Safety detection method and detection system for gantry crane

Abstract

The invention provides a safety detection method of a gantry crane, which comprises the following steps: S10, setting a first laser radar, and acquiring the distance between a vehicle head laser point and a vehicle body laser point relative to a lifting appliance in the lifting direction of the lifting appliance; s20, a second laser radar is arranged, and the distance, relative to the lifting appliance, of a ground laser point in the lifting direction of the lifting appliance is obtained; s30, arranging a processor, connecting the first laser radar and the second laser radar, and receiving the distances of the vehicle head laser point, the vehicle body laser point and the ground laser point relative to the lifting appliance in the lifting direction of the lifting appliance; s40, the processor calculates the displacement of the vehicle head laser point, the vehicle body laser point and the ground laser point relative to the lifting appliance in the lifting direction of the lifting appliance after the lifting appliance is lifted; and S50, the processor judges the state of the lock head of the truck. According to the safety detection method of the gantry crane, the gantry crane is not easily blocked by other interferents, and the detection is more stable. The invention also provides a detection system for realizing the safety detection method.

Description

Technical Field

[0001] The invention relates to the technical field of container hoisting operations, and in particular to a safety detection method and a detection system for a gantry crane. Background Art

[0002] When a gantry crane is working with a truck, it is easy for the container and the truck to be unlocked. When the container and the truck are not separated, the lifting device is raised to lift the container truck, which may cause a safety accident. In order to solve the above problem, existing gantry cranes usually install sensors or cameras on the gantry to determine the unlocking status of the container and the truck. However, the sensors or cameras are far away from the truck and are easily blocked by other interferences and fail to detect stably. Summary of the invention

[0003] The purpose of the present invention is to provide a safety detection method for a gantry crane, which is not easily blocked by other interference objects and has more stable detection.

[0004] Another object of the present invention is to provide a detection system for a gantry crane, which is not easily blocked by other interference objects and has more stable detection.

[0005] The present invention provides a safety detection method for a gantry crane, comprising:

[0006] S10: a first laser radar is arranged on the spreader of the gantry crane, the first laser radar can generate a first projection surface perpendicular to the width direction of the spreader, and project laser lines on the front of the vehicle and the body respectively, the first laser radar can select a front laser point and a body laser point on the laser lines on the front of the vehicle and the body respectively, and obtain the distance between the front laser point and the body laser point relative to the spreader in the lifting direction of the spreader, wherein the body laser point is the end point of the laser line on the body close to the spreader;

[0007] S20: a second laser radar is arranged on the spreader of the gantry crane, the second laser radar being capable of projecting a ground laser point on the ground and obtaining a distance of the ground laser point relative to the spreader in a lifting direction of the spreader;

[0008] S30: a processor is provided, the processor is connected to the first laser radar and the second laser radar and receives the distances of the front laser point, the body laser point and the ground laser point relative to the spreader in the lifting direction of the spreader;

[0009] S40: the processor calculates the displacement of the front laser point, the body laser point and the ground laser point relative to the spreader in the lifting direction of the spreader after the spreader is raised, based on the distances of the front laser point, the body laser point and the ground laser point relative to the spreader in the lifting direction of the spreader before and after the spreader is raised; and

[0010] S50: The processor determines the state of the truck's lock according to the displacement of the front laser point, the body laser point and the ground laser point relative to the spreader in the lifting direction of the spreader after the spreader is raised.

[0011] The safety detection method for a gantry crane provided by the present invention is to set a first laser radar and a second laser radar on the sling, project the front laser point, the body laser point and the ground laser point on the front, the body and the ground respectively, and obtain the distance of the front laser point, the body laser point and the ground laser point relative to the sling in the lifting direction of the sling, and calculate and compare the displacement of the front laser point, the body laser point and the ground laser point relative to the sling in the lifting direction of the sling after the sling is raised by means of a processor to determine the state of the truck's lock. In the safety detection method provided by the present invention, the first laser radar and the second laser radar are closer to the truck, not easily blocked by other interferences, and the detection is more stable.

[0012] In another exemplary implementation of the safety detection method for a gantry crane, S50 includes:

[0013] S51: The processor compares and determines whether the displacements of the front laser point, the body laser point and the ground laser point relative to the spreader in the lifting direction of the spreader are all equal after the spreader is lifted;

[0014] If the determination result of S51 is yes, it is determined that all four locks of the truck are unlocked;

[0015] If the result of S51 is no, then enter S52: determine whether the displacement of the laser point on the front of the vehicle and the laser point on the vehicle body relative to the lifting device in the lifting direction of the lifting device is 0;

[0016] If the determination result of S52 is yes, it is determined that the four locks of the truck are not unlocked, or the three locks of the truck are not unlocked, or the two locks on the diagonal line of the truck are not unlocked;

[0017] If the result of S52 is no, then enter S53: determine whether the displacements of the laser point on the front of the vehicle and the laser point on the vehicle body relative to the lifting device in the lifting direction of the lifting device are equal;

[0018] If the determination result of S53 is yes, it is determined that the two locks on one side of the truck along its width direction are not unlocked;

[0019] If the result of S53 is no, then enter S54: determine whether the displacement of the laser point on the vehicle body relative to the sling in the lifting direction of the sling is 0;

[0020] If the determination result of S54 is yes, it is determined that the two locks on the side close to the front of the truck along the length direction of the truck are not unlocked;

[0021] If the determination result of S54 is NO, it is determined that one of the four locks of the truck is not unlocked.

[0022] This simplifies the logical algorithm in the judgment process, making the detection results more accurate and easier to implement.

[0023] In another exemplary implementation of the safety detection method for a gantry crane, in S10, a first laser radar is disposed at one end of the spreader in the length direction thereof close to the front of the vehicle; in S20, a second laser radar is disposed at one end of the spreader in the width direction thereof.

[0024] In another exemplary implementation of the safety detection method for a gantry crane, in S10, the first laser radar selects the end point of the laser line on the vehicle head that is away from the spreader as the vehicle head laser point.

[0025] In another exemplary implementation of the safety detection method for a gantry crane, in S20, the second laser radar can generate a second projection surface perpendicular to the length direction and project a laser line on the ground, the ground laser point is located on the laser line, the second laser radar selects the two end points of the laser line on the ground as the ground laser points, and the processor calculates the average value of the distances of the two ground laser points relative to the spreader in the lifting direction of the spreader as the distance of the ground laser point relative to the spreader in the lifting direction of the spreader. This further avoids errors and makes the detection results more accurate.

[0026] The present invention also provides a detection system for a gantry crane, comprising a spreader, a first laser radar, a second laser radar and a processor. The first laser radar is arranged on the spreader, and the first laser radar can generate a first projection surface perpendicular to the width direction of the spreader, and project laser lines on the front of the vehicle and the body respectively, and the first laser radar can select the front laser point and the body laser point on the laser lines on the front of the vehicle and the body respectively, and obtain the distance between the front laser point and the body laser point relative to the spreader in the lifting direction of the spreader, wherein the body laser point is the end point of the laser line on the body close to the spreader; the second laser radar is arranged on the spreader, and the second laser radar can project a ground laser point on the ground, and obtain the ground laser point. the distance of the surface laser point relative to the sling in the lifting direction of the sling; the processor is connected to the first laser radar and the second laser radar, and the processor is configured to receive the distances of the front laser point, the body laser point and the ground laser point relative to the sling in the lifting direction of the sling, and calculate the displacement of the front laser point, the body laser point and the ground laser point relative to the sling in the lifting direction of the sling after the sling is raised according to the distances of the front laser point, the body laser point and the ground laser point relative to the sling in the lifting direction of the sling before and after the sling is raised, so as to judge the state of the lock of the truck.

[0027] The detection system of the gantry crane provided by the present invention is provided with a first laser radar and a second laser radar on the sling, and the laser points of the front of the vehicle, the body and the ground are projected on the front of the vehicle, the body and the ground respectively, and the distances of the laser points of the front of the vehicle, the body and the ground relative to the sling in the lifting direction of the sling are obtained, and the displacements of the laser points of the front of the vehicle, the body and the ground relative to the sling in the lifting direction of the sling are calculated and compared with the processor after the sling is raised, so as to judge the state of the lock of the truck. In the safety detection method provided by the present invention, the first laser radar and the second laser radar are closer to the truck, not easily blocked by other interferences, and the detection is more stable.

[0028] In another exemplary embodiment of the detection system of the gantry crane, the processor is configured to compare and determine whether the displacements of the front laser point, the body laser point and the ground laser point relative to the spreader in the lifting direction of the spreader are all equal after the spreader is raised. If the judgment result is yes, it is determined that all four locks of the truck are unlocked. If the judgment result is no, it is determined whether the displacements of the front laser point and the body laser point relative to the spreader in the lifting direction of the spreader are 0. If the judgment result is yes, it is determined that the four locks of the truck are not unlocked, or the three locks of the truck are not unlocked, or the four locks of the truck are not unlocked. The two locks on the diagonal line are not unlocked. If the judgment result is no, then determine whether the displacement of the front laser point and the body laser point relative to the spreader in the lifting direction of the spreader is equal. If the judgment result is yes, then determine that the two locks on one side of the truck along its width direction are not unlocked. If the judgment result is no, then determine whether the displacement of the body laser point relative to the spreader in the lifting direction of the spreader is 0. If the judgment result is yes, then determine that the two locks on the side close to the front of the truck along the length direction of the truck are not unlocked. If the judgment result is no, then determine that one of the four locks of the truck is not unlocked. This simplifies the logical algorithm in the judgment process, making the detection results more accurate and easier to implement.

[0029] In another exemplary embodiment of the detection system of the gantry crane, the first laser radar is arranged at one end of the spreader in the length direction of the truck close to the front of the truck, and the second laser radar is arranged at one end of the spreader in the width direction of the truck.

[0030] In another exemplary embodiment of the detection system for a gantry crane, the first laser radar can select the end point of the laser line on the vehicle head that is away from the spreader as the vehicle head laser point.

[0031] In another exemplary embodiment of the detection system of the gantry crane, the second laser radar can select two end points of the laser line on the ground as ground laser points, calculate the average value of the distances of the two ground laser points relative to the spreader in the lifting direction of the spreader, and use it as the distance of the ground laser point relative to the spreader in the lifting direction of the spreader. This further avoids errors and makes the detection result more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The following drawings are only used to schematically illustrate and explain the present invention, and do not limit the scope of the present invention.

[0033] Figure 1 The present invention is a flowchart of an illustrative implementation of a safety detection method for a gantry crane.

[0034] Figure 2 It is a schematic diagram of an implementation method of a safety detection method for a gantry crane.

[0035] Figure 3 It is a partial flow chart of the safety inspection method for gantry crane.

[0036] Figure 4 This is a schematic diagram of a truck being lifted.

[0037] Figure 5 This is a schematic diagram of a truck being lifted.

[0038] Figure 6 This is a schematic diagram of a truck being lifted.

[0039] Figure 7 This is a schematic diagram of a truck being lifted.

[0040] Description of symbols

[0041] 10 Spreader

[0042] 20 The first laser radar

[0043] 30 Second laser radar

[0044] 40 processors

[0045] 52 Front

[0046] 54 Body

[0047] 60 containers

[0048] A Laser point on the front of the vehicle

[0049] B Car body laser point

[0050] C1 Ground Laser Point

[0051] C2 Ground Laser Point

[0052] S Ground DETAILED DESCRIPTION

[0053] In order to have a clearer understanding of the technical features, purposes and effects of the invention, the specific embodiments of the present invention are now described with reference to the accompanying drawings. The same reference numerals in the drawings represent components with the same structure or similar structures but the same functions.

[0054] In this document, “exemplary” means “serving as an example, instance or illustration”, and any diagram or implementation described in this document as “exemplary” should not be interpreted as a more preferred or more advantageous technical solution.

[0055] In this article, "first" and "second" do not indicate their importance or order, but are only used to indicate the difference between them for the convenience of document description.

[0056] In order to simplify the drawings, each figure only schematically shows the parts related to the present invention, which do not represent the actual structure of the product.

[0057] Figure 1 The present invention is a flowchart of an illustrative implementation of a safety detection method for a gantry crane. Figure 2 The schematic diagram of the implementation method of the safety detection method of the gantry crane is shown in FIG. Figure 1 and Figure 2 , the safety inspection methods for gantry cranes include:

[0058] S10: A first laser radar 20 is set on the spreader 10 of the gantry crane. The first laser radar 20 can generate a first projection surface perpendicular to the width direction of the spreader 10, and project laser lines on the front of the vehicle 52 and the body 54 respectively. The first laser radar 20 can select the front laser point A and the body laser point B on the laser lines on the front of the vehicle 52 and the body 54 respectively, and obtain the distance between the front laser point A and the body laser point B relative to the spreader 10 in the lifting direction of the spreader 10, wherein the body laser point B is the end point of the laser line on the body 54 close to the spreader 10.

[0059] Among them, the first laser radar 20 can measure the spatial coordinates of the vehicle body laser point B and the vehicle body laser point B, and a vector of the spatial coordinates is parallel to the lifting direction of the sling 10. Thereby, the first laser radar can obtain the distance between the front laser point A and the vehicle body laser point B relative to the sling 10 in the lifting direction of the sling 10.

[0060] In the exemplary implementation, the first laser radar 20 is disposed at one end of the sling 10 in the length direction of the truck close to the front 52, thereby making it easier to project the front laser point A and the body laser point B. The first laser radar 20 selects the end point of the laser line on the front 52 away from the sling 10 as the front laser point A, which is easier for the first laser radar 20 to select.

[0061] S20: A second laser radar 30 is arranged on the spreader 10 of the gantry crane. The second laser radar 30 can project a ground laser point on the ground S and obtain the distances of the ground laser points C1 and C2 relative to the spreader 10 in the lifting direction of the spreader 10.

[0062] Reference Figure 2 , the second laser radar 30 is arranged at one end of the spreader 10 in the width direction of the truck. This makes it easier to project the ground laser points C1 and C2. The second laser radar 30 can generate a second projection surface perpendicular to the length direction, and project a laser line on the ground S. The ground laser points C1 and C2 are located on the laser line. The second laser radar 30 selects the two end points of the laser line on the ground S as the ground laser point C1 and the ground laser point C2 respectively. The processor 40 calculates the average value of the distances of the ground laser point C1 and the ground laser point C2 relative to the spreader 10 in the lifting direction of the spreader 10 as the distance of the ground laser point relative to the spreader 10 in the lifting direction of the spreader 10. This further avoids errors and makes the detection results more accurate.

[0063] S30: A processor 40 is provided, the processor 40 is connected to the first laser radar 20 and the second laser radar 30 and receives in real time the distances of the front laser point A, the vehicle body laser point B and the ground laser point relative to the sling 10 in the lifting direction of the sling 10 .

[0064] S40: The processor 40 calculates the displacement of the front laser point A, the body laser point B and the ground laser points C1 and C2 relative to the sling 10 in the lifting direction of the sling 10 after the sling 10 is raised, based on the distances of the front laser point A, the body laser point B and the ground laser points C1 and C2 relative to the sling 10 in the lifting direction of the sling 10 before and after the sling 10 is raised.

[0065] Specifically, the processor 40 uses the distances of the front laser point A, the body laser point B and the ground laser points C1 and C2 relative to the sling 10 in the lifting direction of the sling 10 after the sling 10 is lifted, and subtracts the distances of the front laser point A, the body laser point B and the ground laser points C1 and C2 relative to the sling 10 in the lifting direction of the sling 10 before the sling 10 is lifted, to obtain the displacement of the front laser point A, the body laser point B and the ground laser points C1 and C2 relative to the sling 10 in the lifting direction of the sling 10 after the sling 10 is lifted.

[0066] S50: the processor 40 determines the state of the truck's lock according to the displacement of the front laser point A, the body laser point B and the ground laser points C1 and C2 relative to the lifting device 10 in the lifting direction of the lifting device 10 after the lifting device 10 is lifted.

[0067] The safety detection method for a gantry crane provided by the present invention is to set a first laser radar 20 and a second laser radar 30 on the sling 10, project the front laser point A, the body laser point B and the ground laser points C1 and C2 on the front 52, the body 54 and the ground S respectively, and obtain the distance of the projected front laser point A, the body laser point B and the ground laser points C1 and C2 relative to the sling 10 in the lifting direction of the sling 10, and calculate and compare the displacement of the front laser point A, the body laser point B and the ground laser points C1 and C2 relative to the sling 10 in the lifting direction of the sling 10 after the sling 10 is lifted by the processor 40, so as to judge the state of the lock of the truck. In the safety detection method provided by the present invention, the first laser radar 20 and the second laser radar 30 are closer to the truck, not easily blocked by other interferences, and the detection is more stable.

[0068] Figure 3 This is a partial flow chart of the safety inspection method for gantry cranes. Figure 3 , S50 includes:

[0069] S51: The processor 40 compares and determines whether the displacements of the front laser point A, the body laser point B and the ground laser points C1 and C2 relative to the sling 10 in the lifting direction of the sling 10 are equal after the sling 10 is lifted. If the determination result of S51 is yes, it is determined that all four locks of the truck are unlocked.

[0070] Specific reference Figure 2 , all four locks are unlocked. After the sling 10 is raised, the displacements of the front laser point A, the body laser point B and the ground laser points C1 and C2 relative to the sling 10 in the lifting direction of the sling 10 are equal and equal to the displacement of the sling 10 when it is raised.

[0071] If the judgment result of S51 is no, then enter S52: judge whether the displacement of the front laser point A and the body laser point B relative to the sling 10 in the lifting direction of the sling 10 is 0. If the judgment result of S52 is yes, it is determined that the four locks of the truck are not unlocked, or the three locks of the truck are not unlocked, or the two locks on the diagonal line of the truck are not unlocked.

[0072] Reference Figure 4At this time, the four locks of the truck are not unlocked, or the three locks of the truck are not unlocked, or the two locks on the diagonal line of the truck are not unlocked, the vehicle body 54 cannot be separated from the container 60, and the distance between the front of the vehicle 52 and the vehicle body 54 relative to the sling 10 in the lifting direction of the sling 10 is 0.

[0073] If the judgment result of S52 is no, then enter S53: judge whether the displacement of the front laser point A and the body laser point B relative to the sling 10 in the lifting direction of the sling 10 is equal. If the judgment result of S53 is yes, it is determined that the two locks on one side of the truck along its width direction are not unlocked.

[0074] Reference Figure 5 At this time, the two locks on one side of the truck along its width direction are not unlocked, and the body 54 cannot be completely separated from the container 60. After being lifted by the spreader 10, the body 54 will rotate around an axis parallel to the length direction of the truck. As the truck rotates, the displacement of the front laser point A and the body laser point B relative to the spreader 10 in the lifting direction of the spreader 10 always remains equal.

[0075] If the judgment result of S53 is no, then enter S54: determine whether the displacement of the body laser point B relative to the sling 10 in the lifting direction of the sling 10 is 0. If the judgment result of S54 is yes, it is determined that the two locks on the side close to the front 52 along the length direction of the truck are not unlocked.

[0076] Reference Figure 6 At this time, the two locks on the side close to the front of the truck 52 in the length direction are not unlocked. Since the container 60 cannot be separated from the body 54 on the side close to the front of the truck 52, and the body laser point B is the end point of the laser line on the body 54 close to the sling 10, the displacement of the body laser point B relative to the sling 10 in the lifting direction of the sling 10 always remains at 0.

[0077] If the determination result of S54 is negative, it is determined that one of the four locks of the truck is not unlocked. Figure 7 After the above judgment, if the displacement of the front laser point A and the body laser point B relative to the sling 10 in the lifting direction of the sling 10 is not equal, and the displacement of the body laser point B relative to the sling 10 in the lifting direction of the sling 10 is not 0, then only one of the four locks of the truck is not unlocked.

[0078] The above judgment process simplifies the logic algorithm, makes the detection result more accurate, and is easier to implement.

[0079] The present invention also provides a detection system for a gantry crane, referring to Figure 2The detection system of the gantry crane includes a spreader 10, a first laser radar 20, a second laser radar 30 and a processor 40.

[0080] The first laser radar 20 is disposed on the sling 10. The first laser radar 20 can generate a first projection plane perpendicular to the width direction of the sling 10, and project laser lines on the front of the vehicle 52 and the body 54 respectively. The first laser radar 20 can select the front laser point A and the body laser point B on the laser lines on the front of the vehicle 52 and the body 54 respectively, and obtain the distances of the front laser point A and the body laser point B relative to the sling 10 in the lifting direction of the sling 10, wherein the body laser point B is the end point of the laser line on the body 54 close to the sling 10. The second laser radar 30 is disposed on the sling 10. The second laser radar 30 can project ground laser points C1 and C2 on the ground S, and obtain the distances of the ground laser points C1 and C2 relative to the sling 10 in the lifting direction of the sling 10.

[0081] The processor 40 is connected to the first laser radar 20 and the second laser radar 30. The processor 40 is configured to receive the distances of the front laser point A, the body laser point B and the ground laser points C1, C2 relative to the sling 10 in the lifting direction of the sling 10, and calculate the displacement of the front laser point A, the body laser point B and the ground laser points C1, C2 relative to the sling 10 in the lifting direction of the sling 10 after the sling 10 is lifted according to the distances of the front laser point A, the body laser point B and the ground laser points C1, C2 relative to the sling 10 in the lifting direction of the sling 10 before and after the sling 10 is lifted, so as to determine the state of the truck's lock.

[0082] Reference Figure 2 In the exemplary embodiment, the first laser radar 20 is disposed at one end of the spreader 10 in the length direction of the truck close to the front 52, and the second laser radar 30 is disposed at one end of the spreader 10 in the width direction of the truck. This makes it easier to project the front laser point A, the body laser point B, and the ground laser points C1 and C2.

[0083] Reference Figure 2 In the exemplary embodiment, the first laser radar 20 selects the end point of the laser line on the front of the vehicle 52 away from the sling 10 as the front laser point A, which is convenient for the first laser radar 20 to select.

[0084] Reference Figure 2In the exemplary embodiment, the second laser radar 30 can select two end points of the laser line on the ground S as ground laser points C1 and C2, and calculate the average value of the distances of the two ground laser points C1 and C2 relative to the spreader 10 in the lifting direction of the spreader 10 as the distances of the ground laser points C1 and C2 relative to the spreader 10 in the lifting direction of the spreader 10. This further avoids errors and makes the detection result more accurate.

[0085] In an exemplary embodiment, the processor 40 is configured to compare and determine whether the displacements of the front laser point A, the body laser point B, and the ground laser points C1 and C2 relative to the sling 10 in the lifting direction of the sling 10 are all equal after the sling 10 is lifted. If the judgment result is yes, it is determined that all four locks of the truck are unlocked.

[0086] If the processor 40 determines that the result is no, it determines whether the displacement of the front laser point A and the body laser point B relative to the sling 10 in the lifting direction of the sling 10 is 0. If the processor 40 determines that the result is yes, it determines that the four locks of the truck are not unlocked, or the three locks of the truck are not unlocked, or the two locks on the diagonal line of the truck are not unlocked.

[0087] If the processor 40 determines that the result is no, it determines whether the displacement of the front laser point A and the body laser point B relative to the sling 10 in the lifting direction of the sling 10 is equal. If the processor 40 determines that the result is yes, it determines that the two locks on one side of the truck along its width direction are not unlocked.

[0088] If the processor 40 determines that the displacement of the laser point B of the vehicle body relative to the sling 10 in the lifting direction of the sling 10 is 0, if the processor 40 determines that the two locks on the side close to the front 52 along the length direction of the truck are not unlocked, if the processor 40 determines that the result is no, then it is determined that one of the four locks of the truck is not unlocked. The above determination process of the processor 40 simplifies the logic algorithm, makes the detection result more accurate, and is easier to implement.

[0089] The detection system of the gantry crane provided by the present invention is provided with a first laser radar 20 and a second laser radar 30 on the sling 10, and the front laser point A, the body laser point B and the ground laser points C1 and C2 are projected on the front 52, the body 54 and the ground S respectively, and the distances of the front laser point A, the body laser point B and the ground laser points C1 and C2 relative to the sling 10 in the lifting direction of the sling 10 are obtained, and the displacement of the projected front laser point A, the body laser point B and the ground laser points C1 and C2 relative to the sling 10 in the lifting direction of the sling 10 is calculated and compared with the processor 40 after the sling 10 is raised, so as to judge the state of the lock of the truck. In the safety detection method provided by the present invention, the first laser radar 20 and the second laser radar 30 are closer to the truck, not easily blocked by other interferences, and the detection is more stable.

[0090] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0091] The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent implementation scheme or changes that do not deviate from the technical spirit of the present invention, such as combination, division or repetition of features, should be included in the scope of protection of the present invention.

Claims

1. A safety detection method for a gantry crane, characterized in that: include: S10: a first laser radar is arranged on the spreader of the gantry crane, the first laser radar can generate a first projection surface perpendicular to the width direction of the spreader, and project laser lines on the front of the vehicle and the body respectively, the first laser radar can select a front laser point and a body laser point on the laser lines on the front of the vehicle and the body respectively, and obtain the distances of the front laser point and the body laser point relative to the spreader in the lifting direction of the spreader, wherein the body laser point is the end point of the laser line on the body close to the spreader; S20: a second laser radar is arranged on the spreader of the gantry crane, wherein the second laser radar is capable of projecting a ground laser point on the ground and obtaining a distance of the ground laser point relative to the spreader in a lifting direction of the spreader; S30: a processor is provided, the processor is connected to the first laser radar and the second laser radar and receives the distances of the vehicle head laser point, the vehicle body laser point and the ground laser point relative to the sling in the lifting direction of the sling; S40: the processor calculates the displacement of the vehicle head laser point, the vehicle body laser point and the ground laser point relative to the sling in the lifting direction of the sling after the sling is raised, according to the distances of the vehicle head laser point, the vehicle body laser point and the ground laser point relative to the sling in the lifting direction of the sling before and after the sling is raised; as well as S50: The processor determines the state of the truck's lock according to the displacement of the front laser point, the vehicle body laser point and the ground laser point relative to the spreader in the lifting direction of the spreader after the spreader is raised.

2. The safety detection method for a gantry crane according to claim 1, characterized in that: S50 includes: S51: the processor compares and determines whether the displacements of the vehicle head laser point, the vehicle body laser point and the ground laser point relative to the spreader in the lifting direction of the spreader are all equal after the spreader is lifted; If the determination result of S51 is yes, it is determined that all four locks of the truck are unlocked; If the result of S51 is no, then enter S52: determine whether the displacement of the front laser point and the body laser point relative to the sling in the lifting direction of the sling is 0; If the determination result of S52 is yes, it is determined that the four locks of the truck are not unlocked, or the three locks of the truck are not unlocked, or the two locks on the diagonal line of the truck are not unlocked; If the result of S52 is no, then enter S53: determine whether the displacements of the front laser point and the body laser point relative to the sling in the lifting direction of the sling are equal; If the determination result of S53 is yes, it is determined that the two locks on one side of the truck along the width direction are not unlocked; If the result of S53 is no, then enter S54: determine whether the displacement of the laser point on the vehicle body relative to the sling in the lifting direction of the sling is 0; If the determination result of S54 is yes, it is determined that the two locks on the side close to the front of the truck along the length direction of the truck are not unlocked; If the determination result of S54 is no, it is determined that one of the four locks of the truck is not unlocked.

3. The safety detection method for a gantry crane according to claim 1, characterized in that: In S10, the first laser radar is disposed at one end of the sling in the length direction close to the vehicle head; in S20, the second laser radar is disposed at one end of the sling in the width direction.

4. The safety detection method for a gantry crane according to claim 1, characterized in that: In S10, the first laser radar selects the end point of the laser line on the vehicle head that is away from the sling as the vehicle head laser point.

5. The safety detection method for a gantry crane according to claim 3, characterized in that: In S20, the second laser radar is capable of generating a second projection plane perpendicular to the length direction and projecting a laser line on the ground, and the ground laser point is located on the laser line. The second laser radar selects two endpoints of the laser line on the ground as the ground laser points, and the processor calculates the average value of the distances of the two ground laser points relative to the sling in the lifting direction of the sling as the distance of the ground laser point relative to the sling in the lifting direction of the sling.

6. The detection system of the gantry crane is characterized by: include: a spreader (10); A first laser radar (20) is arranged on the sling (10), the first laser radar (20) can generate a first projection surface perpendicular to the width direction of the sling (10), and project laser lines on the front of the vehicle and the body respectively, the first laser radar (20) can select a front laser point and a body laser point on the laser lines on the front of the vehicle and the body respectively, and obtain the distances of the front laser point and the body laser point relative to the sling (10) in the lifting direction of the sling (10), wherein the body laser point is the end point of the laser line on the body close to the sling (10); a second laser radar (30) disposed on the sling (10), the second laser radar (30) being capable of projecting a ground laser point on the ground and acquiring a distance of the ground laser point relative to the sling (10) in a lifting direction of the sling (10); as well as A processor (40) is connected to the first laser radar (20) and the second laser radar (30), and the processor (40) is configured to receive the distances of the front laser point, the body laser point and the ground laser point relative to the sling (10) in the lifting direction of the sling (10), and calculate the displacement of the front laser point, the body laser point and the ground laser point relative to the sling (10) in the lifting direction of the sling (10) after the sling (10) is raised according to the distances of the front laser point, the body laser point and the ground laser point relative to the sling (10) in the lifting direction of the sling (10) before and after the sling (10) is raised, so as to determine the state of the lock of the truck.

7. The detection system for a gantry crane according to claim 6, characterized in that: The processor (40) is configured to compare and determine whether the displacements of the front laser point, the body laser point and the ground laser point relative to the sling (10) in the lifting direction of the sling (10) are all equal after the sling (10) is lifted. If the determination result is yes, it is determined that all four locks of the truck are unlocked. If the determination result is no, it is determined whether the displacements of the front laser point and the body laser point relative to the sling (10) in the lifting direction of the sling (10) are zero. If the determination result is yes, it is determined that the four locks of the truck are not unlocked, or three locks of the truck are not unlocked, or the truck is not locked on a diagonal line. The two locks of the truck are not unlocked. If the judgment result is no, it is judged whether the displacement of the laser point of the front of the truck and the laser point of the body of the truck relative to the hoist (10) in the lifting direction of the hoist (10) is equal. If the judgment result is yes, it is determined that the two locks on one side of the truck along its width direction are not unlocked. If the judgment result is no, it is determined whether the displacement of the laser point of the body of the truck relative to the hoist (10) in the lifting direction of the hoist (10) is 0. If the judgment result is yes, it is determined that the two locks on the side close to the front of the truck along the length direction of the truck are not unlocked. If the judgment result is no, it is determined that one of the four locks of the truck is not unlocked.

8. The detection system for a gantry crane according to claim 6, characterized in that: The first laser radar (20) is arranged at one end of the sling (10) in the length direction of the truck close to the front of the truck, and the second laser radar (30) is arranged at one end of the sling (10) in the width direction of the truck.

9. The detection system for a gantry crane according to claim 7, characterized in that: The first laser radar (20) is capable of selecting the end point of the laser line on the vehicle head that is away from the sling (10) as the vehicle head laser point.

10. The detection system for a gantry crane according to claim 7, characterized in that: The second laser radar (30) is capable of selecting two end points of the laser line on the ground as the ground laser points, and calculating an average value of the distances of the two ground laser points relative to the sling (10) in the lifting direction of the sling (10) as the distance of the ground laser points relative to the sling (10) in the lifting direction of the sling (10).

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