A control method and control system for under-machine operation of portal crane

Abstract

The present invention relates to the field of operation control technology, and in particular to a control method and control system for under-machine operation of a gantry crane. The control method comprises the following steps: obtaining the main power connection data of the gantry crane driver's cab; distinguishing the main power connection data of the gantry crane driver's cab, and generating main power connection distinction data; performing local connection knob selection on the gantry crane under-machine operation box based on the main power connection distinction data, generating the first knob selection data of the gantry crane under-machine operation box, generating the main power closing instruction, and realizing the action of the lifting mechanism and the running mechanism through the interactive generation of the control instructions of the lifting mechanism and the running mechanism, and finally obtaining the anchoring state data. The present invention improves the convenience of operation and control of the gantry crane in emergency situations by improving automation, intelligent control, fault detection and self-recovery mechanism, precise position matching and multi-position and multi-mechanism operation functions.

Description

Technical Field

[0001] The present invention relates to the technical field of operation control, and in particular to a control method and a control system for under-machine operation of a portal crane. Background Art

[0002] When existing gantry cranes are performing anchoring operations in emergency situations such as gale warnings, the gantry crane driver needs to perform operations such as lifting the grab bucket, moving the traveling mechanism, opening and closing the wheel clamps in the driver's cab, and personnel under the machine are required to assist in commanding and positioning. The overall efficiency is low and a large number of personnel are involved, which has great limitations and inconveniences. Summary of the invention

[0003] Based on this, it is necessary to provide a control method and a control system for underground operation of a portal crane to solve at least one of the above technical problems.

[0004] To achieve the above object, a control method for under-machine operation of a portal crane comprises the following steps:

[0005] Step S1: obtaining the main power connection data of the gantry crane cab; judging the main power connection data of the gantry crane cab, and generating main power connection judgment data; performing local connection knob selection on the gantry crane under-operation box based on the main power connection judgment data, and generating the first knob selection data of the gantry crane under-operation box;

[0006] Step S2: Perform fault detection on the door machine according to the first knob selection data of the door machine lower operation box. When the touch screen of the door machine lower operation box displays that the detected fault is empty, the main power contactor closing instruction is generated for the door machine through the lower operation box, and the main power contactor closing instruction and the main power closing status data fed back by the door machine are obtained; the lifting mechanism action selection instruction and the selected speed instruction are generated for the door machine lower operation box based on the main power contactor closing instruction and the main power closing status data fed back by the door machine, and the door machine lifting mechanism operation instruction is obtained. The lifting mechanism drives the grab bucket to perform the lifting action according to the instruction until the actual position is consistent with the target position, and then the lifting action instruction is released;

[0007] Step S3: Acquire the anchoring position data of the door crane; based on the position data of the door crane, generate the door crane hoisting mechanism operation instruction to switch the door crane travel instruction, and generate the door crane travel switching instruction; perform walking function abnormality detection based on the door crane travel switching instruction, and when the walking abnormality is detected, perform fault and reset processing; generate the wheel clamp opening instruction through the door crane lower operation box, and the wheel clamp starts to execute the wheel clamp opening instruction after receiving the instruction until the wheel clamp is detected to be opened, and generate the wheel clamp opening state data; based on the wheel clamp opening state data, generate the walking mechanism action instruction and the selected speed instruction through the door crane lower operation box to obtain the door crane walking mechanism operation instruction;

[0008] Step S4: acquiring the position data of the anchor target point of the door crane; matching the position data of the door crane with the position data of the door crane operation target point, and executing step S5 when the position data of the door crane is equal to the position data of the door crane operation target point; when the position data of the door crane is not equal to the position data of the door crane operation target point, the running mechanism does not execute the instruction and the door crane receives the instruction data prohibiting continued running; based on the door crane running switching instruction, a running bypass enabling control instruction is generated through the door crane lower operating box, and the door crane travel position is corrected for the door crane position data based on the running bypass enabling control instruction, until the door crane position data is equal to the position data of the door crane operation target point;

[0009] Step S5: Generate a wheel clamp closing instruction through the gantry crane's lower operating box; after receiving the wheel clamp closing instruction, the wheel clamp starts to execute the instruction until it detects that the wheel clamp is closed, and generates wheel clamp closing status data; based on the wheel clamp closing status data, automatically generate anchoring status data through the gantry crane's lower operating box; based on the anchoring status data, control the gantry crane's grab to descend, and generate grab descent control data; through the grab descent control data, use the lower operating box to issue a contactor opening instruction to the gantry crane's main power supply, obtain the contactor opening instruction data, and perform contactor opening feedback according to the contactor opening instruction data to obtain the contactor opening status data; remotely connect the gantry crane's lower operating box with the contactor opening status data to select the knob, and generate the second knob selection data of the gantry crane's lower operating box to execute the gantry crane on-board operation state preparation.

[0010] The present invention is divided into detailed steps, starting from the acquisition and judgment of the main power connection data, and gradually covers the whole process of operation box knob selection, fault detection, lifting and running mechanism command generation, position correction, wheel clamp control and grab operation preparation. In the process, the reliability and safety of equipment operation are ensured through multi-level safety detection mechanisms such as position matching, walking abnormality detection and wheel clamp status feedback. The multi-knob selection function of the operation box makes the control more flexible, and the data-driven feedback closed loop further improves the intelligence of the system. Through the grab descent control and contactor opening instructions, the operation requirements of the target point position can be accurately realized. At the same time, with the support of touch screen fault detection and walking function abnormality detection, the operation process effectively reduces the risk of misoperation and ensures the safety of equipment and personnel. In addition, bypass enable control and real-time position correction ensure the accuracy of gantry crane operation, and anchor state verification further ensures the stability of grab operation. The entire process has efficient data processing capabilities and strict status monitoring methods, which is particularly suitable for the scene of anchoring and moving equipment in emergency situations of strong wind warnings at ports and docks, and provides a comprehensive solution for the safety and convenience of windproof operation of portal cranes. Therefore, the present invention improves the convenience of operation and control of portal cranes in emergency situations by improving automation, intelligent control, fault detection and self-recovery mechanism, precise position matching and multi-position and multi-mechanism operation functions.

[0011] Preferably, determining the main control power connection data of the portal crane cab includes:

[0012] The main power connection data of the gantry crane cab is compared to obtain the main power connection status data of the gantry crane cab, wherein the main power connection status data of the gantry crane cab includes the main control knob position selection data, the power contactor opening and closing status data and the contactor opening and closing control instruction data; the main power connection status data of the gantry crane cab is distinguished and output to generate the main control connection distinction data.

[0013] The present invention can timely discover and prevent abnormal opening and closing states of the power contactor through comprehensive identification of the main power connection state, ensure that the crane operates under a reliable power connection state, and avoid safety hazards caused by power failure. The monitoring of the main control knob position selection data enables the system to accurately identify the current operation mode, thereby achieving more accurate control instruction generation and ensuring the accuracy of the operation. The main control power connection data comparison can quickly detect mismatches or abnormal situations, and provide intuitive status feedback by outputting the main control connection judgment data to help operators avoid misoperation. The closed-loop feedback mechanism formed by real-time comparison and status judgment enables the control system to dynamically adjust the operation process to ensure the consistency and efficiency of power connection and equipment control. Integrating multiple key status data in the main control connection judgment data provides reliable data support for subsequent fault detection and equipment operation, making the entire system more intelligent and automated.

[0014] Preferably, performing fault detection on the door machine according to the first knob selection data of the door machine lower operating box includes:

[0015] Performing a lifting mechanism and a running mechanism state fault detection on the door crane lower operating box according to the first knob selection data of the door crane lower operating box, generating lifting mechanism fault detection data and running mechanism fault detection data, wherein the lifting mechanism and running mechanism state fault detection specifically includes: lifting mechanism drive motor power supply opening and closing state fault detection, drive motor brake state fault detection, lifting mechanism variable frequency drive system fault state fault detection and lifting mechanism extreme position state fault detection, running mechanism drive motor power supply opening and closing state fault detection, drive motor brake state fault detection, running mechanism variable frequency drive system fault state fault detection and running mechanism extreme position state fault detection;

[0016] The power supply status data of the door machine wheel clamp is detected to generate power supply status signal data; the opening and closing status and opening and closing degree data of the door machine wheel clamp are detected through the power supply status signal data to generate the opening and closing status data of the wheel clamp;

[0017] Perform emergency stop system status data detection on the lifting mechanism and the traveling mechanism to generate mechanism emergency stop data; integrate the lifting mechanism fault detection data, the traveling mechanism fault detection data, the wheel clamp opening and closing status data, and the mechanism emergency stop data to generate the overall fault detection data of the gantry crane;

[0018] The overall fault detection data of the door machine is displayed according to the control network communication protocol, and the touch screen display detection fault data of the door machine operation box is obtained; when the touch screen display detection fault data of the door machine operation box is empty, the contactor closing command is generated for the door machine main control power supply to obtain the contactor closing command data.

[0019] The present invention covers a variety of fault detection scenarios for core mechanisms such as the lifting mechanism, the running mechanism, and the wheel clamp, ensuring that all aspects of the equipment operation are in a controlled state and reducing the risk of mechanical failure. The status detection of the emergency stop system provides additional protection measures in emergency situations, which can respond quickly in times of crisis and avoid safety accidents caused by fault expansion. The fault data, wheel clamp status data, and emergency stop data of multiple mechanisms are integrated and analyzed to generate overall fault detection data for the gantry crane, providing a comprehensive evaluation basis for the equipment operation fault status. The real-time display of the fault data on the touch screen enables the operator to quickly locate the problem and take corresponding measures based on the displayed results, which helps to improve operational efficiency and emergency response capabilities. If the touch screen shows that the fault data is empty, the contactor closing command data is automatically generated to ensure that the equipment can quickly resume normal operation and minimize unnecessary downtime caused by fault detection. The efficient transmission and interaction of data is achieved by controlling the network communication protocol, providing technical support for the intelligent operation of gantry equipment. This method is particularly suitable for anchoring and moving equipment in emergency situations of strong wind warnings at port terminals. Through comprehensive fault detection and precise data processing, it provides a comprehensive solution for the safety and speed of wind-proof operations of gantry cranes, and also lays the foundation for the intelligent upgrade of equipment.

[0020] Preferably, displaying the overall fault detection data of the door machine according to the control network communication protocol includes:

[0021] Establish an abnormal fault status list; compile fault status display graphics for the abnormal fault status list through the touch screen of the door crane's under-machine operation box to generate abnormal fault type graphics; display corresponding fault graphics for the abnormal fault type graphics and the door crane's overall fault detection data, thereby generating the touch screen display detection fault data for the door crane's under-machine operation box.

[0022] The present invention simplifies complex text descriptions through graphical fault display, allowing operators to quickly understand the fault type and location, thereby improving the efficiency of problem identification. Combined with the real-time display of the abnormal fault status list and detection data, the fault type can be accurately located, information confusion can be avoided, and the targeted maintenance can be improved. By displaying real-time fault information on the touch screen, operators can quickly understand the equipment status and take timely measures to shorten problem handling time and reduce equipment downtime losses. By controlling the network communication protocol, the accuracy and timeliness of data transmission are guaranteed, information loss or delay is avoided, and the reliability of fault display is improved. The graphically displayed data format is convenient for remote transmission and sharing, providing convenience for remote fault diagnosis and technical support.

[0023] Preferably, the abnormal walking function detection based on the door crane walking switching instruction includes:

[0024] Use contactors, limiters and sensors to collect the door crane travel mechanism equipment status data according to the door crane travel switching instructions to obtain the door crane travel mechanism equipment status data; define the abnormal standard of the door crane travel mechanism equipment status data to generate the door crane travel mechanism equipment status abnormal standard range data;

[0025] The data is compared with the abnormal standard range data of the door machine running mechanism equipment status and the door machine running mechanism equipment status data. When the door machine running mechanism equipment data is within the abnormal standard range data, the door machine is fault-processed and reset.

[0026] The present invention can quickly identify operating anomalies through real-time collection and analysis of the walking mechanism status data, avoiding equipment damage or safety accidents caused by delayed fault processing. Based on the data comparison within the abnormal standard range, the source of the fault can be accurately located, and targeted fault processing and equipment reset can be achieved, thereby improving the efficiency of fault recovery. The walking mechanism abnormality detection mechanism effectively reduces the potential safety risks during equipment operation, ensuring that the equipment can be shut down and reset in a timely manner under abnormal conditions. By timely detecting and repairing equipment anomalies, the operation time of the equipment in the windproof anchoring scenario caused by the fault is reduced, and the equipment risk is reduced. Equipment status data and abnormality processing records can provide data support for subsequent intelligent management and predictive maintenance, further improving the level of equipment management.

[0027] Preferably, the door machine fault and reset processing includes:

[0028] Start the reset procedure of the door machine, which includes control system reset, hydraulic system reset and electrical system reset, and simultaneously record the fault information; perform automatic walking performance test on the fault information and generate fault reset performance test data;

[0029] The reset program is adaptively reset and adjusted according to the fault reset performance test data.

[0030] The present invention can quickly locate and solve fault problems through step-by-step resetting and automatic performance testing, thus shortening the downtime of the door machine. Adaptive adjustment is performed using performance test data to make the resetting process more accurate and reliable, thereby improving the operational stability of the door machine. The fault information during the resetting process is fully recorded, providing reliable data support for subsequent maintenance, fault analysis, and operational optimization of the equipment. After the system is reset, the performance test is used to verify the equipment status to ensure that the door machine has safe operating conditions when it recovers after a fault, thereby reducing safety hazards. Through automated fault handling and optimization adjustments, the loss of the door machine system due to repeated faults or error repairs is reduced, thereby extending the service life of the equipment.

[0031] Preferably, performing position matching between the door crane position data and the door crane operation target point position data comprises:

[0032] Perform Beidou positioning and encoder positioning on the door crane position data to generate the door crane position positioning data; perform coordinate conversion on the door crane operation target point position data to generate the target point position coordinate data; perform spatial coordinate distance calculation on the door crane position positioning data and the target point position coordinate data to obtain the position deviation data;

[0033] The position deviation data is judged to be zero value. When the position deviation data is not zero and the fault information is empty and the travel instruction is invalid, the bypass enable state control is performed on the door crane lower operating box based on the door crane travel switching instruction, and a bypass enable state control instruction is generated; based on the bypass enable state control instruction, the door crane continues to generate travel instructions until the position deviation data is zero, and step S5 is executed.

[0034] The present invention combines Beidou positioning and encoder positioning technology to obtain high-precision gantry crane position data and effectively respond to positioning requirements in complex environments. Coordinate conversion and spatial distance calculation are used to ensure efficient matching of the gantry crane position and the target point coordinates, thereby improving operational accuracy. A bypass enabling state control mechanism is introduced to achieve walking adjustment of the gantry crane under abnormal conditions and improve the level of intelligent operation. When the fault information is empty, the system can autonomously adjust the operating state to avoid delays in manual intervention and achieve continuous and smooth gantry crane operation. Travel instructions are automatically generated until the position matching is completed, significantly reducing manual operation steps and improving the task execution efficiency of the gantry crane. Through dynamic monitoring and automatic adjustment of position deviation data, it is ensured that the gantry crane reaches the target position safely and reliably, reducing operational risks caused by positioning errors.

[0035] Preferably, generating a travel bypass enabling control instruction through a door crane lower operating box based on a door crane travel switching instruction, and performing door crane travel position correction on the door crane position data based on the travel bypass enabling control instruction includes:

[0036] Based on the door crane travel switching instruction and the door crane travel mechanism action instruction in the door crane travel mechanism operation instruction, the instruction data for prohibiting continued travel is controlled and judged. When the instruction data for prohibiting continued travel is a valid value, a bypass state control instruction is generated; the door crane position data is corrected for the door crane travel position according to the travel bypass enable control instruction until the door crane position data is equal to the door crane operation target point position data.

[0037] The present invention effectively solves the problem of being unable to move due to the limit position but not reaching the target position by utilizing the bypass control mechanism. By generating a bypass state control instruction, the continuity and reliability of the operation process can be ensured. When it is detected that the prohibition of continued travel instruction is valid, the system enters the bypass mode to avoid the problem of being unable to move due to the limit position but not reaching the target position, thereby improving the overall efficiency of the door machine operation in emergency situations.

[0038] Preferably, based on the anchorable anchoring state data, controlling the descent of the grab bucket on the gantry crane includes:

[0039] Based on the anchorable anchoring state data, the gantry crane travel mechanism operation instruction is switched to the gantry crane lifting instruction, and the gantry crane lifting switching instruction data is generated;

[0040] The lifting mechanism action command and the selected speed command are generated from the lifting switch command data of the gantry crane through the under-machine operation box to obtain the lifting mechanism operation command of the gantry crane;

[0041] The gantry crane lifting mechanism operation instructions are used to control the gantry crane grab bucket to descend and generate grab bucket descending control data.

[0042] The present invention effectively avoids misoperation of grab bucket lowering caused by mismatch of travel position by dynamically switching instructions based on anchoring state data. Generates a complete operation instruction chain required for grab bucket lowering, significantly improving operation efficiency. Real-time use of anchoring state data is used to judge the grab bucket operating conditions to ensure that the lowering process meets the safety operation requirements and avoids equipment damage or safety hazards. Flexible adjustment of grab bucket lowering speed is achieved by selecting speed instructions to adapt to different operation requirements and on-site environments. Intelligent linkage is performed between anchoring state, travel mechanism and lifting mechanism operation to optimize the operation process and improve the overall intelligence level of the system.

[0043] In the present specification, a control system for the under-machine operation of a portal crane is also provided, which is used to execute the above-mentioned control method for the under-machine operation of a portal crane. The control system for the under-machine operation of a portal crane comprises:

[0044] The connection selection module is used to obtain the main power connection data of the gantry crane driver's cab; to identify the main power connection data of the gantry crane driver's cab and generate the main power connection identification data; to perform local connection knob selection on the gantry crane under-operation box based on the main power connection identification data and generate the first knob selection data of the gantry crane under-operation box;

[0045] The closing mechanism operation module is used to perform fault detection on the door machine according to the first knob selection data of the door machine lower operation box. When the touch screen of the door machine lower operation box displays that the detected fault is empty, the main power contactor closing instruction is generated for the door machine through the lower operation box, and the main power contactor closing instruction and the main power closing status data fed back by the door machine are obtained; the lifting mechanism action instruction and the selected speed instruction are generated for the door machine lower operation box based on the main power contactor closing instruction and the main power closing status data fed back by the door machine, and the lifting mechanism operation instruction of the door machine is obtained;

[0046] The walking operation module is used to obtain the door machine position data; based on the door machine position data, the door machine hoisting mechanism operation instruction is switched to the door machine walking instruction, and the door machine walking switching instruction is generated; based on the door machine walking switching instruction, the walking function abnormality detection is performed, and when the walking abnormality is detected, the fault and reset processing is performed; the wheel clamp opening instruction is generated through the door machine under-operation box, and the wheel clamp starts to execute the wheel clamp opening instruction after receiving the instruction until the wheel clamp is detected to be opened, and the wheel clamp opening state data is generated; based on the wheel clamp opening state data, the walking mechanism action instruction and the selected speed instruction are generated through the door machine under-operation box, and the door machine walking mechanism operation instruction is obtained;

[0047] The running position matching module is used to obtain the position data of the door crane operation target point; the door crane position data and the door crane operation target point position data are matched, and when the door crane position data is equal to the door crane operation target point position data, the lifting operation module is triggered; when the door crane position data is not equal to the door crane operation target point position data, the running mechanism does not execute the instruction and the door crane receives the instruction data prohibiting continued running; based on the door crane travel switching instruction, the running bypass enabling control instruction is generated through the door crane lower operation box, and the door crane travel position is corrected for the door crane position data based on the running bypass enabling control instruction until the door crane position data is equal to the door crane operation target point position data;

[0048] The lifting operation module is used to generate a wheel clamp closing instruction through the operation box under the gantry crane; after the wheel clamp receives the wheel clamp closing instruction, it starts to execute the instruction until the wheel clamp is detected to be closed, and the wheel clamp closing status data is generated; based on the wheel clamp closing status data, the anchoring status data is automatically generated through the operation box under the gantry crane; based on the anchoring status data, the grab on the gantry crane is controlled to descend, and the grab descending control data is generated; through the grab descending control data, the operation box under the machine sends a contactor opening instruction to the main power supply of the gantry crane, obtains the contactor opening instruction data and performs contactor opening feedback according to the contactor opening instruction data, and obtains the contactor opening status data; the remote connection knob selection is performed on the operation box under the gantry crane through the contactor opening status data, and the second knob selection data of the operation box under the gantry crane is generated to execute the gantry crane on-board operation state preparation.

[0049] The beneficial effect of the present invention is that through the modular operation process and the collaborative work between the functional modules, the various controls and fault detection of the gantry crane are more intelligent, which can effectively improve the operation efficiency and accuracy and reduce the need for manual intervention. When abnormal walking or other faults are detected, the system can quickly identify the fault and start the reset process to ensure that the equipment is quickly restored to a normal working state and reduce the loss caused by the downtime due to the fault. Through multi-level state feedback and control, such as wheel clamp state detection, contactor state feedback, etc., the equipment state can be monitored in real time to ensure the safety during the operation process and avoid accidents or equipment damage caused by equipment abnormalities. During the walking process of the gantry crane, the system can accurately match and correct the position to ensure that the gantry crane is always in the correct operating position, improve efficiency, and reduce problems caused by position deviation. Through automatic instruction generation and switching based on state data, a high level of automation of the equipment is achieved, and work efficiency and operation accuracy are improved. The automatic recording and processing of fault information enables the root cause of the problem to be traced in time when a fault occurs, reducing maintenance time and improving equipment maintenance efficiency. The collaborative work between the modules enables the system to have efficient dynamic adjustment capabilities. For example, position correction is performed through the travel bypass enabling control command to ensure that the gantry crane can operate stably in complex environments. Flexible operation of control ports such as the gantry crane's under-machine operating box makes the entire workflow more concise, and operators can quickly respond to the equipment's windproof anchoring needs, improving the equipment's windproof anchoring efficiency and quality. The coordination of a series of actions such as efficient travel control, lifting operation, and grab control improves the equipment's windproof anchoring efficiency, thereby improving equipment safety, especially in the port's gale warning emergency environment. Therefore, the present invention improves the convenience of operation and control of gantry cranes in emergency situations by improving automation, intelligent control, fault detection and self-recovery mechanisms, precise position matching, and multi-position and multi-mechanism operation functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 A schematic flow chart of the steps of a control method for under-machine operation of a portal crane;

[0051] Figure 2 for Figure 1 A flowchart of detailed implementation steps for determining the main control power connection data of the gantry crane operator's cab;

[0052] Figure 3 for Figure 1 The detailed implementation steps of the process flow diagram of the door machine fault detection according to the first knob selection data of the door machine bottom operation box;

[0053] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0054] The technical method of the present invention is described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by technicians in this field without creative work are within the scope of protection of the present invention.

[0055] In addition, the accompanying drawings are only schematic illustrations of the present invention and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and their repeated description will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. The functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor methods and / or microcontroller methods.

[0056] It should be understood that although the terms "first", "second", etc. may be used herein to describe various units, these units should not be limited by these terms. These terms are used only to distinguish one unit from another. For example, without departing from the scope of the exemplary embodiments, a first unit may be referred to as a second unit, and similarly, a second unit may be referred to as a first unit, and the term "and / or" used herein includes any and all combinations of one or more of the listed associated items.

[0057] To achieve this, please refer to Figures 1 to 3 , a control method for the under-machine operation of a portal crane, the method comprising the following steps:

[0058] Step S1: obtaining the main power connection data of the gantry crane cab; judging the main power connection data of the gantry crane cab, and generating main power connection judgment data; performing local connection knob selection on the gantry crane under-operation box based on the main power connection judgment data, and generating the first knob selection data of the gantry crane under-operation box;

[0059] Step S2: Perform fault detection on the door machine according to the first knob selection data of the door machine lower operation box. When the touch screen of the door machine lower operation box displays that the detected fault is empty, the main power contactor closing instruction is generated for the door machine through the lower operation box, and the main power contactor closing instruction and the main power closing status data fed back by the door machine are obtained; the lifting mechanism action selection instruction and the selected speed instruction are generated for the door machine lower operation box based on the main power contactor closing instruction and the main power closing status data fed back by the door machine, and the door machine lifting mechanism operation instruction is obtained. The lifting mechanism drives the grab bucket to perform the lifting action according to the instruction until the actual position is consistent with the target position, and then the lifting action instruction is released;

[0060] Step S3: Acquire the anchoring position data of the door crane; based on the position data of the door crane, generate the door crane hoisting mechanism operation instruction to switch the door crane travel instruction, and generate the door crane travel switching instruction; perform walking function abnormality detection based on the door crane travel switching instruction, and when the walking abnormality is detected, perform fault and reset processing; generate the wheel clamp opening instruction through the door crane lower operation box, and the wheel clamp starts to execute the wheel clamp opening instruction after receiving the instruction until the wheel clamp is detected to be opened, and generate the wheel clamp opening state data; based on the wheel clamp opening state data, generate the walking mechanism action instruction and the selected speed instruction through the door crane lower operation box to obtain the door crane walking mechanism operation instruction;

[0061] Step S4: acquiring the position data of the anchor target point of the door crane; matching the position data of the door crane with the position data of the door crane operation target point, and executing step S5 when the position data of the door crane is equal to the position data of the door crane operation target point; when the position data of the door crane is not equal to the position data of the door crane operation target point, the running mechanism does not execute the instruction and the door crane receives the instruction data prohibiting continued running; based on the door crane running switching instruction, a running bypass enabling control instruction is generated through the door crane lower operating box, and the door crane travel position is corrected for the door crane position data based on the running bypass enabling control instruction, until the door crane position data is equal to the position data of the door crane operation target point;

[0062] Step S5: Generate a wheel clamp closing instruction through the gantry crane's lower operating box; after receiving the wheel clamp closing instruction, the wheel clamp starts to execute the instruction until it detects that the wheel clamp is closed, and generates wheel clamp closing status data; based on the wheel clamp closing status data, automatically generate anchoring status data through the gantry crane's lower operating box; based on the anchoring status data, control the gantry crane's grab to descend, and generate grab descent control data; through the grab descent control data, use the lower operating box to issue a contactor opening instruction to the gantry crane's main power supply, obtain the contactor opening instruction data, and perform contactor opening feedback according to the contactor opening instruction data to obtain the contactor opening status data; remotely connect the gantry crane's lower operating box with the contactor opening status data to select the knob, and generate the second knob selection data of the gantry crane's lower operating box to execute the gantry crane on-board operation state preparation.

[0063] The present invention is divided into detailed steps, starting from the acquisition and judgment of the main power connection data, and gradually covers the whole process of operation box knob selection, fault detection, lifting and running mechanism command generation, position correction, wheel clamp control and grab operation preparation. In the process, the reliability and safety of equipment operation are ensured through multi-level safety detection mechanisms such as position matching, walking abnormality detection and wheel clamp status feedback. The multi-knob selection function of the operation box makes the control more flexible, and the data-driven feedback closed loop further improves the intelligence of the system. Through the grab descent control and contactor opening instructions, the operation requirements of the target point position can be accurately realized. At the same time, with the support of touch screen fault detection and walking function abnormality detection, the operation process effectively reduces the risk of misoperation and ensures the safety of equipment and personnel. In addition, bypass enable control and real-time position correction ensure the accuracy of gantry crane operation, and anchor state verification further ensures the stability of grab operation. The entire process has efficient data processing capabilities and strict status monitoring methods, which is particularly suitable for the scene of anchoring and moving equipment in emergency situations of strong wind warnings at ports and docks, and provides a comprehensive solution for the safety and convenience of windproof operation of portal cranes. Therefore, the present invention improves the convenience of operation and control of portal cranes in emergency situations by improving automation, intelligent control, fault detection and self-recovery mechanism, precise position matching and multi-position and multi-mechanism operation functions.

[0064] In the embodiment of the present invention, reference Figure 1 As shown, it is a schematic flow chart of the steps of the control method for the under-machine operation of a portal crane according to the present invention. In this example, the control method for the under-machine operation of a portal crane includes the following steps:

[0065] Step S1: obtaining the main power connection data of the gantry crane cab; judging the main power connection data of the gantry crane cab, and generating main power connection judgment data; performing local connection knob selection on the gantry crane under-operation box based on the main power connection judgment data, and generating the first knob selection data of the gantry crane under-operation box;

[0066] In an embodiment of the present invention, by acquiring data of power connection status from the main control power connection system of the gantry crane driver's cab, data comparison is performed on the main control power connection data of the gantry crane driver's cab, and the main control power connection status data of the gantry crane driver's cab is obtained, wherein the main control power connection status data of the gantry crane driver's cab includes main control knob position selection data, power contactor opening and closing state data, and contactor opening and closing control instruction data; the main control power connection status data of the gantry crane driver's cab is subjected to state discrimination output to generate main control connection discrimination data. The judgment data is mainly divided into four states: the main control power switch of the driver's cab is on, the main control power switch of the driver's cab is off; the main control power switch of the machine side operation box is on, and the main control power switch of the machine side operation box is off. Based on the main control power connection discrimination data, the current power connection state is judged. If the power connection is normal, the knob setting of the gantry crane lower operation box is automatically or manually switched to the "normal working" mode; if the power connection is abnormal, it is switched to the "troubleshooting" mode. The specific parameters of the knob selection are determined by the algorithm, and the setting of the operation box knob is dynamically adjusted according to the power state. The status of the knob (such as knob position, working mode, etc.) is converted into storable data to form the first knob selection data of the door operator's lower operating box. The generated first knob selection data is fed back to the touch screen to provide the operator with real-time information display. If there is an abnormal power connection, the system will automatically alarm and prompt the operator to perform further operations.

[0067] Step S2: Perform fault detection on the door machine according to the first knob selection data of the door machine lower operation box. When the touch screen of the door machine lower operation box displays that the detected fault is empty, the main power contactor closing instruction is generated for the door machine through the lower operation box, and the main power contactor closing instruction and the main power closing status data fed back by the door machine are obtained; based on the main power contactor closing instruction and the main power closing status data fed back by the door machine, the lifting mechanism action instruction and the selected speed instruction are generated for the door machine lower operation box, and the lifting mechanism operation instruction of the door machine is obtained;

[0068] In the embodiment of the present invention, the state data of the knob is obtained from the door machine under-operation box, and the data is analyzed to determine the current operation mode of the door machine. The door machine is judged whether it is in the normal working mode by the selection state of the knob. Based on the knob selection data and the working state of the door machine, the fault detection algorithm is started. Check whether the various electrical and mechanical systems of the door machine are working normally, including the power supply, control system, sensor, drive device, etc. If the touch screen of the door machine under-operation box displays "Detection Fault" as empty, it means that no fault is currently detected. At this time, the system confirms that the door machine is in an available state and enters the next operation. According to the first knob selection data of the door machine under-operation box (judging that the door machine is in a normal working state), the "main control power contactor closing" instruction is generated through the under-operation box. This instruction controls the closing action of the main control power contactor of the door machine, so that the power supply is connected to the drive and control system of the door machine. The closing instruction is sent through the operation box, which can start the power supply and provide energy for the subsequent lifting mechanism operation. After the door machine receives the closing instruction, the electrical system performs the closing operation and feeds back the closing state of the power contactor to the control system. The door machine feeds back the closing status data of the main power supply, records whether the power supply closing is successful, the closing time and other information, and ensures that the power supply status is normal. Based on the closing command of the main power contactor and the closing status data of the main power supply fed back by the door machine, it is judged whether the main power supply has been successfully closed. If the closing is successful and the feedback status is normal, proceed to the next step. If the closing status feedback data indicates that the power closing fails or there is an abnormality, the system will alarm and terminate the operation of the lifting mechanism to avoid damage to the equipment. On the premise that the main power supply is successfully closed, the action command of the door machine lifting mechanism is generated according to other control data (such as knob settings, operation mode, etc.) in the door machine lower operation box. The command specifies the action of the lifting mechanism, such as lifting, lowering or maintaining the current state. According to the requirements set by the operator or the system, select the appropriate lifting speed and generate the selected speed command. This command sets the working speed of the lifting mechanism to ensure that the lifting process of the door machine is smooth and efficient. The generated door machine lifting mechanism operation command and selected speed command are transmitted to the door machine control system to drive the lifting mechanism to perform the corresponding action. According to actual needs, the operating instructions will ensure that the lifting mechanism completes the predetermined tasks. During the operation of the lifting mechanism, the system will monitor the status of electrical and mechanical equipment in real time, including voltage, current, etc., to ensure that the equipment operates normally. The operation box under the gantry crane displays the current operating status and fault detection results, providing real-time feedback information to the operator. If any fault is detected during the closing process or lifting operation, the system will automatically trigger an alarm and display the fault information on the operation panel. At this time, the system will switch to the shutdown mode, which needs to be released after manual troubleshooting and repair operations.

[0069] Step S3: acquiring the door machine position data; switching the door machine travel command to the door machine lifting mechanism operation command based on the door machine position data, and generating the door machine travel switching command; performing travel function abnormality detection based on the door machine travel switching command, and performing fault and reset processing when a travel abnormality is detected; generating a wheel clamp opening command through the door machine lower operation box, and the wheel clamp starts to execute the wheel clamp opening command after receiving the command until the wheel clamp is detected to be opened, and generates the wheel clamp opening state data; generating the travel mechanism action command and the selected speed command through the door machine lower operation box based on the wheel clamp opening state data, and obtaining the door machine travel mechanism operation command;

[0070] In an embodiment of the present invention, the data of the current position of the door machine is obtained from the positioning system of the door machine (such as Beidou positioning, encoder, etc.). The data generally includes the position information of the door machine (such as coordinates, angles, offsets, etc.) and the motion state (such as stationary, walking, lifting, etc.). The position data of the door machine is processed, and the position coordinates are converted as necessary so that the data can be used for subsequent control decisions and fault detection. According to the current position and motion state data of the door machine, it is determined whether the door machine is in a lifting state or a walking state. If the door machine is in a lifting state and needs to be switched to a walking state, the system determines whether a walking switching instruction needs to be generated according to the position data. If the door machine is currently in a walking state, the system determines whether it needs to be changed to a lifting mode through a control algorithm. According to the door machine position data and the current control state, the system generates a door machine walking switching instruction to instruct the door machine to switch from the current mode to the walking mode. The switching instruction includes specifying the starting and target positions of the door machine, the walking path, and the walking speed. After the door machine walking switching instruction is issued, the system monitors the walking function in real time, including checking whether there are abnormalities in the electrical system, the drive system, the walking track, etc. The detection items include whether the walking speed is normal, whether the current and voltage are balanced, whether the drive motor is overloaded, whether there are obstacles in the walking path, etc. If the system detects an abnormal walking function (such as mismatched walking speed, overloaded drive system, track obstacles, etc.), a fault alarm will be generated immediately, the walking function will be stopped, and the abnormal state will be fed back to the operation panel. In the case of abnormal detection, the system will automatically handle the fault, involving measures such as stopping walking, power-off protection, and equipment isolation. Through system control, a reset operation is performed to restart the equipment or reset the walking module until the fault is eliminated and the normal state is restored. According to the system operation input, the wheel clamp opening instruction is generated through the door machine under the operation box. The instruction is controlled by the touch screen, button or knob of the operation box and sent to the wheel clamp control module. The wheel clamp opening instruction includes a start signal, which instructs the wheel clamp to release the current locking state and prepare for the next operation. After receiving the opening instruction, the wheel clamp performs the corresponding mechanical action, opens the wheel clamp through the drive motor or hydraulic system, and releases the clamping of the wheel. After receiving the opening instruction, the wheel clamp starts to perform the opening action. This action includes gradually releasing the clamping force, opening the clamp or releasing the clamping device. During the execution process, the system will monitor the status of the wheel clamp through the limit, including whether it is fully opened, whether there is any jamming, etc. The system tracks the clamping status of the wheel clamp in real time and generates the opening status data of the wheel clamp. This data includes information such as the current position of the wheel clamp and whether it is fully opened. The opening status data of the wheel clamp will be fed back to the touch screen of the operation box under the gantry crane, which will display the current status of the wheel clamp in real time (such as "open successfully" or "not open") and provide relevant alarm information. After the wheel clamp is successfully opened, the system generates the operation instructions of the gantry crane running mechanism according to the status data of the wheel clamp. These instructions can include starting running, stopping running, changing the running speed, etc.Based on the working needs and safety requirements of the gantry crane, a selected speed command is generated to control the travel speed of the gantry crane. If fine control is required (for example, in narrow spaces or highly precise operations), the system will generate a lower travel speed command; under normal conditions, the travel speed will be adjusted according to the preset value. The travel mechanism operation command and the selected speed command will be transmitted to the control system to drive the travel system of the gantry crane to perform the predetermined action. The operation process will be monitored in real time to ensure that the gantry crane travels at the specified speed. The execution of all operation commands will be fed back to the operator through the touch screen of the gantry crane's lower operating box, displaying the travel status, wheel clamp status and other relevant data to ensure that the operator has a comprehensive understanding of the operating status of the gantry crane.

[0071] Step S4: acquiring the door machine operation target point position data; matching the door machine position data with the door machine operation target point position data, and when the door machine position data is equal to the door machine operation target point position data, executing step S5; when the door machine position data is not equal to the door machine operation target point position data, the running mechanism does not execute the instruction and the door machine receives the instruction data prohibiting continued running; based on the door machine running switching instruction, a running bypass enabling control instruction is generated through the door machine lower operating box, and the door machine travel position is corrected for the door machine position data based on the running bypass enabling control instruction, until the door machine position data is equal to the door machine operation target point position data;

[0072] In the embodiment of the present invention, the target point position data is obtained from the door crane operating system. Such data usually come from the operator input, the automated scheduling system or the preset process requirements. The target point position data includes information such as the coordinates and angles of the target point, representing the position that the door crane needs to reach. The target point position data is obtained from the door crane operating system. Such data usually come from the operator input, the automated scheduling system or the preset process requirements. The target point position data includes information such as the coordinates and angles of the target point, representing the position that the door crane needs to reach. The current position information of the door crane (obtained from the positioning system) is compared with the target point position data. The comparison is based on factors such as the position coordinates and the azimuth to determine whether the door crane has reached the target point. If the current position data of the door crane is completely consistent with the target point position data (i.e., the door crane has reached the target point), step S5 is entered to perform subsequent operations. If the current position data of the door crane is inconsistent with the target point position data (i.e., the door crane has not reached the target point), the running mechanism instruction is not executed, and an instruction to prohibit continued running is generated to prompt the door crane to stop continuing running. If the door crane reaches the limit protection position, the system will prohibit the running mechanism from executing the running instruction through the control module. This means that the door machine's travel system will not move. The system sends command data prohibiting further travel through the operation box, explicitly telling the door machine to stop the current travel action and prevent the door machine from continuing to move forward when it reaches the limit protection position point. If the door machine's current position does not match the target point, the system will generate a travel bypass enable control command based on the door machine's current state. These commands enable the door machine to adjust the travel position while bypassing the current limit protection. The door machine's lower operation box will send the travel bypass enable control command to the door machine control system. This command enables the door machine to perform corrective movement under an abnormal path and bypass the protection area to calibrate the door machine's position. After receiving the travel bypass enable control command, the door machine's control system will correct the door machine's position data according to the command. The correction can be achieved by adjusting the working state of the drive motor, modifying the travel path, etc. During the correction process, the system will continuously monitor the actual travel position of the door machine and dynamically adjust the target point position to ensure that the door machine gradually approaches the target point during travel. After each position correction is completed, the system will obtain the latest door crane position data through the encoder or positioning system, and compare it with the target point position until the door crane position data is completely consistent with the target point position data. During the door crane position correction process, the system will monitor the match between the door crane's current position and the target point position in real time. If the corrected door crane position data matches the target point position data, it means that the door crane has reached the target point. Once the door crane position data matches the target point position data, the system will confirm that the door crane has reached the target position and is ready to perform the next step, such as lowering the grab bucket, starting other operations, etc.

[0073] Step S5: Generate a wheel clamp closing instruction through the gantry crane's under-machine operating box; after receiving the wheel clamp closing instruction, the wheel clamp starts to execute the instruction until it detects that the wheel clamp is closed, and generates wheel clamp closing status data; based on the wheel clamp closing status data, automatically generate anchoring status data; based on the anchoring status data, control the descent of the grab on the gantry crane to generate grab descent control data; through the grab descent control data, use the under-machine operating box to issue a contactor opening instruction to the gantry crane main power supply, obtain the contactor opening instruction data, and perform contactor opening feedback according to the contactor opening instruction data to obtain the contactor opening status data; remotely connect the gantry crane's under-machine operating box to select the knob through the contactor opening status data, and generate the second knob selection data of the gantry crane's under-machine operating box to execute the gantry crane on-machine operation state preparation.

[0074] In the embodiment of the present invention, the operator or the system generates a wheel clamp closing instruction through the door crane under-operation box (control system) according to the demand. This instruction instructs the wheel clamp to perform a closing action to ensure that the clamping function of the wheel clamp is effective and prepare for the grab bucket operation. The wheel clamp closing instruction is sent to the door crane control system through the door crane under-operation box to ensure that the wheel clamp performs the closing action. After receiving the closing instruction, the wheel clamp starts to perform the closing operation. This process includes the activities of the mechanical part of the wheel clamp, such as clamping, locking and other actions, to ensure that the wheel clamp is in the correct working state. When performing the closing operation, the system monitors the state of the wheel clamp through the limit to ensure that it completes the closing action. If the wheel clamp is successfully closed, the system will detect the closing state of the wheel clamp through the sensor and generate the wheel clamp closing state data. The system detects the actual state of the wheel clamp through the feedback mechanism of the wheel clamp. Once the wheel clamp is closed, the limit sensor will generate the wheel clamp closing state data, indicating that the wheel clamp has completed the closing operation. The wheel clamp closing state data is transmitted to the control system through the door crane under-operation box for subsequent operations. According to the wheel clamp closing state data, the system determines whether the wheel clamp is firmly closed. If the wheel clamp is in the closed state, it means that the gantry crane is in a stable anchoring state and can be operated subsequently. Once it is confirmed that the wheel clamp is closed and valid, the system automatically generates anchoring state data, indicating that the gantry crane is ready for continued operation. These data will be used for subsequent control operations. The system determines whether the grab bucket lowering operation can be started according to the anchoring state data. If the wheel clamp of the gantry crane has been successfully locked and is in the anchoring state, the system generates grab bucket lowering control data to instruct the grab bucket to start lowering. Through the grab bucket lowering control data, the system controls the lifting mechanism (or grab bucket control system) of the gantry crane to start the grab bucket lowering action to ensure that the grab bucket reaches the required position. After the grab bucket is lowered into place, the gantry crane under-machine operation box generates a contactor opening command according to the grab bucket lowering into place control data. This command is used to cut off the main control power supply of the gantry crane to ensure that the power is disconnected, thereby protecting the equipment and ensuring safety. The contactor opening command is sent to the main control power supply system through the under-machine operation box to instruct the contactor to disconnect the power supply. After the contactor opening command is issued, the system monitors the contactor status. Contactor opening feedback is provided by sensors and feedback systems to confirm that the power has been successfully cut off. Based on the contactor opening feedback, the system generates contactor opening status data to indicate whether the main power contactor has cut off the power. This status data is used for subsequent operation control. Based on the contactor opening status data, the remote connection knob is selected through the door machine under-operation box. This selection determines whether the door machine control system can switch to other control modes, such as switching to manual or other predetermined states. The door machine under-operation box generates the second knob selection data of the door machine under-operation box based on the contactor opening status, indicating that the door machine has switched to a new operation mode in preparation for subsequent operations. Based on the knob selection data, the door machine operating system switches to a new operation mode.At this point, the door machine's various operational preparations have been completed, and the operator or system can continue to perform subsequent operational tasks as needed. After the second knob selects the data for confirmation, the door machine is ready to enter the actual operating state and perform related tasks.

[0075] As an example of the present invention, refer to Figure 2 As shown, in this example, the steps of determining the master control connection of the crane room master control data include:

[0076] Step S21: Compare the main power connection data of the portal crane cab to obtain the main power connection status data of the portal crane cab, wherein the main power connection status data of the portal crane cab includes the main control knob position selection data, the power contactor opening and closing status data and the contactor opening and closing control instruction data;

[0077] Step S22: Output the state of the main control power connection state data of the gantry crane driver's cab to generate main control connection determination data.

[0078] In an embodiment of the present invention, the main control power connection data of the driver's cab is obtained from the control system of the portal crane. These data are transmitted through sensors, control panels or data acquisition systems, and cover various types of information related to the main control power connection. The main control power connection data obtained are compared using algorithms or preset rules. For example, the data comparison can verify the validity of the power connection by checking the opening and closing state of the power contactor, the position of the power connection knob, and the instruction data. The main comparison items include: checking the current selection position of the control panel or the knob to confirm whether the knob is set in the correct operation mode. Comparing the opening and closing state of the contactor to determine whether the power is connected or disconnected. Comparing the contactor control instructions sent from the control system or the operation box to ensure that these instructions match the current power state. After data comparison, the system will generate the main control power connection state data of the portal crane driver's cab, including the following content: the main control knob position selection data reflects the current selection position of the knob and determines the power connection mode. The power contactor opening and closing state data indicates the current state of the contactor, indicating whether the power is connected. The contactor opening and closing control instruction data includes instructions for opening and closing the contactor, indicating the operation intention. Based on the main control power connection status data of the door machine driver's cab generated in step S21, the status is judged. The system will judge whether the power connection of the door machine meets the normal operating conditions according to the predetermined rules or logic. Determine whether the knob position meets the current operation requirements (for example, whether the knob is in the correct power connection mode). Determine whether the contactor is in the correct opening and closing state to ensure that the power connection state meets the expectations. Check whether the control instruction sent is consistent with the actual state of the contactor to ensure that the instruction is valid and executed. If the results of the above judgment steps meet the predetermined safety and operation standards, the system considers that the power connection state is normal and generates "main control connection judgment data". The main control connection judgment data can be a Boolean value (such as normal or abnormal) or other status identifier, indicating whether the power connection state meets the requirements. The system will output the judgment data as the basis for subsequent operations. For example, if the power connection state is determined to be normal, "main control connection normal" is output; if it is determined that there is an abnormality, "main control connection abnormality" is output, and corresponding error or warning information is generated.

[0079] As an example of the present invention, refer to Figure 3 As shown, in this example, the steps of performing fault detection on the door machine according to the first knob selection data of the door machine lower operating box include:

[0080] Step S31: performing a lifting mechanism and a running mechanism state fault detection on the door crane lower operation box according to the first knob selection data of the door crane lower operation box, and generating lifting mechanism fault detection data and running mechanism fault detection data, wherein the lifting mechanism and running mechanism state fault detection specifically includes: lifting mechanism driving motor power supply opening and closing state fault detection, driving motor brake state fault detection, lifting mechanism variable frequency drive system fault state fault detection and lifting mechanism extreme position state fault detection, running mechanism driving motor power supply opening and closing state fault detection, driving motor brake state fault detection, running mechanism variable frequency drive system fault state fault detection and running mechanism extreme position state fault detection;

[0081] Step S32: Detecting the power supply status data of the door machine wheel clamp to generate power supply status signal data; detecting the opening and closing state and opening and closing degree data of the door machine wheel clamp through the power supply status signal data to generate the opening and closing state data of the wheel clamp;

[0082] Step S33: perform a mechanism emergency stop system status data detection on the lifting mechanism and the traveling mechanism to generate mechanism emergency stop data; integrate the lifting mechanism fault detection data, the traveling mechanism fault detection data, the wheel clamp opening and closing status data and the mechanism emergency stop data to generate the overall door crane fault detection data;

[0083] Step S34: Display the overall fault detection data of the door machine according to the control network communication protocol, and obtain the touch screen display detection fault data of the door machine's lower operating box; when the touch screen display detection fault data of the door machine's lower operating box is empty, generate a contactor closing command for the door machine's main control power supply, and obtain contactor closing command data.

[0084] In the embodiment of the present invention, by checking the power switch state of the lifting mechanism driving motor, it is confirmed whether the power is correctly connected or disconnected. If the power contact is poor or there is a contactor fault, a fault alarm is generated. The brake state of the lifting mechanism motor is monitored to check whether the brake is in a normal working state. If the brake is found to be ineffective or abnormal, a fault signal is generated. Detect whether the variable frequency drive system of the lifting mechanism has a fault, such as unstable frequency or the system cannot be started. Check the limit position sensor of the lifting mechanism to determine whether it has a fault to prevent operation beyond the safety range. Similar to the lifting mechanism, monitor the power state of the running mechanism driving motor to ensure that the power connection is normal. Monitor the working state of the brake of the driving motor of the running mechanism to ensure that it can perform the parking operation normally. Check the working state of the variable frequency drive system of the running mechanism to identify system abnormalities or faults. Monitor the limit position switch of the running mechanism to prevent operation beyond the limit range. Based on the above fault detection, the system generates lifting mechanism fault detection data and running mechanism fault detection data, and records the state of each detection item (normal or abnormal) in detail. The control system checks the power state of the wheel clamp to ensure whether the power supply is in a stable supply state. On the premise of ensuring that the power supply status is normal, the system will further detect the opening and closing status of the wheel clamp, including whether the wheel clamp is fully opened or closed, and the degree of opening and closing (partial opening / closing status). Based on the opening and closing detection of the wheel clamp, the system will generate the opening and closing status data of the wheel clamp. These data reflect the current working status of the wheel clamp and provide detailed information on the degree of opening and closing. The emergency stop system of the lifting mechanism and the running mechanism is checked to ensure that the emergency stop function can be correctly executed in an emergency. If the emergency stop system fails to work properly, the emergency stop fault data is generated. The various fault detection data (lifting mechanism fault detection data, running mechanism fault detection data, wheel clamp opening and closing status data, mechanism emergency stop data) are integrated to generate the overall fault detection data of the door machine. This data comprehensively reflects the working status of the door machine, and provides a basis for subsequent processing in combination with multiple detection items. According to the control network communication protocol, the system will transmit the overall fault detection data of the door machine to the touch screen of the door machine under-machine operation box, and display the detected fault information. If the detected fault data is empty, it means that the door machine system is normal. If the touch screen of the door operator's lower operating box shows no fault (i.e. "detection fault data is empty"), a contactor closing command is generated through the control system. This command will close the contactor of the main power supply and restore the system power supply. The contactor closing command will be transmitted through the control system to generate contactor closing command data to ensure that the power is on and ready for subsequent operations.

[0085] Preferably, displaying the overall fault detection data of the door machine according to the control network communication protocol includes:

[0086] Establish an abnormal fault status list; compile fault status display graphics for the abnormal fault status list through the touch screen of the door crane's under-machine operation box to generate abnormal fault type graphics; display corresponding fault graphics for the abnormal fault type graphics and the door crane's overall fault detection data, thereby generating the touch screen display detection fault data for the door crane's under-machine operation box.

[0087] In the embodiment of the present invention, a fault status list is established by various fault items (such as lifting mechanism, running mechanism, wheel clamp, emergency stop system, etc.) recorded in the overall fault detection data of the door crane. The list includes the type, severity and treatment plan of each fault. For example, the faults include power supply abnormality, brake fault, frequency conversion drive system fault, limit switch fault, etc. When designing the touch screen interface, the system will create corresponding graphic displays according to different fault types. For example, for power failure, a red power icon is used; for mechanical failure, a gear or crane icon is used; for emergency stop system failure, a warning sign is used, etc. Each fault type corresponds to a different icon and color. The normal state can be represented by green, while the fault state is represented by red. The icons are concise and clear, which is convenient for the operator to quickly identify the problem. Through the graphic writing tool of the touch screen, the system will generate graphic templates of the fault type according to the fault status list. These graphics represent different fault states and are embedded with corresponding text prompts to help the operator understand the detailed information of the fault. The touch screen provides an interactive function, allowing the operator to view more detailed fault information, historical data, treatment methods or maintenance suggestions by clicking on a fault icon. The overall fault detection data of the gantry crane will be transmitted to the touch screen of the gantry crane's under-machine operation box, and these data will be bound to the pre-generated graphic template through the control network communication protocol. For example, if the fault data is "hoisting mechanism fault", the system will automatically match the corresponding graphic and display it on the touch screen, and the specific description of the fault will be displayed next to the icon. When the fault status changes, the display on the touch screen will be updated in real time. For example, when the system detects that the fault has been repaired, the corresponding icon will change to normal status and display the prompt "The fault has been repaired". Through the above steps, the system will generate the final fault display interface, which not only displays the fault type, but also dynamically presents the time, location, severity and other information of the fault.

[0088] Preferably, the abnormal walking function detection based on the door crane walking switching instruction includes:

[0089] Use contactors, limiters and sensors to collect the door crane travel mechanism equipment status data according to the door crane travel switching instructions to obtain the door crane travel mechanism equipment status data; define the abnormal standard of the door crane travel mechanism equipment status data to generate the door crane travel mechanism equipment status abnormal standard range data;

[0090] The data is compared with the abnormal standard range data of the door machine running mechanism equipment status and the door machine running mechanism equipment status data. When the door machine running mechanism equipment data is within the abnormal standard range data, the door machine is fault-processed and reset.

[0091] In the embodiment of the present invention, the door machine travel mechanism is monitored in real time by using contactors, limiters and sensors to obtain the equipment status data of the door machine travel mechanism. Specifically: the contactor monitors the power supply status, records the opening and closing status of the contactor, and determines whether the power is normal. The encoder is used to monitor the position information of the door machine travel to ensure that the movement of the travel mechanism is within a predetermined safe range to avoid operation beyond the limit. The data collected by the device includes travel speed, travel current, motor status, temperature, position change, etc., to form complete door machine travel mechanism equipment status data. Based on the normal working parameters of the door machine travel mechanism equipment, historical data analysis is performed to define abnormal standards. For example: the door machine travel speed exceeds the set maximum or minimum limit. The current fluctuation during the operation of the motor exceeds the predetermined range, indicating that the motor load is too large or there is a fault. The limiter detects that the door machine travel exceeds the safe limit range. The sensor detects that the temperature of the motor or electrical system exceeds the safe working range. According to the above abnormal definition, the system will generate a standard range data of the door machine travel mechanism equipment status. This data represents the standard value range that each parameter should maintain when the door machine travel mechanism is working normally. By comparing the real-time collected door machine travel mechanism equipment status data with the preset standard range data: If the collected equipment status data is within the abnormal standard range, it means that the state of the door machine travel mechanism is as expected and there is no abnormality. If the equipment status data exceeds the standard range, it means that there is an abnormality in the travel function. According to the comparison results, the system will mark the abnormal equipment status. For example, if the current is too high, the speed is too low, and the limiter is triggered abnormally, the system will automatically identify it as an abnormal state of the travel function. When the door machine travel function is abnormal, the system will automatically diagnose and alarm to prompt the operator to perform necessary inspections and processing. Specific fault handling includes: If the current is abnormal, it is necessary to check whether there are problems with the motor connection, contactor or circuit. If there is an abnormal position or the movement is not smooth, it is necessary to check whether there are mechanical faults in the door machine track, transmission device, etc. After detecting the abnormality, the system will execute the reset command to restore the travel mechanism to a safe and stable working state. The reset process involves steps such as stopping the door machine travel, checking and cleaning the faulty parts, and restarting the travel mechanism. During the reset process, the door machine system will adjust the equipment status through automatic control to ensure that the travel mechanism can resume normal operation. The system will also record data during the reset process for subsequent analysis and tracking.

[0092] Preferably, the door machine fault and reset processing includes:

[0093] Start the reset procedure of the door machine, which includes control system reset, hydraulic system reset and electrical system reset, and simultaneously record the fault information; perform automatic walking performance test on the fault information and generate fault reset performance test data;

[0094] The reset program is adaptively reset and adjusted according to the fault reset performance test data.

[0095] In the embodiment of the present invention, when the crane is detected to be walking abnormally or other faults, the system automatically triggers the reset program. The startup process of the reset program includes: the system restarts the controller to ensure that the control system is restored to a normal working state. The specific operation includes disconnecting the power supply of the control system, clearing the cache and reloading the normal operating parameters. The hydraulic system will reinitialize the working pressure and flow of the hydraulic pump after the fault occurs to ensure that the hydraulic oil circuit is unblocked and restored to a normal working state. This process includes disconnecting the connection between the hydraulic system and the external load, performing a safety check, and adjusting the hydraulic pressure to a preset value. The electrical system automatically restarts its power module, checks the connection status of the electrical equipment, and initializes the electrical equipment such as motors and sensors to ensure that the electrical system resumes normal function. This process includes turning off the power, waiting for a few seconds, turning it back on and confirming the operating status of the electrical equipment. While the reset program is started, the system automatically records the fault information, including the time when the fault occurred, the type of fault, the relevant sensor data, the control instructions, and the time point when the reset program is started, etc. This information is stored in the system database for subsequent analysis and fault tracking. Once the reset process of the control system, hydraulic system and electrical system is completed, the system automatically verifies whether the crane walking state after reset is normal.

[0096] Preferably, performing position matching between the door crane position data and the door crane operation target point position data comprises:

[0097] Perform Beidou positioning and encoder positioning on the door crane position data to generate the door crane position positioning data; perform coordinate conversion on the door crane operation target point position data to generate the target point position coordinate data; perform spatial coordinate distance calculation on the door crane position positioning data and the target point position coordinate data to obtain the position deviation data;

[0098] The position deviation data is judged to be zero value. When the position deviation data is not zero and the fault information is empty, the bypass enable state control is performed on the door crane lower operating box based on the door crane travel switching instruction, and a bypass enable state control instruction is generated; based on the bypass enable state control instruction, the door crane continues to generate travel instructions until the position deviation data is zero, and step S5 is executed.

[0099] In an embodiment of the present invention, the current position of the gantry crane is located by using the Beidou positioning system. The Beidou positioning system provides the longitude and latitude of the gantry crane, and the global position of the gantry crane can be obtained through this information. The encoder monitors the walking process of the gantry crane, records the rotation of the wheels, and calculates the specific position of the gantry crane. This method is suitable for more accurate distance measurement, especially when the gantry crane is walking, the position of the gantry crane can be updated in real time. The Beidou positioning and encoder positioning data are fused to generate a unified gantry crane position positioning data. Through data fusion, the accuracy and reliability of the gantry crane position can be improved. The gantry crane operation target point is usually located in a preset working area, and the coordinates of the target point are expressed in different coordinate systems (such as a local coordinate system or a global coordinate system). Therefore, it is necessary to perform coordinate conversion on the target point position data and convert it into a coordinate system that matches the gantry crane position data. For example, the data of the global coordinate system is converted into the local coordinate system. After the coordinate conversion, the accurate coordinate data of the target point in the working area of ​​the gantry crane is obtained. The distance between the gantry crane position positioning data and the target point position coordinate data is calculated using a spatial geometric calculation method (such as the Euclidean distance formula). The calculated distance is the deviation between the current position of the door crane and the position of the target point. If the distance is close to zero, it means that the door crane is close to the target point. Determine whether the position deviation data is zero. If it is zero, it means that the door crane has accurately reached the target position; if it is not zero, it means that the door crane still has a deviation from the target position and needs further adjustment. When making zero value judgments, the system also needs to check whether there is fault information. If the fault information is empty and the position deviation data is not zero, it means that the door crane can continue to adjust without immediate shutdown or repair. When the position deviation data is not zero and there is no fault information, the system will generate a bypass enable state control instruction when a prohibited travel signal is received. This is a control command issued by the door crane's lower operating box, allowing the door crane to skip certain restrictions during normal travel and continue to travel to the target point. After receiving the bypass enable control instruction, the door crane will continue to travel along the original travel path until the position deviation data is zero. This process usually includes subtle adjustments to the door crane's travel control to ensure that the door crane can accurately reach the target position in the shortest time. While the door crane continues to move, the system will monitor the position deviation data in real time and continuously update it. Once the position deviation data is close to zero, it means that the door crane has accurately reached the target position. When the position deviation data is zero, the system stops the bypass enable control and executes step S5, such as closing the wheel clamp, to ensure the smooth operation of the door crane.

[0100] Preferably, generating a travel bypass enabling control instruction through a door crane lower operating box based on a door crane travel switching instruction, and performing door crane travel position correction on the door crane position data based on the travel bypass enabling control instruction includes:

[0101] Based on the door crane travel switching instruction and the door crane travel mechanism action instruction in the door crane travel mechanism operation instruction, the instruction data for prohibiting continued travel is controlled and judged. When the instruction data for prohibiting continued travel is a valid value, a bypass state control instruction is generated; the door crane position data is corrected for the door crane travel position according to the travel bypass enable control instruction until the door crane position data is equal to the door crane operation target point position data.

[0102] In the embodiment of the present invention, the door machine receives a travel switching instruction according to the current working state and task requirements of the door machine. This instruction indicates that the door machine needs to adjust its position, stop traveling, or perform other operations. This instruction is used to control the travel mechanism of the door machine, including the start and stop of components such as the travel motor and the drive system. During the operation, the system sends corresponding action instructions to the travel mechanism as required. In this process, the system compares the door machine travel switching instruction with the travel mechanism action instruction. In particular, it is necessary to determine whether there is an input of "instruction data prohibiting continued travel". If the instruction data is a valid value (for example, instructing the door machine to stop traveling or enter a protection mode), the system needs to generate a bypass state control instruction to ensure that the door machine behavior is correctly controlled. When the instruction data prohibiting continued travel is a valid value (for example, indicating that the system encounters a fault or safety problem), the system generates a bypass state control instruction through the door machine under-machine operation box. This instruction will allow the door machine to ignore the current prohibition of travel restrictions and enter the bypass state, so that the door machine can continue to perform necessary travel actions, or adjust the travel path to avoid stagnation or failure to achieve the expected goal. This command will enable the bypass function in the door crane's lower operating box, allowing the door crane to continue to perform the travel task while meeting safety conditions. The actual position of the door crane is monitored in real time through sensors, encoders, Beidou positioning and other devices, and the door crane position data is obtained. This data represents the current position and coordinates of the door crane and is often used to compare with the target point position data. After receiving the bypass state control command, the door crane continues to perform the travel task. The system will monitor the progress of the door crane's travel in real time based on the target point position and the current position of the door crane, and perform position correction. This means that the system will continuously fine-tune the door crane's position data to ensure that the door crane travels accurately toward the target point until the door crane position data is completely consistent with the target point position data. The specific correction process includes adjusting the door crane's travel path, including fine-tuning the speed, direction or enabling additional motion control algorithms. The system continuously compares the current position with the target point position until the deviation between the two is zero, indicating that the door crane has accurately reached the target point. When the door crane position data completely matches the target point position data, the system determines that the door crane has reached the predetermined target position. At this time, the travel bypass enable control command is invalid, and the gantry crane will no longer continue to adjust the travel path. Once the gantry crane reaches the target point, the system will enter the subsequent operation steps, such as performing wheel clamp operation, grab bucket control and other tasks (such as step S5). Through this series of corrections and controls, the gantry crane can successfully complete the positioning task and perform subsequent operations.

[0103] Preferably, based on the anchorable anchoring state data, controlling the descent of the grab bucket on the gantry crane includes:

[0104] Based on the anchorable anchoring state data, the gantry crane travel mechanism operation instruction is switched to the gantry crane lifting instruction, and the gantry crane lifting switching instruction data is generated;

[0105] The lifting mechanism action command and the selected speed command are generated from the lifting switch command data of the gantry crane through the under-machine operation box to obtain the lifting mechanism operation command of the gantry crane;

[0106] The gantry crane lifting mechanism operation instructions are used to control the gantry crane grab bucket to descend and generate grab bucket descending control data.

[0107] In the embodiment of the present invention, after receiving the anchorable anchoring state data, the system converts the operation instruction of the gantry crane walking mechanism into the lifting mechanism operation instruction according to the current state of the gantry crane (such as being positioned or stable). This instruction switching process ensures that the gantry crane no longer performs the walking task, but starts to perform the lifting operation to prepare for the grab bucket to descend. The system generates the gantry crane lifting switching instruction data, indicating that the gantry crane walking mechanism task has been completed and turns to perform the lifting control task. The under-machine operation box touch screen is a user interface that allows the operator to manually or automatically control the lifting process of the gantry crane. When the operator confirms that the gantry crane is stable and is ready to perform the grab bucket operation, the lifting switching instruction data is generated through the operation box. The system generates specific lifting mechanism action instructions based on the lifting switching instruction data. These instructions control various components of the lifting mechanism, such as the lifting motor, brake, drive device, etc., to ensure that the grab bucket can accurately descend along the predetermined path. In order to ensure the stability and safety of the grab bucket descent, the system also generates a selected speed instruction. The selected speed instruction ensures that the lifting mechanism operates at an appropriate speed to avoid descent that is too fast or too slow, thereby ensuring the safety and efficiency of the grab bucket. Once the lifting mechanism operation instructions and the selected speed instructions are sent to the control system, the lifting mechanism of the gantry crane will start, and the grab will begin to perform the descending action according to the preset operation process. The grab descent control data will be used to monitor and control the descent process of the grab to ensure that the grab descends according to the precise trajectory. The grab descent control data mainly includes information such as the time, speed, position and status of the grab descent. These data are adjusted through real-time feedback sensor data and control signals to ensure that the grab is stably and accurately descended to the target position. During the descent of the grab, the system will monitor the status of the grab in real time, including its position, speed, torque, etc., to ensure that the grab is always within the appropriate range during the entire descent process. If any abnormality is found during the descent process (such as too fast speed, inaccurate position, etc.), the system will adjust the operation instructions in time through the feedback mechanism to ensure that the descent process of the grab is completed smoothly.

[0108] In this specification, a control system for the under-machine operation of a portal crane is provided, which is used to execute the above-mentioned control method for the under-machine operation of a portal crane. The control system for the under-machine operation of a portal crane comprises:

[0109] The connection selection module is used to obtain the main power connection data of the gantry crane driver's cab; to identify the main power connection data of the gantry crane driver's cab and generate the main power connection identification data; to perform local connection knob selection on the gantry crane under-operation box based on the main power connection identification data and generate the first knob selection data of the gantry crane under-operation box;

[0110] The closing mechanism operation module is used to perform fault detection on the door machine according to the first knob selection data of the door machine lower operation box. When the touch screen of the door machine lower operation box displays that the detected fault is empty, the main power contactor closing instruction is generated for the door machine through the lower operation box, and the main power contactor closing instruction and the main power closing status data fed back by the door machine are obtained; the lifting mechanism action instruction and the selected speed instruction are generated for the door machine lower operation box based on the main power contactor closing instruction and the main power closing status data fed back by the door machine, and the lifting mechanism operation instruction of the door machine is obtained;

[0111] The walking operation module is used to obtain the door machine position data; based on the door machine position data, the door machine hoisting mechanism operation instruction is switched to the door machine walking instruction, and the door machine walking switching instruction is generated; based on the door machine walking switching instruction, the walking function abnormality detection is performed, and when the walking abnormality is detected, the fault and reset processing is performed; the wheel clamp opening instruction is generated through the door machine under-operation box, and the wheel clamp starts to execute the wheel clamp opening instruction after receiving the instruction until the wheel clamp is detected to be opened, and the wheel clamp opening state data is generated; based on the wheel clamp opening state data, the walking mechanism action instruction and the selected speed instruction are generated through the door machine under-operation box, and the door machine walking mechanism operation instruction is obtained;

[0112] The running position matching module is used to obtain the position data of the door crane operation target point; the door crane position data and the door crane operation target point position data are matched, and when the door crane position data is equal to the door crane operation target point position data, the lifting operation module is triggered; when the door crane position data is not equal to the door crane operation target point position data, the running mechanism does not execute the instruction and the door crane receives the instruction data prohibiting continued running; based on the door crane travel switching instruction, the running bypass enabling control instruction is generated through the door crane lower operation box, and the door crane travel position is corrected for the door crane position data based on the running bypass enabling control instruction until the door crane position data is equal to the door crane operation target point position data;

[0113] The lifting operation module is used to generate a wheel clamp closing instruction through the operation box under the gantry crane; after the wheel clamp receives the wheel clamp closing instruction, it starts to execute the instruction until the wheel clamp is detected to be closed, and the wheel clamp closing status data is generated; based on the wheel clamp closing status data, the anchoring status data is automatically generated through the operation box under the gantry crane; based on the anchoring status data, the grab on the gantry crane is controlled to descend, and the grab descending control data is generated; through the grab descending control data, the operation box under the machine sends a contactor opening instruction to the main power supply of the gantry crane, obtains the contactor opening instruction data and performs contactor opening feedback according to the contactor opening instruction data, and obtains the contactor opening status data; the remote connection knob selection is performed on the operation box under the gantry crane through the contactor opening status data, and the second knob selection data of the operation box under the gantry crane is generated to execute the gantry crane on-board operation state preparation.

[0114] The beneficial effect of the present invention is that through the modular operation process and the collaborative work between the functional modules, the various controls and fault detection of the gantry crane are more intelligent, which can effectively improve the operation efficiency and accuracy and reduce the need for manual intervention. When abnormal walking or other faults are detected, the system can quickly identify the fault and start the reset process to ensure that the equipment is quickly restored to a normal working state and reduce the loss caused by the downtime due to the fault. Through multi-level state feedback and control, such as wheel clamp state detection, contactor state feedback, etc., the equipment state can be monitored in real time to ensure the safety during the operation process and avoid accidents or equipment damage caused by equipment abnormalities. During the walking process of the gantry crane, the system can accurately match and correct the position to ensure that the gantry crane is always in the correct operating position, improve efficiency, and reduce problems caused by position deviation. Through automatic instruction generation and switching based on state data, a high level of automation of the equipment is achieved, and work efficiency and operation accuracy are improved. The automatic recording and processing of fault information enables the root cause of the problem to be traced in time when a fault occurs, reducing maintenance time and improving equipment maintenance efficiency. The collaborative work between the modules enables the system to have efficient dynamic adjustment capabilities. For example, position correction is performed through the travel bypass enabling control command to ensure that the gantry crane can operate stably in complex environments. Flexible operation of control ports such as the gantry crane's under-machine operating box makes the entire workflow more concise, and operators can quickly respond to the equipment's windproof anchoring needs, improving the equipment's windproof anchoring efficiency and quality. The coordination of a series of actions such as efficient travel control, lifting operation, and grab control improves the equipment's windproof anchoring efficiency, thereby improving equipment safety, especially in the port's gale warning emergency environment. Therefore, the present invention improves the convenience of operation and control of gantry cranes in emergency situations by improving automation, intelligent control, fault detection and self-recovery mechanisms, precise position matching, and multi-position and multi-mechanism operation functions.

[0115] Therefore, the embodiments should be regarded as illustrative and non-restrictive from all points, and the scope of the present invention is limited by the appended claims rather than the above description, and it is therefore intended that all changes falling within the meaning and range of equivalent elements of the application documents are included in the present invention.

[0116] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but should conform to the widest scope consistent with the principles and novel features invented herein.

Claims

1. A control method for the under-machine operation of a portal crane, characterized in that: The following steps are involved: Step S1: Acquire the main control power connection data of the portal crane cab; Identify the main control power connection data of the portal crane driver's cab and generate main control power connection identification data; Based on the main control power supply connection identification data, the local connection knob selection is performed on the door crane lower operating box to generate the first knob selection data of the door crane lower operating box; Step S2: Perform fault detection on the door machine according to the first knob selection data of the door machine lower operation box. When the touch screen of the door machine lower operation box displays that the detected fault is empty, the main power contactor closing instruction is generated for the door machine through the lower operation box, and the main power contactor closing instruction and the main power closing status data fed back by the door machine are obtained; the lifting mechanism action selection instruction and the selected speed instruction are generated for the door machine lower operation box based on the main power contactor closing instruction and the main power closing status data fed back by the door machine, and the door machine lifting mechanism operation instruction is obtained. The lifting mechanism drives the grab bucket to perform the lifting action according to the instruction until the actual position is consistent with the target position, and then the lifting action instruction is released; Step S3: Acquire the anchoring position data of the door crane; based on the position data of the door crane, generate the door crane hoisting mechanism operation instruction to switch the door crane travel instruction, and generate the door crane travel switching instruction; perform walking function abnormality detection based on the door crane travel switching instruction, and when the walking abnormality is detected, perform fault and reset processing; generate the wheel clamp opening instruction through the door crane lower operation box, and the wheel clamp starts to execute the wheel clamp opening instruction after receiving the instruction until the wheel clamp is detected to be opened, and generate the wheel clamp opening state data; based on the wheel clamp opening state data, generate the walking mechanism action instruction and the selected speed instruction through the door crane lower operation box to obtain the door crane walking mechanism operation instruction; Step S4: acquiring the door crane anchor target point position data; matching the door crane position data with the door crane operation target point position data, and when the door crane position data is equal to the door crane operation target point position data, executing step S5; when the door crane position data is not equal to the door crane operation target point position data, the running mechanism does not execute the instruction and the door crane receives the instruction data prohibiting continued running; Based on the door crane travel switching instruction, a travel bypass enabling control instruction is generated through the door crane lower operation box, and the door crane travel position is corrected for the door crane position data based on the travel bypass enabling control instruction until the door crane position data is equal to the door crane operation target point position data; Step S5: Generate a wheel clamp closing instruction through the operation box under the gantry crane; after receiving the wheel clamp closing instruction, the wheel clamp starts to execute the instruction until it detects that the wheel clamp is closed, and generates wheel clamp closing state data; based on the wheel clamp closing state data, the operation box under the gantry crane automatically generates anchoring state data; based on the anchoring state data, the grab on the gantry crane is controlled to descend, and grab descending control data is generated; through the grab descending control data, the operation box under the machine sends a contactor opening instruction to the main power supply of the gantry crane, obtains the contactor opening instruction data, and performs contactor opening feedback according to the contactor opening instruction data, and obtains the contactor opening state data; The contactor opening status data is used to remotely connect the knob selection of the door machine's lower operating box, and generate the second knob selection data of the door machine's lower operating box to execute the door machine's onboard operating status preparation.

2. The control method for under-machine operation of a portal crane according to claim 1, characterized in that: The identification of the main control power connection data of the gantry crane cab includes: The main power connection data of the gantry crane cab is compared to obtain the main power connection status data of the gantry crane cab, wherein the main power connection status data of the gantry crane cab includes the main control knob position selection data, the power contactor opening and closing status data and the contactor opening and closing control instruction data; the main power connection status data of the gantry crane cab is distinguished and output to generate the main control connection distinction data.

3. The control method for under-machine operation of a portal crane according to claim 1, characterized in that: The fault detection of the door machine according to the selection data of the first knob of the door machine operating box includes: Performing a lifting mechanism and a running mechanism state fault detection on the door crane lower operating box according to the first knob selection data of the door crane lower operating box, generating lifting mechanism fault detection data and running mechanism fault detection data, wherein the lifting mechanism and running mechanism state fault detection specifically includes: lifting mechanism drive motor power supply opening and closing state fault detection, drive motor brake state fault detection, lifting mechanism variable frequency drive system fault state fault detection and lifting mechanism extreme position state fault detection, running mechanism drive motor power supply opening and closing state fault detection, drive motor brake state fault detection, running mechanism variable frequency drive system fault state fault detection and running mechanism extreme position state fault detection; The power supply status data of the door machine wheel clamp is detected to generate power supply status signal data; the opening and closing status and opening and closing degree data of the door machine wheel clamp are detected through the power supply status signal data to generate the opening and closing status data of the wheel clamp; Perform emergency stop system status data detection on the lifting mechanism and the traveling mechanism to generate mechanism emergency stop data; integrate the lifting mechanism fault detection data, the traveling mechanism fault detection data, the wheel clamp opening and closing status data, and the mechanism emergency stop data to generate the overall fault detection data of the gantry crane; The overall fault detection data of the door machine is displayed according to the control network communication protocol, and the touch screen display detection fault data of the door machine operation box is obtained; when the touch screen display detection fault data of the door machine operation box is empty, the contactor closing command is generated for the door machine main control power supply to obtain the contactor closing command data.

4. The control method for under-machine operation of a portal crane according to claim 3, characterized in that: The overall fault detection data of the door machine is displayed according to the control network communication protocol, including: Establish an abnormal fault status list; compile fault status display graphics for the abnormal fault status list through the touch screen of the door crane's under-machine operation box to generate abnormal fault type graphics; display corresponding fault graphics for the abnormal fault type graphics and the door crane's overall fault detection data, thereby generating the touch screen display detection fault data for the door crane's under-machine operation box.

5. The control method for under-machine operation of a portal crane according to claim 1, characterized in that: Walking function abnormality detection based on door crane walking switching instructions includes: Use contactors, limiters and sensors to collect the door crane travel mechanism equipment status data according to the door crane travel switching command to obtain the door crane travel mechanism equipment status data; define the abnormal standard of the door crane travel mechanism equipment status data to generate the door crane travel mechanism equipment status abnormal standard range data; The data is compared with the abnormal standard range data of the door crane travel mechanism equipment status and the door crane travel mechanism equipment status data. When the door crane travel mechanism equipment data is within the abnormal standard range data, the door crane is fault-processed and reset.

6. The control method for under-machine operation of a portal crane according to claim 5, characterized in that: Fault and reset processing for door machines includes: Start the reset procedure of the door machine, which includes control system reset, hydraulic system reset and electrical system reset, and record the fault information simultaneously; perform automatic walking performance test on the fault information and generate fault reset performance test data; The reset program is adaptively reset and adjusted according to the fault reset performance test data.

7. The control method for under-machine operation of a portal crane according to claim 1, characterized in that: Position matching of the door crane position data and the door crane operation target point position data includes: Perform Beidou positioning and encoder positioning on the door crane position data to generate the door crane position positioning data; perform coordinate conversion on the door crane operation target point position data to generate the target point position coordinate data; perform spatial coordinate distance calculation on the door crane position positioning data and the target point position coordinate data to obtain the position deviation data; The position deviation data is judged to be zero value. When the position deviation data is not zero and the fault information is empty and the travel instruction is invalid, the bypass enable state control is performed on the door crane lower operating box based on the door crane travel switching instruction, and a bypass enable state control instruction is generated; based on the bypass enable state control instruction, the door crane continues to execute the travel instruction until the position deviation data is zero, and step S5 is executed.

8. The control method for under-machine operation of a portal crane according to claim 1, characterized in that: Based on the door crane travel switching instruction, the door crane lower operation box generates a travel bypass enabling control instruction, and based on the travel bypass enabling control instruction, the door crane position data is corrected for the door crane travel position, including: Based on the door crane travel switching instruction and the door crane travel mechanism action instruction in the door crane travel mechanism operation instruction, the instruction data for prohibiting continued travel is controlled and judged. When the instruction data for prohibiting continued travel is a valid value, a bypass state control instruction is generated; the door crane position data is corrected for the door crane travel position according to the travel bypass enable control instruction until the door crane position data is equal to the door crane operation target point position data.

9. The control method for under-machine operation of a portal crane according to claim 1, characterized in that: Based on the anchorable anchoring status data, the descent control of the grab bucket on the gantry crane includes: Based on the anchorable anchoring state data, the gantry crane travel mechanism operation instruction is switched to the gantry crane lifting instruction, and the gantry crane lifting switching instruction data is generated; The lifting mechanism action command and the selected speed command are generated from the lifting switch command data of the gantry crane through the under-machine operation box to obtain the lifting mechanism operation command of the gantry crane; The gantry crane lifting mechanism operation instructions are used to control the gantry crane grab bucket to descend and generate grab bucket descending control data.

10. A control system for the under-machine operation of a portal crane, characterized in that: The control system for performing the control method for the under-machine operation of a portal crane according to claim 1 comprises: The connection selection module is used to obtain the main power connection data of the gantry crane driver's cab; to identify the main power connection data of the gantry crane driver's cab and generate the main power connection identification data; to perform local connection knob selection on the gantry crane under-operation box based on the main power connection identification data and generate the first knob selection data of the gantry crane under-operation box; The closing mechanism operation module is used to perform fault detection on the door machine according to the first knob selection data of the door machine lower operation box. When the touch screen of the door machine lower operation box displays that the detected fault is empty, the main power contactor closing instruction is generated for the door machine through the lower operation box, and the main power contactor closing instruction and the main power closing status data fed back by the door machine are obtained; the lifting mechanism action instruction and the selected speed instruction are generated for the door machine lower operation box based on the main power contactor closing instruction and the main power closing status data fed back by the door machine, and the lifting mechanism operation instruction of the door machine is obtained; The walking operation module is used to obtain the door machine position data; based on the door machine position data, the door machine hoisting mechanism operation instruction is switched to the door machine walking instruction, and the door machine walking switching instruction is generated; based on the door machine walking switching instruction, the walking function abnormality detection is performed, and when the walking abnormality is detected, the fault and reset processing is performed; the wheel clamp opening instruction is generated through the door machine under-operation box, and the wheel clamp starts to execute the wheel clamp opening instruction after receiving the instruction until the wheel clamp is detected to be opened, and the wheel clamp opening state data is generated; based on the wheel clamp opening state data, the walking mechanism action instruction and the selected speed instruction are generated through the door machine under-operation box, and the door machine walking mechanism operation instruction is obtained; The running position matching module is used to obtain the position data of the door crane operation target point; the door crane position data and the door crane operation target point position data are matched, and when the door crane position data is equal to the door crane operation target point position data, the lifting operation module is triggered; when the door crane position data is not equal to the door crane operation target point position data, the running mechanism does not execute the instruction and the door crane receives the instruction data prohibiting continued running; based on the door crane travel switching instruction, the running bypass enabling control instruction is generated through the door crane lower operation box, and the door crane travel position is corrected for the door crane position data based on the running bypass enabling control instruction until the door crane position data is equal to the door crane operation target point position data; The lifting operation module is used to generate a wheel clamp closing instruction through the operation box under the gantry crane; after the wheel clamp receives the wheel clamp closing instruction, it starts to execute the instruction until the wheel clamp is detected to be closed, and the wheel clamp closing status data is generated; based on the wheel clamp closing status data, the anchoring status data is automatically generated through the operation box under the gantry crane; based on the anchoring status data, the grab on the gantry crane is controlled to descend, and the grab descending control data is generated; through the grab descending control data, the operation box under the machine sends a contactor opening instruction to the main power supply of the gantry crane, obtains the contactor opening instruction data and performs contactor opening feedback according to the contactor opening instruction data, and obtains the contactor opening status data; the remote connection knob selection is performed on the operation box under the gantry crane through the contactor opening status data, and the second knob selection data of the operation box under the gantry crane is generated to execute the gantry crane on-board operation state preparation.

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