Gantry crane control method and system, intelligent terminal and storage medium

Abstract

The invention relates to a gantry crane control method and system, an intelligent terminal and a storage medium, and relates to the field of gantry cranes. Acquiring scene data information and driver data information of a preset wharf based on the work triggering information; performing analysis according to the scene data information and the driver data information to determine working mode information and outputting a prompt; acquiring mode feedback information corresponding to the working mode information; analyzing according to the scene data information and preset gantry crane distribution information to determine a working gantry crane; and the remote control platform and the working gantry crane are connected according to the mode feedback information, and the working gantry crane is controlled to load and unload goods on the wharf. The gantry crane has the effect of improving the utilization rate of the gantry crane.

Description

Technical Field

[0001] The present application relates to the field of gantry cranes, and in particular to a gantry crane control method, system, intelligent terminal and storage medium. Background Art

[0002] Gantry crane, also known as portal crane, is a variation of bridge crane. In ports, it is mainly used for loading and unloading operations in outdoor cargo yards, material yards and bulk cargo. Its metal structure is similar to a door frame, with two legs installed under the load-bearing main beam, so it can walk directly on the ground track.

[0003] In the related art, the control of gantry cranes is mostly carried out by manual driving, and the operator completes the operation in the cab of the gantry crane. The cab is equipped with devices such as a controller, a control panel, a switchboard and a driver's seat. The driver enters the cab and views the various parameters of the gantry crane through the control panel. After communicating with the ground command personnel, the driver uses the controller to operate the gantry crane to load and unload the cargo.

[0004] With regard to the above-mentioned related technologies, the gantry crane requires direct control by the driver. When the number of drivers is insufficient, the drivers are often assigned to lift goods with a tight deadline, while there are no driver resources to operate the goods with a longer delivery time and are more scattered, causing the corresponding gantry crane to be idle, resulting in low utilization of the gantry crane. There is still room for improvement. Summary of the invention

[0005] In order to improve the utilization rate of the gantry crane, the present application provides a gantry crane control method, system, intelligent terminal and storage medium.

[0006] In a first aspect, the present application provides a gantry crane control method, which adopts the following technical solution: A gantry crane control method, comprising: Obtain the preset remote control platform's work trigger information; Acquire preset terminal scene data information and driver data information based on the work trigger information; Analyze the scene data information and the driver data information to determine the working mode information and output prompts; Obtaining mode feedback information corresponding to the working mode information; Analyze the scene data information and the preset gantry crane distribution information to determine the working gantry crane; The remote control platform and the working gantry crane are connected according to the mode feedback information, and the working gantry crane is controlled to load and unload the cargo at the dock.

[0007] By adopting the above technical solution, the scene data information of the terminal is identified, and the working mode information of the gantry crane for lifting the cargo at the terminal is determined after correlation analysis with the driver data information, and the working mode information is output for the operator to select to obtain mode feedback information. According to the mode feedback information, the remote control platform and the working gantry crane are connected to lift and transport different types of cargo in different working modes, so as to reasonably allocate driver resources to keep more gantry cranes in working state, thereby improving the utilization rate of the gantry crane.

[0008] Optionally, the method for obtaining the scene data information of the preset dock includes: Controlling a preset scene recognition device to obtain scene image information of the dock based on the work trigger information; Determining whether there is preset loading and unloading scene feature information in the image corresponding to the scene image information; If it does not exist, continue to obtain scene image information to loop judgment; If it exists, the cargo distribution information is determined by analyzing the scene image information; Acquire cargo parameter information based on scene image information; The cargo distribution information and the cargo parameter information are associated to generate scenario data information.

[0009] By adopting the above technical solution, scene image information of the dock is collected, and scene image information containing loading and unloading scene feature information is retained, and the retained scene image information is identified to obtain cargo distribution information and cargo parameter information, thereby associating the cargo distribution information and cargo parameter information to obtain scene data information, and obtaining the specific situation of cargo storage at the dock by image recognition, thereby improving the accuracy of the scene data information.

[0010] Optionally, the method for analyzing the scene data information and the driver data information to determine the working mode information includes: Determine whether the cargo parameters corresponding to the scene data information meet the requirements of the preset loading parameter information; If it meets the requirement, it is determined whether the driver data information is not less than the preset sufficient number of people; If it is not less than, the preset efficiency mode information is determined to be the working mode information; the efficiency mode information is characterized by a mode in which a single person monitors a single gantry crane when the gantry crane is operating automatically; If it is less than, the preset standard mode information is determined to be the working mode information; the standard mode information is characterized by a mode in which a single person monitors multiple gantry cranes when the gantry cranes are automatically operating; If not, the cargo distribution and driver data information corresponding to the scene data information are analyzed to determine the working mode information.

[0011] By adopting the above technical solution, when the cargo parameters corresponding to the scene data information are the cargo corresponding to the loading parameter information and the driver data information is sufficient, the efficiency mode information is determined as the working mode information, and when the driver data information is less, the standard mode information is determined as the working mode information, so as to reasonably allocate driver resources to the lifting of goods with tight deadlines, thereby improving the efficiency of the gantry crane in lifting goods.

[0012] Optionally, the method of analyzing the cargo distribution and driver data information corresponding to the scene data information to determine the working mode information includes: Determine whether the cargo distribution corresponding to the scene data information meets the requirements of the preset decentralized operation information; If not, the preset super idle mode information is determined as the working mode information; the super idle mode information is characterized as a mode of automatic operation of the gantry crane; If it meets the requirement, it is determined whether the driver data information is not less than the preset standard number of people; If it is not less than, the standard mode information is determined as the working mode information; If it is less than, the preset ultra-idle mode information is determined as the working mode information.

[0013] By adopting the above technical solution, it is determined whether the scene data information that does not belong to loading belongs to the decentralized operation information. If it does not belong to it, it indicates that the lifting of the cargo at the terminal is relatively concentrated and simple, so the super-idle mode information is determined as the working mode information; and if it does belong to it, then when the driver's data information is insufficient, the super-idle mode information is determined as the working mode information, so that the gantry crane can automatically operate the concentrated cargo, thereby improving the utilization rate of the gantry crane.

[0014] Optionally, the method of connecting the remote control platform and the working gantry crane according to the mode feedback information and controlling the working gantry crane to load and unload the cargo at the dock includes: Analyze the scene data to determine the planned path information for lifting the cargo; Control the working gantry crane to approach the cargo and lift the cargo according to the planned path information; Control the working gantry crane to obtain the spreader parameter information in real time, and send the spreader parameter information to the remote control platform in real time; Determine whether the spreader parameter information meets the requirements of the preset stable parameter information; If it meets the requirements, the spreader parameter information will continue to be acquired in real time, and the spreader parameter information will be sent to the remote control platform in real time for cyclic judgment; If it does not meet the requirements, the working gantry crane will be controlled to make adjustments to ensure a smooth lifting process.

[0015] By adopting the above technical solution, the working gantry crane is controlled to approach the cargo and lift the cargo with the planned path information, and the lifting equipment parameter information is detected and sent to the remote control platform in real time. When the remote control platform determines that the lifting equipment parameter information does not meet the requirements of the stable parameter information, the working gantry crane is controlled to make adjustments to ensure a smooth lifting process, thereby improving the safety of the gantry crane in lifting cargo.

[0016] Optionally, the method of sending the spreader parameter information to the remote control platform includes: Based on the acquired spreader parameter information, the spreader parameter information is sent to the remote control platform via a preset plurality of links; Get the receiving trigger information of the remote control platform; Based on the received trigger information, acquiring the arrival parameter information and the arrival time information corresponding to the arrival parameter information; According to the order of the arrival time information, it is judged whether the arrival parameter information meets the requirements of the preset complete data information; If not, the arrival parameter information that does not meet the requirements of the complete data information is discarded, and the remaining arrival parameter information continues to be judged whether it meets the requirements of the complete data information; If it meets the requirements, the remaining arrival parameter information is discarded and the spreader parameter information is continued to be obtained.

[0017] By adopting the above technical solution, the spreader parameter information is sent simultaneously through multiple links. When the remote control platform receives the spreader parameter information, the arrival parameter information and the arrival time information corresponding to the arrival parameter information are collected, and whether the arrival parameter information is complete is judged according to the order of the arrival time information. If it is complete, the remaining arrival parameter information is discarded; if it is incomplete, the judgment is continued until the complete arrival parameter information is determined, thereby ensuring the accuracy and timeliness of the data interaction between the remote control platform and the gantry crane.

[0018] Optionally, methods for controlling the working gantry crane to make adjustments to ensure a smooth lifting process include: Based on the fact that the spreader parameter information does not meet the requirement of stable parameter information, the swing direction information and the swing amplitude information of the spreader are obtained; Determine whether the swing direction information meets the requirements of the preset adjustment direction information; If it does not meet the requirements, an alarm will be issued; If it is in compliance, the swing direction information is analyzed to determine the preset speed adjustment direction information of the trolley; Analyze the swing amplitude information to determine the speed adjustment information of the car; The trolley is controlled to adjust with the speed adjustment direction information and the speed adjustment information to eliminate the sling shaking until the sling parameter information meets the requirements of the stable parameter information.

[0019] By adopting the above technical scheme, when the swing direction information meets the requirements of the adjustment direction information, the speed adjustment direction information of the trolley is determined according to the swing direction information, and the speed adjustment information of the trolley is determined according to the swing amplitude information, so as to control the trolley to adjust with the speed adjustment direction information and the speed adjustment information to eliminate the shaking of the sling, ensure that the sling falls stably on the center of gravity of the cargo, and ensure the stability of the cargo when it is lifted.

[0020] In a second aspect, the present application provides a gantry crane control system, which adopts the following technical solution: A gantry crane control system, comprising: An acquisition module is used to acquire work trigger information, scene data information, driver data information and mode feedback information; A memory, used to store a program of a gantry crane control method as described in any one of the above items; The program in the processor and the memory can be loaded and executed by the processor to implement a gantry crane control method as described in any one of the above items.

[0021] By adopting the above technical solution, a series of data related to the gantry crane control is acquired through the acquisition module. When it is necessary to control the gantry crane to lift the goods, the processor loads and executes a program of a gantry crane control method stored in the memory, thereby allocating a reasonable working mode to the gantry crane according to the scene data information and the driver data information, thereby improving the utilization rate of the gantry crane.

[0022] In a third aspect, the present application provides a smart terminal, which adopts the following technical solution: An intelligent terminal comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and execute a gantry crane control method as described in any one of the above items.

[0023] By adopting the above technical solution, personnel use the intelligent terminal to enable the processor to load and execute a computer program of a gantry crane control method stored in the memory, thereby allocating a reasonable working mode to the gantry crane according to the scene data information and the driver data information, thereby improving the utilization rate of the gantry crane.

[0024] In a fourth aspect, the present application provides a computer storage medium capable of storing a corresponding program, which is convenient for improving the efficiency of lifting cargo by a gantry crane, and adopts the following technical solution: A computer-readable storage medium stores a computer program that can be loaded by a processor and execute any of the above-mentioned gantry crane control methods.

[0025] By adopting the above technical solution, a computer program of a gantry crane control method is stored in a computer-readable storage medium. When it is necessary to control the gantry crane to lift goods, the processor loads and executes the program in the computer-readable storage medium, thereby allocating a reasonable working mode to the gantry crane according to scene data information and driver data information, thereby improving the utilization rate of the gantry crane.

[0026] In summary, the present application includes at least one of the following beneficial technical effects: 1. By identifying the scene data information of the terminal and correlating and analyzing it with the driver data information, the working mode information of the gantry crane for lifting the cargo at the terminal is determined, and the working mode information is output for the operator to select to obtain mode feedback information. According to the mode feedback information, the remote control platform and the working gantry crane are connected to lift and transport different types of cargo in different working modes, so as to reasonably allocate driver resources to keep more gantry cranes in working state, thereby improving the utilization rate of the gantry crane; 2. By sending the spreader parameter information through multiple links at the same time, when the remote control platform receives the spreader parameter information, the arrival parameter information and the arrival time information corresponding to the arrival parameter information are collected, and the arrival parameter information is judged whether it is complete according to the order of the arrival time information. If it is complete, the remaining arrival parameter information is discarded; if it is incomplete, the judgment is continued until the complete arrival parameter information is determined, thereby ensuring the accuracy and timeliness of the data interaction between the remote control platform and the gantry crane; 3. When the swing direction information meets the requirements of the adjustment direction information, the speed adjustment direction information of the trolley is determined according to the swing direction information, and the speed adjustment information of the trolley is determined according to the swing amplitude information, so as to control the trolley to adjust with the speed adjustment direction information and the speed adjustment information to eliminate the shaking of the sling, ensure that the sling falls steadily on the center of gravity of the cargo, and ensure the stability of the cargo when it is lifted. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a flow chart of a gantry crane control method in an embodiment of the present application.

[0028] Figure 2 It is a flowchart of a method for obtaining scene data information of a preset dock in an embodiment of the present application.

[0029] Figure 3 It is a flowchart of a method for analyzing scene data information and driver data information to determine working mode information in an embodiment of the present application.

[0030] Figure 4 It is a flowchart of a method for analyzing cargo distribution and driver data information corresponding to scene data information to determine working mode information in an embodiment of the present application.

[0031] Figure 5 It is a flow chart of a method for connecting a remote control platform and a working gantry crane according to mode feedback information, and controlling the working gantry crane to load and unload cargo at a dock in an embodiment of the present application.

[0032] Figure 6 It is a flow chart of a method for sending spreader parameter information to a remote control platform in an embodiment of the present application.

[0033] Figure 7 It is a flow chart of a method for controlling the working gantry crane to make adjustments to ensure a smooth lifting process in an embodiment of the present application. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figure 1-Figure 7 It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0035] The present application discloses a remote control method for a gantry crane, a remote control platform and a gantry crane. The remote control platform and the gantry crane are connected via wireless communication technology to achieve data interaction and control of the gantry crane by the remote control platform. After the remote control platform is started, a camera device on the dock collects scene data information of the dock and sends it to the remote control platform. The remote control platform calls the current driver data information, so that the remote control platform determines the working mode information of the corresponding dock after analyzing the scene data information and the driver data information and outputs it for selection by an operator. After the operator makes a selection, the remote control platform generates mode feedback information, thereby connecting with the working gantry crane according to the mode feedback information, controlling the working gantry crane to lift and transport the cargo at the dock, and reasonably allocating driver resources to the gantry crane to ensure that more gantry cranes are in working condition, thereby improving the utilization rate of the gantry crane.

[0036] Reference Figure 1 The present application embodiment discloses a gantry crane control method, comprising the following steps: Step S100: Acquire preset remote control platform work trigger information.

[0037] Among them, the remote control platform refers to the core system platform that connects the terminal production operating system, site remote control equipment, remote control console, video system, remote control voice intercom system and other systems. The remote control platform receives the operation data from the terminal, parses the data and sends the instructions to the equipment for execution. The work trigger information refers to the trigger data opened by the remote control platform, which is set in the storage medium of the remote control platform by technical personnel in this field. After the operator starts the remote control platform, the remote control platform automatically calls and outputs the work trigger information.

[0038] Step S101: Acquire preset terminal scene data information and driver data information based on work trigger information.

[0039] Among them, after the work trigger information is detected, that is, when the remote control platform has been started, the scene data information of the terminal is collected, and the driver data information is called, so as to provide data support for the subsequent determination of the specific working mode of the corresponding gantry crane at the terminal.

[0040] A dock is a location where ships or trucks dock to wait for cargo to be loaded or unloaded. Scene data information refers to the distribution of cargo to be handled at the dock, as well as parameters such as the time limit and type of cargo handling. For example, cargo at dock A is concentrated and needs to be loaded onto the ship within one day; or cargo at dock B is scattered and needs to be loaded and unloaded within one day. For specific methods of obtaining scene data information, refer to Figure 2 The driver data information refers to the number of drivers that can be assigned, which is obtained by the remote control platform calling the driver's punch-in data in the punch-in system.

[0041] Step S102: Analyze the scene data information and the driver data information to determine the working mode information and output a prompt.

[0042] Among them, the working mode information refers to the specific working mode of the gantry crane, and the working mode information includes efficiency mode information, standard mode information and super idle mode information. The efficiency mode information refers to the mode of one-to-one real-time monitoring by the driver when the gantry crane is automatically operating. The standard mode information refers to the mode of one-to-many real-time monitoring by the driver when the gantry crane is automatically operating. The super idle mode information refers to the mode of automatic operation of the gantry crane, which is determined by the remote control platform after specific analysis based on the scene data information and the driver data information. The analysis method refers to Figure 3 After the working mode information is determined, it is output to the screen of the remote control platform for the operator to select.

[0043] Step S103: Acquire mode feedback information corresponding to the working mode information.

[0044] Among them, mode feedback information refers to the operator's choice of working mode information. The operator can choose to confirm the working mode information or reject the working mode information. The remote control platform outputs mode feedback information according to the operator's choice. After the operator rejects the working mode information, it enters the manual operation mode.

[0045] Step S104: Analyze the scene data information and preset gantry crane distribution information to determine the working gantry crane.

[0046] Among them, the gantry crane distribution information refers to the distribution of gantry cranes corresponding to the docks, for example, Dock A corresponds to A1 gantry crane, and Dock B corresponds to B1 gantry crane. The distribution information is obtained in advance by technical personnel in this field and then input and stored in the remote control platform.

[0047] The working gantry crane refers to the gantry crane located at the wharf corresponding to the current scene data information. It is obtained by the remote control platform by matching the wharf corresponding to the scene data information in the gantry crane distribution information. For example, if the wharf in the scene data information is Wharf A, then the working gantry crane is the A1 gantry crane.

[0048] Step S105: Connect the remote control platform and the working gantry crane according to the mode feedback information, and control the working gantry crane to load and unload the cargo at the dock.

[0049] Among them, after the remote control platform outputs the mode feedback information, the remote control platform connects to the working gantry crane according to the mode feedback information, thereby controlling the working gantry crane to load and unload the cargo at the dock. The specific method is referred to Figure 5 steps.

[0050] Reference Figure 2 , a method for obtaining scene data information of a preset dock comprises the following steps: Step S200: Based on the work trigger information, a preset scene recognition device is controlled to obtain scene image information of the dock.

[0051] The scene recognition device refers to a device for collecting information about cargo on the dock. It can be a camera installed on the corresponding dock. After detecting the work trigger information, the remote control platform calls the image captured by the scene recognition device to obtain the scene image information of the current dock. The scene image information refers to the image of cargo on the dock. The cargo image corresponds to the dock number. For example, the image of cargo A on dock A is captured by the scene recognition device installed on the dock and sent to the remote control platform.

[0052] Step S201: Determine whether there is preset loading and unloading scene feature information in the image corresponding to the scene image information.

[0053] The loading and unloading scene feature information refers to the mark image to be handled placed on the surface of the cargo, and the technical personnel in the field store the loading and unloading scene feature information in the remote control platform in advance. By judging whether there is a mark image corresponding to the loading and unloading scene feature information in the image corresponding to the scene image information, it is determined whether the cargo at the current terminal needs to be handled.

[0054] Step S2011: If it does not exist, continue to obtain scene image information to loop judgment.

[0055] Among them, if there is no sign image corresponding to the loading and unloading scene feature information in the image corresponding to the scene image information, it means that the goods at the current terminal do not need to be moved, so the scene image information continues to be collected, thereby performing cyclic judgment and continuous monitoring.

[0056] Step S2012: If it exists, analyze the scene image information to determine the cargo distribution information.

[0057] Among them, if there is a sign image corresponding to the loading and unloading scene feature information in the image corresponding to the scene image information, it indicates that the goods at the current terminal need to be moved. Therefore, the cargo distribution information is determined based on the scene image information to provide data support for the subsequent determination of the scene data information.

[0058] Cargo distribution information refers to the distribution of cargo on the dock, which is obtained by the remote control platform through image recognition of scene image information. For example, the cargo is located in areas a, b, and c of dock A.

[0059] Step S202: Acquire cargo parameter information based on the scene image information.

[0060] Among them, cargo parameter information refers to the loading parameters of the cargo on the current dock, including types such as loading and picking up containers, and time such as loading deadline. Technical personnel in this field store the loading parameters of all cargo on the dock in the storage medium of the remote control platform. The remote control platform identifies the area where the cargo is located based on the scene image information, and thus matches the loading parameters of the cargo in the area from the loading parameters of all cargo based on the area where the cargo is located.

[0061] Step S203: Associating cargo distribution information and cargo parameter information to generate scenario data information.

[0062] Among them, the scene data information in this step is consistent with the scene data information in step S101, and is obtained by associating the cargo distribution information and the cargo parameter information by the remote control platform. The specific method is: first, the area of ​​the cargo is determined according to the cargo distribution information, such as area a of terminal A, and then the handling method of the cargo within the loading period is determined according to the cargo parameter information, such as loading the cargo within one day, so as to obtain the scene data information that the cargo in area a of terminal A is loaded within one day.

[0063] Reference Figure 3 , a method for analyzing scene data information and driver data information to determine working mode information includes the following steps: Step S300: Determine whether the cargo parameters corresponding to the scene data information meet the requirements of the preset shipping parameter information.

[0064] The loading parameter information refers to the processing method of the goods being loading, which is stored in the remote control platform by the technicians in this field. The requirement of the loading parameter information refers to the consistency of the processing method corresponding to the loading parameter information.

[0065] By judging whether the cargo parameters corresponding to the scene data information are consistent with the processing methods corresponding to the loading parameter information, it is possible to determine whether the cargo at the dock requires loading operations with a shorter lifting time limit and higher lifting difficulty, providing data support for the subsequent determination of the specific working mode.

[0066] Step S301: If it meets the requirements, determine whether the driver data information is not less than the preset sufficient number of people information.

[0067] Among them, if the cargo parameters corresponding to the scene data information are consistent with the processing methods corresponding to the loading parameter information, it means that the cargo at the terminal needs to be loaded with goods with a short lifting time limit and high lifting difficulty. Therefore, it is further judged whether the number of personnel corresponding to the driver data information is not less than the number of personnel corresponding to the sufficient number of people information, so as to determine whether there are sufficient driver resources for one-to-one monitoring, and provide data support for the subsequent determination of the working mode.

[0068] Sufficient personnel information refers to the number of people required to ensure that the driver can monitor the operation of the gantry crane one-on-one. It is set by technical personnel in the field according to actual conditions and stored in the remote control platform.

[0069] Step S3011: If it is not less than, determining that the preset efficiency mode information is the working mode information; the efficiency mode information is characterized by a mode in which a single person monitors a single gantry crane when the gantry crane is operating automatically.

[0070] Among them, if the number of personnel corresponding to the driver data information is not less than the number of personnel corresponding to the sufficient number of personnel information, it means that there are sufficient driver resources for one-to-one monitoring, and therefore the efficiency mode information is determined to be the working mode information.

[0071] Efficiency mode information refers to the mode in which the driver conducts one-on-one monitoring of the automatic operation of the gantry crane. Once an abnormality occurs in the automatic operation, the driver immediately takes over to ensure that the operation is carried out quickly and accurately.

[0072] Step S3012: If it is less than, determine that the preset standard mode information is the working mode information; the standard mode information is characterized by a mode in which a single person monitors multiple gantry cranes when the gantry cranes are operating automatically.

[0073] Among them, if the number of people corresponding to the driver data information is less than the number of people corresponding to the sufficient number of people information, it means that there are not enough driver resources for one-to-one monitoring, so the standard mode information is determined as the working mode information.

[0074] The standard mode information refers to a mode in which the driver performs one-to-many monitoring of the automatic operation of the gantry crane, that is, one driver monitors the automatic operation of multiple gantry cranes. The specific number of gantry cranes corresponding to one driver is set by technical personnel in this field according to actual conditions.

[0075] Step S302: If not, analyze the cargo distribution and driver data information corresponding to the scene data information to determine the work mode information.

[0076] If the cargo parameters corresponding to the scenario data information are inconsistent with the processing methods corresponding to the loading parameter information, it indicates that the cargo at the terminal needs to be loaded and unloaded with a loose lifting time limit and low lifting difficulty. Therefore, the cargo distribution corresponding to the scenario data information and the driver data information are analyzed to determine the working mode information. For specific methods, refer to Figure 4 steps.

[0077] Reference Figure 4 , a method for analyzing cargo distribution and driver data information corresponding to scene data information to determine working mode information includes the following steps: Step S400: Determine whether the cargo distribution corresponding to the scene data information meets the requirements of the preset decentralized operation information.

[0078] The dispersed operation information refers to the parameters that the cargo of the terminal is located in multiple areas. The specific number of areas is set by the technicians in the field according to the actual situation and stored in the remote control platform by the technicians in the field. The requirement of the dispersed operation information refers to the consistency of the cargo distribution corresponding to the dispersed operation information.

[0079] By judging whether the cargo distribution corresponding to the scene data information is consistent with the cargo distribution corresponding to the dispersed operation information, it is possible to determine whether the cargo at the terminal is relatively dispersed, resulting in the need to adjust the position of the gantry crane during automatic operation, thereby providing data support for the subsequent determination of the specific working mode.

[0080] Step S401: If not, determine the preset super idle mode information as the working mode information; the super idle mode information is characterized as the mode of automatic operation of the gantry crane.

[0081] Among them, if the cargo distribution corresponding to the scene data information is inconsistent with the cargo distribution corresponding to the dispersed operation information, it means that the cargo in the wharf is stacked concentratedly and the gantry crane does not need to adjust its position frequently. Therefore, the super idle mode information is determined as the working mode information, so that the gantry crane can autonomously face abnormal scenes and liberate driver resources.

[0082] The super idle mode information refers to the autonomous operation mode of the gantry crane, that is, the gantry crane operates autonomously and independently resolves abnormal scenarios to lift cargo.

[0083] Step S402: If it meets the requirements, determine whether the driver data information is not less than the preset standard number of people.

[0084] Among them, if the cargo distribution corresponding to the scene data information is consistent with the cargo distribution corresponding to the dispersed operation information, it means that the cargo at the terminal is relatively scattered and the gantry crane needs to adjust its position frequently. Therefore, it is further judged whether the driver data information is not less than the standard number of people, so as to determine whether there are sufficient personnel to monitor the autonomous operation of the gantry crane, and provide data support for the subsequent determination of the specific working mode.

[0085] The standard number of personnel information refers to the minimum number of personnel required for the driver to monitor the gantry crane operation one-to-many. The specific number is set by technical personnel in this field based on actual conditions.

[0086] Step S4021: If it is not less than, determine that the standard mode information is the working mode information.

[0087] Among them, if the number of personnel corresponding to the driver data information is not less than the number of personnel corresponding to the standard number of personnel information, it means that there are sufficient driver resources to carry out one-to-many monitoring of the gantry crane operation, and therefore the standard mode information is determined as the working mode information.

[0088] Step S4022: If it is less than, determining the preset super idle mode information as the working mode information.

[0089] Among them, if the number of personnel corresponding to the driver data information is less than the number of personnel corresponding to the standard number of personnel information, it means that there are not sufficient driver resources to perform one-to-many monitoring of the gantry crane operation, and therefore the super-idle mode information is determined as the working mode information.

[0090] Reference Figure 5 The method of connecting the remote control platform and the working gantry crane according to the mode feedback information and controlling the working gantry crane to load and unload the cargo at the wharf comprises the following steps: Step S500: Analyze the scene data information to determine the planned path information for lifting the goods.

[0091] Among them, the planned path information refers to the driving path of the large truck, the driving path of the trolley and the lifting path of the hoisting equipment when the gantry crane lifts the goods. The basic path is obtained by the remote control platform after analyzing the scene data information and is submitted to the operator for review.

[0092] Step S501: Control the working gantry crane to approach the cargo and lift the cargo according to the planned path information.

[0093] Among them, after determining the planned path information, the working gantry crane is controlled to approach the cargo on the dock with the planned path information, thereby making basic preparations for lifting the cargo.

[0094] Step S502: Control the working gantry crane to obtain the spreader parameter information in real time, and send the spreader parameter information to the remote control platform in real time.

[0095] In the process of lifting cargo according to the planned path information, the working gantry crane is controlled to detect the parameter information of the spreader and send the parameter information of the spreader to the remote control platform in real time. For specific methods, refer to Figure 6 steps, so as to monitor in real time whether the spreader has any abnormal conditions such as shaking.

[0096] The spreader parameter information refers to the spreader's speed, posture, direction and other parameters, which are detected by multiple sensors installed on the gantry crane using multi-sensor information fusion technology.

[0097] Step S503: Determine whether the hanger parameter information meets the preset stable parameter information requirements.

[0098] The stable parameter information refers to the parameters that the speed of the spreader is at a constant speed and the posture is kept correct, which are input by technical personnel in the field and stored in the remote control platform. The requirement of the stable parameter information refers to the consistency of the parameters corresponding to the stable parameter information.

[0099] By judging whether the parameters corresponding to the spreader parameter information are consistent with the parameters corresponding to the stable parameter information, it is determined whether the spreader of the working gantry crane is stable during the process of lifting the cargo, thereby providing data support for the subsequent control of the working gantry crane to lift the cargo.

[0100] Step S5031: If it is in compliance, continue to obtain the spreader parameter information in real time, and send the spreader parameter information to the remote control platform in real time for cyclic judgment.

[0101] Among them, if the parameters corresponding to the sling parameter information are consistent with the parameters corresponding to the stable parameter information, it means that the sling is in a stable state during the process of lifting the goods by the working gantry crane. Therefore, the sling parameter information continues to be collected in real time, and the sling parameter information is sent to the remote control platform in real time, so as to continuously monitor the status of the sling.

[0102] Step S5032: If not, the working gantry crane is controlled to make adjustments to ensure a smooth lifting process.

[0103] If the parameters corresponding to the spreader parameter information are inconsistent with the parameters corresponding to the stability parameter information, it means that the spreader of the working gantry crane is in a shaking state during the process of lifting the cargo. Therefore, the working gantry crane is controlled to make adjustments to ensure the stability of the spreader. For specific methods, refer to Figure 7 steps.

[0104] Reference Figure 6 The method for sending the spreader parameter information to the remote control platform comprises the following steps: Step S600: Based on the acquired spreader parameter information, the spreader parameter information is sent to the remote control platform via a plurality of preset links.

[0105] Among them, multiple links refer to the data transmission channels between the remote control platform and the gantry crane, which adopt the wireless communication technology of V-band millimeter wave and 5G WLAN fusion, and support two to three links for data transmission at the same time. After collecting the spreader parameter information, the spreader parameter information is sent to the remote control platform through multiple links, so that the remote control platform can monitor the working status of the gantry crane in time.

[0106] Step S601: Acquire reception trigger information of the remote control platform.

[0107] The receiving trigger information refers to the trigger data of the data sent by the gantry crane received by the remote control platform, which is stored in the remote control platform by technical personnel in this field and automatically output when the remote control platform receives the data.

[0108] Step S602: based on the received trigger information, obtaining the arrival parameter information and the arrival time information corresponding to the arrival parameter information.

[0109] Among them, after detecting the receiving trigger information, that is, the remote control platform has received the data sent by the gantry crane, the arrival parameter information and arrival time information are detected to provide data support for the subsequent determination of the specific receiving data.

[0110] The arrival parameter information refers to the data sent by the gantry crane and received by the remote control platform, and the arrival time information refers to the time when the remote control platform receives the arrival parameter information, both of which are collected and recorded by the remote control platform.

[0111] Step S603: judging whether the arrival parameter information meets the preset requirement of complete data information according to the order of the time corresponding to the arrival time information.

[0112] The complete data information refers to a data sample containing a complete check code, which is obtained by inputting the data into the remote control platform by a technician in this field. The requirement for the complete data information refers to the consistency of the check code corresponding to the complete data information.

[0113] According to the time sequence corresponding to the arrival time information, it is judged whether the check code corresponding to the corresponding arrival parameter information is consistent with the check code corresponding to the complete data information, so as to determine whether the data arriving first is complete, and provide data support for the subsequent determination of the correct received data.

[0114] Step S6031: If not, discard the arrival parameter information that does not meet the requirements of the complete data information, and continue to determine whether the remaining arrival parameter information meets the requirements of the complete data information.

[0115] Among them, if the check code corresponding to the arrival parameter information is inconsistent with the check code corresponding to the complete data information, it indicates that the data that arrived first is incomplete. Therefore, the incomplete arrival parameter information is discarded, and the check code corresponding to the remaining arrival parameter information is judged whether it is consistent with the check code corresponding to the complete data information, so as to obtain complete data.

[0116] Step S6032: If it is in compliance, the remaining arrival parameter information is discarded, and the spreader parameter information is continued to be acquired.

[0117] Among them, if the check code corresponding to the arrival parameter information is consistent with the check code corresponding to the complete data information, it means that the data that arrived first is complete data, so the remaining arrival parameter information is discarded, and the hoist parameter information continues to be obtained, so as to continuously monitor the operation of the gantry crane.

[0118] Reference Figure 7 , a method for controlling the working gantry crane to adjust to ensure a smooth lifting process, comprising the following steps: Step S700: based on the fact that the spreader parameter information does not meet the requirement of the stable parameter information, the swing direction information and the swing amplitude information of the spreader are obtained.

[0119] Among them, when the spreader parameter information does not meet the requirements of stable parameter information, that is, when the spreader is in a shaking state, the swing direction information and swing amplitude information of the spreader are detected to provide data support for subsequent gantry crane adjustments.

[0120] The swing direction information refers to the swing direction of the spreader, and the swing amplitude information refers to the shortest distance between the spreader and the gravity direction. Both are obtained by the 3D camera and laser detection installed on the gantry crane.

[0121] Step S701: Determine whether the swing direction information meets the requirements of the preset adjustment direction information.

[0122] The adjustment direction information refers to the direction in which the sling shaking can be improved after adjustment, that is, the forward and backward directions of the trolley, which is input by a technician in the field and stored in the remote control platform. The requirement for the adjustment direction information is that the direction corresponding to the adjustment direction information is consistent.

[0123] By judging whether the direction corresponding to the swing direction information is consistent with the direction corresponding to the adjustment direction information, it is determined whether the shaking of the hoisting device can be eliminated by adjusting the speed of the trolley, thereby providing data support for the subsequent control of the gantry crane.

[0124] Step S7011: If it does not comply, an alarm is issued.

[0125] Among them, if the direction corresponding to the swing direction information is inconsistent with the direction corresponding to the adjustment direction information, it means that the shaking of the hoist cannot be eliminated by adjusting the speed of the trolley, so an alarm is issued to remind personnel.

[0126] Step S7012: If it is in compliance, then analyze according to the swing direction information to determine the preset speed adjustment direction information of the trolley.

[0127] Among them, if the direction corresponding to the swing direction information is consistent with the direction corresponding to the adjustment direction information, it means that the shaking of the spreader can be eliminated by adjusting the speed of the trolley. Therefore, the speed adjustment direction information is determined according to the swing direction information to provide data support for the subsequent elimination of the shaking of the spreader.

[0128] The trolley refers to the device that moves on the gantry crane beam to adjust the position of the spreader. The speed adjustment direction information refers to the direction of the trolley's speed change. The opposite direction of the swing direction information determined by the remote control platform is the speed adjustment direction information.

[0129] Step S702: Analyze the swing amplitude information to determine the speed adjustment information of the vehicle.

[0130] Among them, the speed adjustment information refers to the adjustment amount of the vehicle speed, which is determined by the remote control platform after analyzing the swing amplitude information. The analysis method is: the distance corresponding to the swing amplitude information is proportional to the adjustment amount corresponding to the speed adjustment information, that is, the larger the swing amplitude information, the larger the speed adjustment information. The proportional coefficient between the two is set by technical personnel in this field according to actual conditions.

[0131] Step S703: Control the trolley to adjust the speed direction information and the speed adjustment information to eliminate the swing of the spreader until the spreader parameter information meets the requirements of the stable parameter information.

[0132] Among them, after determining the speed adjustment direction information and the speed adjustment information, the trolley is controlled to adjust the speed along the direction corresponding to the speed adjustment direction information with the adjustment amount corresponding to the speed adjustment information, thereby reducing the shaking of the sling until the parameters corresponding to the sling parameter information are consistent with the parameters corresponding to the stable parameter information.

[0133] Based on the same inventive concept, an embodiment of the present invention provides a gantry crane control system, including: An acquisition module, used to acquire work trigger information, scene data information, driver data information, mode feedback information, scene image information, cargo parameter information, spreader parameter information, receiving trigger information, arrival parameter information, arrival time information, swing direction information and swing amplitude information; Memory, used to store Figures 1 to 7 A program of a gantry crane control method as described in any one of the above; The program in the memory can be loaded and executed by the processor and implemented as follows Figures 1 to 7 A gantry crane control method as described in any one of the above.

[0134] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0135] An embodiment of the present invention provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed by a gantry crane control method.

[0136] Computer storage media include, for example, various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0137] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute a gantry crane control method.

[0138] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0139] The above are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Any feature disclosed in this specification (including the abstract and drawings), unless otherwise stated, can be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

Claims

1. A gantry crane control method, characterized in that: include: Obtain the preset remote control platform's work trigger information; Acquire preset terminal scene data information and driver data information based on the work trigger information; Analyze the scene data information and the driver data information to determine the working mode information and output prompts; Obtaining mode feedback information corresponding to the working mode information; Analyze the scene data information and the preset gantry crane distribution information to determine the working gantry crane; The remote control platform and the working gantry crane are connected according to the mode feedback information, and the working gantry crane is controlled to load and unload the cargo at the dock.

2. A gantry crane control method according to claim 1, characterized in that: The method for obtaining the scene data information of the preset dock includes: Controlling a preset scene recognition device to obtain scene image information of the dock based on the work trigger information; Determining whether there is preset loading and unloading scene feature information in the image corresponding to the scene image information; If it does not exist, continue to obtain scene image information to loop judgment; If it exists, the cargo distribution information is determined by analyzing the scene image information; Acquire cargo parameter information based on scene image information; The cargo distribution information and the cargo parameter information are associated to generate scenario data information.

3. A gantry crane control method according to claim 1, characterized in that: The method for analyzing the scene data information and the driver data information to determine the working mode information includes: Determine whether the cargo parameters corresponding to the scene data information meet the requirements of the preset loading parameter information; If it meets the requirement, it is determined whether the driver data information is not less than the preset sufficient number of people; If it is not less than, the preset efficiency mode information is determined to be the working mode information; the efficiency mode information is characterized by a mode in which a single person monitors a single gantry crane when the gantry crane is operating automatically; If it is less than, the preset standard mode information is determined to be the working mode information; the standard mode information is characterized by a mode in which a single person monitors multiple gantry cranes when the gantry cranes are automatically operating; If not, the cargo distribution and driver data information corresponding to the scene data information are analyzed to determine the working mode information.

4. A gantry crane control method according to claim 3, characterized in that: The method for analyzing the cargo distribution and driver data information corresponding to the scenario data information to determine the working mode information includes: Determine whether the cargo distribution corresponding to the scene data information meets the requirements of the preset decentralized operation information; If not, the preset super idle mode information is determined as the working mode information; the super idle mode information is characterized as a mode of automatic operation of the gantry crane; If it meets the requirement, it is determined whether the driver data information is not less than the preset standard number of people; If it is not less than, the standard mode information is determined as the working mode information; If it is less than, the preset ultra-idle mode information is determined as the working mode information.

5. A gantry crane control method according to claim 1, characterized in that: The method of connecting the remote control platform and the working gantry crane according to the mode feedback information and controlling the working gantry crane to load and unload the cargo at the wharf includes: Analyze the scene data to determine the planned path information for lifting the cargo; Control the working gantry crane to approach the cargo and lift the cargo according to the planned path information; Control the working gantry crane to obtain the spreader parameter information in real time, and send the spreader parameter information to the remote control platform in real time; Determine whether the spreader parameter information meets the requirements of the preset stable parameter information; If it meets the requirements, the spreader parameter information will continue to be acquired in real time, and the spreader parameter information will be sent to the remote control platform in real time for cyclic judgment; If it does not meet the requirements, the working gantry crane will be controlled to make adjustments to ensure a smooth lifting process.

6. A gantry crane control method according to claim 5, characterized in that: The method of sending the spreader parameter information to the remote control platform includes: Based on the acquired spreader parameter information, the spreader parameter information is sent to the remote control platform via a preset plurality of links; Get the receiving trigger information of the remote control platform; Based on the received trigger information, acquiring the arrival parameter information and the arrival time information corresponding to the arrival parameter information; According to the order of the arrival time information, it is judged whether the arrival parameter information meets the requirements of the preset complete data information; If not, the arrival parameter information that does not meet the requirements of the complete data information is discarded, and the remaining arrival parameter information continues to be judged whether it meets the requirements of the complete data information; If it meets the requirements, the remaining arrival parameter information is discarded and the spreader parameter information is continued to be obtained.

7. A gantry crane control method according to claim 5, characterized in that: Methods for controlling the working gantry crane to make adjustments to ensure a smooth lifting process include: Based on the fact that the spreader parameter information does not meet the requirement of stable parameter information, the swing direction information and the swing amplitude information of the spreader are obtained; Determine whether the swing direction information meets the requirements of the preset adjustment direction information; If it does not meet the requirements, an alarm will be issued; If it is in compliance, the swing direction information is analyzed to determine the preset speed adjustment direction information of the trolley; Analyze the swing amplitude information to determine the speed adjustment information of the car; The trolley is controlled to adjust with the speed adjustment direction information and the speed adjustment information to eliminate the sling shaking until the sling parameter information meets the requirements of the stable parameter information.

8. A gantry crane control system, characterized in that: include An acquisition module is used to acquire work trigger information, scene data information, driver data information and mode feedback information; A memory, used to store a program of a gantry crane control method according to any one of claims 1 to 7; The program in the memory can be loaded and executed by the processor to implement a gantry crane control method as described in any one of claims 1 to 7.

9. An intelligent terminal, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and executes a gantry crane control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: A computer program is stored which can be loaded by a processor and execute a gantry crane control method as claimed in any one of claims 1 to 7.

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