a single code number of the encoder on the trolley moving mechanism 4, and Emy is the second corrected position. Among them, mmy and Emy are preset values, which can be obtained by looking up the table; the second coded data ECy and the second corrected coded data EAy are detection values, which can be obtained by real-time detection. The correction of the second real-time position data can be achieved through the above formula (2).

[0089] Since the first real-time position data and the second real-time position data acquired by the embodiment of the present invention are corrected, the accuracy is higher, thereby improving the reliability of the operation protection function.

[0090] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0091] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0092] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0093] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0094] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral 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 the present invention can be understood according to specific circumstances.

[0095] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A bridge crane, characterized in that: include: A track-supporting beam, a trolley moving mechanism and a trolley moving mechanism, wherein the trolley moving mechanism is movably arranged on the track-supporting beam along a first direction, and the trolley moving mechanism is movably arranged on the trolley moving mechanism along a second direction; A detection component, the detection component is used to detect first real-time position data of the trolley moving mechanism on the track-bearing beam and second real-time position data of the trolley moving mechanism on the trolley moving mechanism; A protection component, the protection component is used to output a first protection signal when the large vehicle moving mechanism moves to a prohibited area and to output a second protection signal when the small vehicle moving mechanism moves to the prohibited area; A controller, wherein the controller is connected to the large vehicle moving mechanism, the small vehicle moving mechanism, the detection component and the protection component respectively, and is used to determine a first distance between the small vehicle moving mechanism and the prohibited area in the first direction based on the first real-time position data, and to determine a second distance between the small vehicle moving mechanism and the prohibited area in the second direction based on the second real-time position data, and to control the large vehicle moving mechanism and the small vehicle moving mechanism to operate at limited speed based on the relationship between the first distance and the second distance and a preset safety distance, and to control the large vehicle moving mechanism and the small vehicle moving mechanism to stop operating based on the first protection signal and the second protection signal.

2. The bridge crane according to claim 1, characterized in that: The detection component comprises: A first position detection component is fixedly mounted on the vehicle moving mechanism and is used to detect the first real-time position data; The second position detection component is fixedly mounted on the trolley moving mechanism and is used to detect the second real-time position data.

3. The bridge crane according to claim 1, characterized in that: The protection component comprises: A first protection component, which is provided at the trolley moving mechanism and the track-bearing beam and is used for outputting the first protection signal when the trolley moving mechanism moves to the prohibited area; The second protection component is arranged on the large vehicle moving mechanism and the small vehicle moving mechanism, and is used for outputting the second protection signal when the small vehicle moving mechanism moves to the prohibited area.

4. The bridge crane according to claim 1, characterized in that: The first protection component includes a first protection detection member and a first protection structure, the first protection structure is fixedly mounted on the rail-bearing beam, the first protection detection member is fixedly mounted on the trolley moving mechanism and is used to detect the first protection structure, and output the first protection signal when the first protection structure is detected; The second protection component includes a second protection detection member and a second protection structure, the second protection structure is fixedly mounted on the large vehicle moving mechanism, the second protection detection member is fixedly mounted on the small vehicle moving mechanism and is used to detect the second protection structure, and output the second protection signal when the second protection structure is detected; The first protective structure and the second protective structure define the prohibited area.

5. The bridge crane according to any one of claims 1 to 4, characterized in that: Also includes: A correction component, the correction component is used to output a first position correction signal when the large vehicle moving mechanism moves to a first correction position and to output a second position correction signal when the small vehicle moving mechanism moves to a second correction position; The controller is also connected to the correction component, and is used to correct the first real-time position data based on the first position correction signal and the first correction position, and to correct the second real-time position data based on the second position correction signal and the second correction position.

6. The bridge crane according to claim 5, characterized in that: The correction component comprises: A first correction component, which is disposed on the trolley moving mechanism and the track-bearing beam and is used for outputting the first position correction signal when the trolley moving mechanism moves to the first correction position; The second correction component is arranged on the large vehicle moving mechanism and the small vehicle moving mechanism, and is used for outputting the second position correction signal when the small vehicle moving mechanism moves to the second correction position.

7. The bridge crane according to claim 6, characterized in that: The first correction component includes a first correction detection member and a first position correction structure, the first position correction structure is fixed to the track-bearing beam, the first correction detection member is fixed to the trolley moving mechanism and is used to detect the first position correction structure, and output the first position correction signal when the first position correction structure is detected; The second correction component includes a second correction detection member and a second position correction structure, the second position correction structure is fixedly mounted on the large vehicle moving mechanism, the second correction detection member is fixedly mounted on the small vehicle moving mechanism and is used to detect the second position correction structure, and output the second position correction signal when the second position correction structure is detected; Wherein, the first position correction structure corresponds to the first correction position setting, and the second position correction structure corresponds to the second correction position setting.

8. A method for protecting the operation of a bridge crane, characterized in that: Applied to the bridge crane according to any one of claims 1 to 7, the method comprises: Acquire first real-time position data of the trolley moving mechanism on the track-bearing beam and second real-time position data of the trolley moving mechanism on the trolley moving mechanism; Determine a first distance between the trolley moving mechanism and the prohibited area in the first direction based on the first real-time position data, and determine a second distance between the trolley moving mechanism and the prohibited area in the second direction based on the second real-time position data; Based on the relationship between the first distance, the second distance and the preset safety distance, the large vehicle moving mechanism and the small vehicle moving mechanism are controlled to operate at a limited speed, and based on the first protection signal and the second protection signal, the large vehicle moving mechanism and the small vehicle moving mechanism are controlled to stop operating.

9. The method according to claim 8, characterized in that The controlling the large vehicle moving mechanism and the small vehicle moving mechanism to operate at a limited speed based on the relationship between the first distance, the second distance and the preset safety distance comprises: When the first distance is less than the first safety distance and greater than the second safety distance, the vehicle moving mechanism is controlled to slow down based on the first distance, and when the first distance is less than or equal to the second safety distance, the vehicle moving mechanism is controlled to stop running; When the second distance is less than the first safety distance and greater than the second safety distance, the trolley moving mechanism is controlled to slow down based on the second distance, and when the second distance is less than or equal to the second safety distance, the trolley moving mechanism is controlled to stop running; wherein, the second safety distance is less than the first safety distance.

10. The method according to claim 8 or 9, characterized in that: The method further comprises: The first real-time position data is corrected based on the first position correction signal and the first corrected position, and the second real-time position data is corrected based on the second position correction signal and the second corrected position.

11. The method according to claim 10, characterized in that The method of correcting the first real-time position data based on the first position correction signal and the first correction position and correcting the second real-time position data based on the second position correction signal and the second correction position includes: Recording the first real-time position data as first correction data based on the first position correction signal, and updating the first real-time position data based on the first correction data, the first real-time position data and the first correction position; The second real-time position data is recorded as second correction data based on the second position correction signal, and the second real-time position data is updated based on the second correction data, the second real-time position data and the second correction position.

12. The method according to claim 11, characterized in that The updating of the first real-time position data based on the first correction data, the first real-time position data and the first correction position comprises: Obtaining a difference between the first real-time position data and the first corrected data to obtain a first value; updating the first real-time position data based on the first value and the first corrected position; The updating of the second real-time position data based on the second corrected data, the second real-time position data and the second corrected position comprises: Obtaining a difference between the second real-time position data and the second corrected data to obtain a second value; The second real-time position data is updated based on the second value and the second corrected position.

Images