Remote intelligent control system and method for shipbuilding portal crane

Abstract

The invention discloses a shipbuilding portal crane remote intelligent control system and method, the shipbuilding portal crane remote intelligent control system comprises a data acquisition module, a safety area analysis module, an early warning area processing module and a control management module, the safety area analysis module is used for analyzing and dividing a safety area near the portal crane, the early warning area processing module is used for carrying out block analysis and early warning processing on the interior of an early warning area, and the control management module is used for controlling the portal crane and sending out an early warning signal. The data acquisition module, the safety area analysis module, the early warning area processing module and the control management module are in communication connection with one another, and the system has the advantages of being flexible and intelligent.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent control of engineering machinery, and in particular to a remote intelligent control system and method for a shipbuilding gantry crane. Background Art

[0002] Gantry cranes are shipbuilding gantry cranes, which are indispensable in the shipbuilding industry and are one of the key equipment. Gantry cranes have complex operating conditions, high operating thresholds, and dangerous operating positions at high altitudes. In recent years, gantry cranes have been widely used in the shipbuilding process, and construction accidents have been increasing year by year.

[0003] To ensure construction safety, the traditional practice is to define fixed safety areas for gantry cranes. However, the setting of fixed safety areas has been expanding year by year with the strictness of safety regulations. Although the setting of larger safety areas can ensure that sufficient safety buffers can be provided under various operating conditions, the setting of large safety areas leads to the system's excessive sensitivity to personnel intrusion, which not only affects work efficiency, but also may cause the staff's operation process to be frequently interrupted. At the same time, fixed safety areas impose greater restrictions on the activities of relevant personnel on site. In complex operating environments such as shipbuilding, workers need to move frequently between various operating areas to complete various tasks. Excessively large safety areas limit the range of activities of workers, resulting in having to detour or take other measures to avoid triggering the early warning system, which undoubtedly increases the difficulty and time cost of work. Therefore, it is necessary to design a more flexible and intelligent remote intelligent control system and method for shipbuilding gantry cranes. Summary of the invention

[0004] The object of the present invention is to provide a remote intelligent control system and method for a shipbuilding gantry crane to solve the problems raised in the above-mentioned background technology.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: a remote intelligent control system for a shipbuilding gantry crane, comprising a data acquisition module, a safety area analysis module, a warning area processing module and a control management module, wherein the data acquisition module is used to collect relevant data during the lifting of the gantry crane, the safety area analysis module is used to analyze and divide the safety area near the gantry crane, the warning area processing module is used to perform block analysis and warning processing in the warning area, and the control management module is used to control the gantry crane and send out a warning signal, and the data acquisition module, the safety area analysis module, the warning area processing module and the control management module are connected to each other in communication;

[0006] The safety area analysis module includes a safety area division module, an early warning area output module, a high-risk area calculation module and a dangerous area prediction module. The safety area division module is used to divide the safety area near the gantry crane into safety levels, the early warning area output module is used to calculate and output the range of the early warning area, the high-risk area calculation module is used to calculate and output the range of the high-risk area, and the dangerous area prediction module is used to calculate and output the range of the dangerous area.

[0007] According to the above technical solution, the data acquisition module includes a detection factor transmission module, an operation data acquisition module and a safety area monitoring acquisition module. The detection factor transmission module is used to transmit detection factors to the hook area of ​​the gantry crane to detect the volume and shape contour of the hoisted object. The operation data acquisition module is used to collect the operation data of the gantry crane, including the weight of the hoisted object, the spatial position of the hook, the gantry crane parameters and the equipment control instructions. The safety area monitoring acquisition module is used to obtain the monitoring video within the safety area set by the gantry crane.

[0008] According to the above technical solution, the warning area processing module includes a warning block division module, a block side length calculation module, a block time output module and an interference target judgment module. The warning block division module is used to further divide the warning area range into several groups of blocks. The block side length calculation module is electrically connected to the warning block division module. The block side length calculation module is used to calculate and set the side length of each group of divided blocks. The block time output module is used to predict and output the time for each group of blocks to enter the dangerous area. The interference target judgment module is used to analyze and judge whether there is interference from relevant personnel during the period when each group of blocks enters the dangerous area.

[0009] According to the above technical solution, the control management module includes a start-stop unit and a partition alarm unit, the start-stop unit is used to control the start and stop of the gantry crane operation program, and the partition alarm module is used to send out a warning signal to remind people to leave the safe area.

[0010] According to the above technical solution, the high-risk area calculation module further includes a fitting imaging submodule and an imaging processing submodule. The fitting imaging submodule is used to capture the detection factor signal and fit the hoisted cargo to an image. The imaging processing submodule is electrically connected to the fitting imaging submodule. The imaging processing submodule is used to connect the maximum diagonal of the hoisted cargo of the fitting imaging and perform spherical imaging processing.

[0011] According to the above technical solution, the remote intelligent control method for a shipbuilding gantry crane comprises the following steps:

[0012] Step S1: Collect the weight G of the hoisted object, the spatial position of the hook, the model parameters of the gantry crane and the equipment control instructions of the gantry crane, obtain the global monitoring picture in the original safety area of ​​the gantry crane, and when the gantry crane is ready to hoist the cargo, emit a detection factor to the cargo under the hook to collect the volume information of the currently hoisted cargo;

[0013] Step S2: The original safety area of ​​the gantry crane is divided into three safety level areas according to the degree of danger, namely, the warning area, the danger area and the high-risk area, wherein the danger level of the warning area is smaller than that of the danger area and smaller than that of the high-risk area; the range of the high-risk area is smaller than that of the danger area, smaller than that of the warning area and smaller than that of the original safety area;

[0014] Step S3: According to the real-time data collected in step S1, the area ranges of the warning area, the danger area and the high-risk area are analyzed and calculated respectively, and the range calculation results are output;

[0015] Step S4: Obtain the output warning area range result, further process the warning area, and analyze and predict the interference personnel;

[0016] Step S5: Based on the real-time output of the warning area, the dangerous area and the high-risk area and the processing result of the warning area processing module, the control management module remotely and intelligently controls the operation program of the gantry crane.

[0017] According to the above technical solution, step S3 further includes:

[0018] Step S31: Establish a common gantry crane warning area database, and store in advance the span between two legs and the maximum hoisting height corresponding to the common gantry crane models;

[0019] Step S32: Match the span l between the two legs corresponding to the current gantry crane model from the common gantry crane warning area database 跨 and maximum lifting height l 高 , calculate the warning area S 预 =k 1 ·l 跨 ·l 高 ; where k 1 is the control coefficient, which is a constant greater than 0;

[0020] Step S33: Get the spatial position (x, y, z) of the hook, and make a circle with an area S with the plane coordinates (x, y) of the hook as the center. 预 The circular plane range is used as the warning area;

[0021] Step S34: After capturing the detection factor reflection signal, perform imaging processing on the reflection signal and output the volume V of the hoisted object space after imaging processing.物 , take the hook's plane coordinates (x, y) as the center and make a circle with area S 高 The circular plane range is regarded as the high-risk area, where S 高 =k 2 ·V 物 , and S 高 预 , where k 2 is the control coefficient, which is a constant greater than 0;

[0022] Step S35: Calculate the area of ​​the circle as S 高 Radius Get the moving speed value v of the hoisted object in the real-time equipment control command of the gantry crane 物 , the weight of the hoisted object G, using the formula l 危 =k 3 ·v 物 2 G calculates the length of the danger zone, where k 3 is the control coefficient, which is a constant greater than 0;

[0023] Step S36: Take the plane coordinates (x, y) of the hook as the midpoint of the side width, and the moving direction of the equipment control instruction as the extension direction of the side length, with 2r 高 is the side width length, l 危 The rectangle with the side length of is used as the danger zone.

[0024] According to the above technical solution, step S4 further includes:

[0025] Step S41: Divide the warning area into several groups with a side length of n 0 If the edge of the warning area is not filled with the square block, the part is still treated as the warning area. The side length of the square block is Where α is the control parameter, which is a constant greater than 0.

[0026] Step S42: Obtain the dangerous area in step S3, and predict the evolution of the dangerous area over time according to the subsequent equipment control instructions. When the predicted dangerous area overlaps with the corresponding square block, record the time value t when the overlap occurs on the corresponding square block. 1 ;

[0027] Step S43: When the monitoring screen identifies that a person has entered the warning area, the trajectory and speed of the person entering the warning area are recorded, the direction block of the subsequent path is predicted based on the recorded data, and the time value t of the person entering the direction block is recorded on the corresponding square block. 2 ;

[0028] Step S44: Select existing record t​1 and t 2 The selected square blocks are compared with the recorded t 1 and t 2 , when |t 1 -t 2 |≤t b When, t b The preset threshold is used to judge whether a person will affect the lifting operation when passing through the corresponding direction block area, and the person is output as an interference target, and the interference target is given an audible and visual alarm through the partition alarm unit.

[0029] According to the above technical solution, step S34 further includes:

[0030] Step S341: The detection factor is emitted to the cargo under the hook through the detection factor emission module, and the reflection signal after the detection factor contacts the cargo is captured by the system;

[0031] Step S342: Perform three-dimensional space restoration fitting imaging according to the detection factor reflection signal, establish a proportional restored hoisting object space model, and mark the coordinate positions (x i ,y i ,z i ), where i = 1, 2, ..., n, and n is the total number of corners of the current hoisting object space model;

[0032] Step S343: Connect the hook with the coordinate positions of each corner and calculate the length of each line segment Take the maximum value l max ;

[0033] Step S344: Take the spatial position (x, y, z) of the hook as the center point of the sphere, max As the radius, make a space sphere, and output the volume of the air-conditioning sphere as the space volume of the hoisted object after imaging processing. The calculation expression is:

[0034] According to the above technical solution, step S5 further includes:

[0035] Step S51: When the monitoring screen identifies that there is a person entering the warning area, the processing result of the warning area processing module is obtained. When the result is that there is a person affecting the hoisting operation, the partition alarm unit is controlled to sound and light alarm at the square block where the interfering person is located, reminding the potential interfering person to avoid the dangerous area of ​​the gantry crane;

[0036] Step S52: When the monitoring screen identifies that a person has entered the dangerous area, the start-stop unit is started, controls the current gantry crane operation program to stop, and simultaneously issues an audible and visual alarm;

[0037] Step S53: Before the gantry crane is operated, when the monitoring screen identifies that a person has entered a high-risk area, the equipment control instructions of the gantry crane controlled by the start-stop unit cannot be executed, and an audible and visual alarm is issued to remind the person to evacuate.

[0038] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: the present invention, by providing a data acquisition module, a safety area analysis module, an early warning area processing module and a control management module, can analyze the area ranges of different safety levels in real time during the operation of the gantry crane, and perform flexible and intelligent processing methods for different safety levels, thereby achieving precise control of the area ranges of different safety levels to ensure the safe and stable operation of the gantry crane while reducing restrictions on the range of activities of personnel, thereby achieving the effect of improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0040] In the attached picture:

[0041] Figure 1 It is a schematic diagram of the system module composition of the present invention;

[0042] Figure 2 It is a schematic flow chart of the method of the present invention. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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 ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] See also Figure 1 The present invention provides a technical solution: a remote intelligent control system for a shipbuilding gantry crane, comprising a data acquisition module, a safety area analysis module, a warning area processing module and a control management module, wherein the data acquisition module is used to collect relevant data during the lifting of the gantry crane, the safety area analysis module is used to analyze and divide the safety area near the gantry crane, the warning area processing module is used to perform block analysis and warning processing in the warning area, the control management module is used to control the gantry crane and send out a warning signal, and the data acquisition module, the safety area analysis module, the warning area processing module and the control management module are connected to each other in communication;

[0045] The safety area analysis module includes a safety area division module, an early warning area output module, a high-risk area calculation module and a dangerous area prediction module. The safety area division module is used to divide the safety area near the gantry crane into safety levels, the early warning area output module is used to calculate and output the range of the early warning area, the high-risk area calculation module is used to calculate and output the range of the high-risk area, and the dangerous area prediction module is used to calculate and output the range of the dangerous area.

[0046] The data acquisition module includes a detection factor transmission module, an operation data acquisition module and a safety area monitoring acquisition module. The detection factor transmission module is used to transmit detection factors to the hook area of ​​the gantry crane to detect the volume and shape contour of the hoisted object. The operation data acquisition module is used to collect the operation data of the gantry crane, including the weight of the hoisted object, the spatial position of the hook, the gantry crane parameters and equipment control instructions. The safety area monitoring acquisition module is used to obtain monitoring videos within the safety area set by the gantry crane.

[0047] The early warning area processing module includes an early warning block division module, a block side length calculation module, a block time output module and an interference target judgment module. The early warning block division module is used to further divide the early warning area into several groups of blocks. The block side length calculation module is electrically connected to the early warning block division module. The block side length calculation module is used to calculate and set the side length of each group of divided blocks. The block time output module is used to predict and output the time when each group of blocks enters the dangerous area. The interference target judgment module is used to analyze and judge whether there is interference from relevant personnel during the period when each group of blocks enters the dangerous area.

[0048] The control management module includes a start-stop unit and a partition alarm unit. The start-stop unit is used to control the start and stop of the gantry crane operation program. The partition alarm module is used to send out a warning signal to remind personnel to leave the safe area.

[0049] The high-risk area calculation module further includes a fitting imaging submodule and an imaging processing submodule. The fitting imaging submodule is used to capture the detection factor signal and fit the hoisted cargo to an image. The imaging processing submodule is electrically connected to the fitting imaging submodule. The imaging processing submodule is used to connect the maximum diagonal of the hoisted cargo of the fitting imaging and perform spherical imaging processing.

[0050] A remote intelligent control method for a shipbuilding gantry crane, the remote intelligent control method comprising the following steps:

[0051] Step S1: Collect the weight G of the hoisted object, the spatial position of the hook, the model parameters of the gantry crane and the equipment control instructions of the gantry crane, obtain the global monitoring picture in the original safety area of ​​the gantry crane, and when the gantry crane is ready to hoist the goods, emit a detection factor to the goods under the hook to collect the volume information of the current hoisted goods; the original safety area refers to the fixed safety area traditionally demarcated by the gantry crane;

[0052] Step S2: The original safety area of ​​the gantry crane is divided into three safety level areas according to the degree of danger, namely, the warning area, the danger area and the high-risk area, wherein the danger level of the warning area is smaller than that of the danger area and smaller than that of the high-risk area; the scope of the high-risk area is smaller than that of the danger area, smaller than that of the warning area and smaller than that of the original safety area; subsequently, different warning levels and corresponding control measures can be adopted according to different areas, which provides more suitable processing methods compared with the traditional one-size-fits-all control measures;

[0053] Step S3: According to the real-time data collected in step S1, the area ranges of the warning area, the danger area and the high-risk area are analyzed and calculated respectively, and the range calculation results are output;

[0054] Step S4: Obtain the output warning area range result, further process the warning area, and analyze and predict the interference personnel;

[0055] Step S5: Based on the real-time output of the warning area, the dangerous area and the high-risk area and the processing result of the warning area processing module, the control management module remotely and intelligently controls the operation program of the gantry crane.

[0056] Step S3 further comprises:

[0057] Step S31: Establish a common gantry crane warning area database, and store in advance the span between two legs and the maximum hoisting height corresponding to the common gantry crane models;

[0058] Step S32: Match the span l between the two legs corresponding to the current gantry crane model from the common gantry crane warning area database 跨 and maximum lifting height l 高 , calculate the warning area S 预 =k 1 ·l 跨 ·l 高 ; where k 1 is the control coefficient, which is a constant greater than 0;

[0059] Step S33: Get the spatial position (x, y, z) of the hook, and make a circle with an area S with the plane coordinates (x, y) of the hook as the center. 预 The circular plane range is used as the warning area;

[0060] Step S34: After capturing the detection factor reflection signal, perform imaging processing on the reflection signal and output the volume V of the hoisted object space after imaging processing. 物 , take the hook's plane coordinates (x, y) as the center and make a circle with area S 高 The circular plane range is regarded as the high-risk area, where S 高 =k 2 ·V 物 , and S 高 预 , where k 2 is the control coefficient, which is a constant greater than 0;

[0061] Step S35: Calculate the area of ​​the circle as S 高 Radius Get the moving speed value V of the hoisted object in the real-time equipment control command of the gantry crane 物 , the weight of the hoisted object G, using the formula L 危 =K 3 ·V 物 2 G calculates the length of the danger zone, where k 3 is the control coefficient, which is a constant greater than 0;

[0062] Step S36: Take the plane coordinates (x, y) of the hook as the midpoint of the side width, and the moving direction of the equipment control instruction as the extension direction of the side length, with 2r 高 is the side width length, L 危 The rectangle with the side length of is used as the danger zone.

[0063] Step S4 further comprises:

[0064] Step S41: Divide the warning area into several groups with a side length of n 0 If the edge of the warning area is not filled with the square block, the part is still treated as the warning area. The side length of the square block is ​Where α is a control parameter, which is a constant greater than 0. The above formula indicates that when the warning area is divided into blocks, the size of each group of blocks is related to the weight of the hoisting object of the gantry crane, and they are inversely proportional. When the weight of the hoisting object is larger, the side length is smaller, and the area of ​​a group of divided blocks is also smaller. The smaller the area of ​​a single group of blocks, the higher the processing accuracy of the warning area, so that when lifting heavy objects, a more refined analysis and prediction of the role of interfering personnel can be achieved. Because the inertia of heavy objects changing the state of motion is large, the stress change of the gantry crane during the frequent changes of the original execution instructions during the hoisting process is large. Therefore, the misjudgment interference is minimized to effectively avoid the influence of heavy hoisting objects on the stress change of the gantry crane, and improve the safety and service life of the gantry crane. At the same time, during the operation of light hoisting objects, by dividing larger blocks, the position prediction relationship between the interfering personnel and the hoisting objects can be effectively fuzzy processed, which can not only improve the early warning safety redundancy of the interfering personnel, but also greatly reduce the synchronous computing power of the system.

[0065] Step S42: Obtain the dangerous area in step S3, and predict the evolution of the dangerous area over time according to the subsequent equipment control instructions. When the predicted dangerous area overlaps with the corresponding square block, record the time value t when the overlap occurs on the corresponding square block. 1 ;

[0066] Step S43: When the monitoring screen identifies that a person has entered the warning area, the trajectory and speed of the person entering the warning area are recorded, the direction block of the subsequent path is predicted based on the recorded data, and the time value t of the person entering the direction block is recorded on the corresponding square block. 2 ;

[0067] Step S44: Select existing record t 1 and t 2 The selected square blocks are compared with the recorded t 1 and t 2 , when |t 1 -t 2 |≤t b When, t bBased on the preset threshold, it is judged that when a person passes through the corresponding direction block area, he will affect the lifting operation, and the person will be output as an interference target, and the interference target will be given an audio-visual alarm prompt through the partition alarm unit; for the early warning area, due to the low safety level and the relatively large scope involved, further analysis and processing are carried out in the early warning area to predict the direction blocks and personnel trajectories of the dangerous areas where the danger level is upgraded. When it is predicted that the person may enter the subsequent dangerous area if he continues to move, an early warning is issued, thereby effectively avoiding the interruption of equipment control instructions due to human interference, greatly improving work efficiency, and minimizing the restrictions on the range of activities of personnel, thus having the characteristics of high flexibility and intelligence.

[0068] Step S34 further comprises:

[0069] Step S341: The detection factor is emitted to the cargo under the hook through the detection factor emission module, and the reflection signal after the detection factor contacts the cargo is captured by the system;

[0070] Step S342: Perform three-dimensional space restoration fitting imaging according to the detection factor reflection signal, establish a proportional restored hoisting object space model, and mark the coordinate positions (x i ,y i ,z i ), where i = 1, 2, ..., n, and n is the total number of corners of the current hoisting object space model;

[0071] Step S343: Connect the hook with the coordinate positions of each corner and calculate the length of each line segment Take the maximum value l max ;

[0072] Step S344: Take the spatial position (x, y, z) of the hook as the center point of the sphere, max As the radius, make a space sphere, and output the volume of the air-conditioning sphere as the space volume of the hoisted object after imaging processing. The calculation expression is: By connecting the spatial position of the hook and the corners of the hoisted object, and comparing to confirm the farthest corner from the hoisted object to the hook, the hoisted object is sphericalized with this distance as the radius, and the volume of the sphere is used as the processed output volume of the hoisted object. This ensures that no matter what shape the hoisted object is, it is within the spherical space volume when it rotates around the hook due to movement during the hoisting process. This provides accurate and fully redundant calculation results for the subsequent division of high-risk areas based on data, effectively responding to changes in high-risk areas caused by rotation and offset of hoisted objects with different appearances during the hoisting process, and improving the redundancy of on-site safety predictions.

[0073] Step S5 further comprises:

[0074] Step S51: When the monitoring screen identifies that there is a person entering the warning area, the processing result of the warning area processing module is obtained. When the result is that there is a person affecting the hoisting operation, the partition alarm unit is controlled to sound and light alarm at the square block where the interfering person is located, reminding the potential interfering person to avoid the dangerous area of ​​the gantry crane;

[0075] Step S52: When the monitoring screen identifies that a person has entered the dangerous area, the start-stop unit is started, controls the current gantry crane operation program to stop, and simultaneously issues an audible and visual alarm;

[0076] Step S53: Before the gantry crane is operated, when the monitoring screen identifies that a person has entered a high-risk area, the equipment control instructions of the gantry crane controlled by the start-stop unit cannot be executed, and an audible and visual alarm is issued to remind the person to evacuate.

[0077] The present application is provided with a data acquisition module, a safety area analysis module, an early warning area processing module and a control management module, which can analyze the area ranges of different safety levels in real time during the operation of the gantry crane, and perform flexible and intelligent processing methods for different safety levels, thereby achieving precise control of the area ranges of different safety levels to ensure the safe and stable operation of the gantry crane while reducing restrictions on the range of activities of personnel, thereby achieving the effect of improving work efficiency.

[0078] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0079] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A remote intelligent control system for a shipbuilding gantry crane, characterized in that: The remote intelligent control system includes a data acquisition module, a safety area analysis module, an early warning area processing module and a control management module. The data acquisition module is used to collect relevant data during the lifting of the gantry crane. The safety area analysis module is used to analyze and divide the safety area near the gantry crane. The early warning area processing module is used to perform block analysis and early warning processing in the early warning area. The control management module is used to control the gantry crane and send out early warning signals. The data acquisition module, the safety area analysis module, the early warning area processing module and the control management module are connected to each other in communication; The safety area analysis module includes a safety area division module, an early warning area output module, a high-risk area calculation module and a dangerous area prediction module. The safety area division module is used to divide the safety area near the gantry crane into safety levels, the early warning area output module is used to calculate and output the range of the early warning area, the high-risk area calculation module is used to calculate and output the range of the high-risk area, and the dangerous area prediction module is used to calculate and output the range of the dangerous area.

2. A remote intelligent control system for shipbuilding gantry crane according to claim 1, characterized in that: The data acquisition module includes a detection factor transmission module, an operation data acquisition module and a safety area monitoring acquisition module. The detection factor transmission module is used to transmit detection factors to the hook area of ​​the gantry crane to detect the volume and shape contour of the hoisted object. The operation data acquisition module is used to collect the operation data of the gantry crane, including the weight of the hoisted object, the spatial position of the hook, the gantry crane parameters and equipment control instructions. The safety area monitoring acquisition module is used to obtain monitoring videos within the safety area set by the gantry crane.

3. The remote intelligent control system for a shipbuilding gantry crane according to claim 1 is characterized in that: The early warning area processing module includes an early warning block division module, a block side length calculation module, a block time output module and an interference target judgment module. The early warning block division module is used to further divide the early warning area into a plurality of blocks. The block side length calculation module is electrically connected to the early warning block division module. The block side length calculation module is used to calculate and set the side length of each group of divided blocks. The block time output module is used to predict and output the time when each group of blocks enters the dangerous area. The interference target judgment module is used to analyze and judge whether there is interference from relevant personnel during the period when each group of blocks enters the dangerous area.

4. The remote intelligent control system for shipbuilding gantry crane according to claim 1, characterized in that: The control management module includes a start-stop unit and a partition alarm unit. The start-stop unit is used to control the start and stop of the gantry crane operation program. The partition alarm module is used to send out a warning signal to remind people to leave the safe area.

5. The remote intelligent control system for shipbuilding gantry crane according to claim 1, characterized in that: The high-risk area calculation module further includes a fitting imaging submodule and an imaging processing submodule. The fitting imaging submodule is used to capture the detection factor signal and fit the hoisted cargo to the image. The imaging processing submodule is electrically connected to the fitting imaging submodule. The imaging processing submodule is used to connect the maximum diagonal of the hoisted cargo of the fitting imaging and perform spherical imaging processing.

6. A remote intelligent control method for a shipbuilding gantry crane, characterized in that: The remote intelligent control method comprises the following steps: Step S1: Collect the weight G of the hoisted object, the spatial position of the hook, the model parameters of the gantry crane and the equipment control instructions of the gantry crane, obtain the global monitoring picture in the original safety area of ​​the gantry crane, and when the gantry crane is ready to hoist the cargo, emit a detection factor to the cargo under the hook to collect the volume information of the currently hoisted cargo; Step S2: The original safety area of ​​the gantry crane is divided into three safety level areas according to the degree of danger, namely, the warning area, the danger area and the high-risk area, wherein the danger level of the warning area is smaller than that of the danger area and smaller than that of the high-risk area; the range of the high-risk area is smaller than that of the danger area, smaller than that of the warning area and smaller than that of the original safety area; Step S3: According to the real-time data collected in step S1, the area ranges of the warning area, the danger area and the high-risk area are analyzed and calculated respectively, and the range calculation results are output; Step S4: Obtain the output warning area range result, further process the warning area, and analyze and predict the interference personnel; Step S5: Based on the real-time output of the warning area, the dangerous area and the high-risk area and the processing result of the warning area processing module, the control management module remotely and intelligently controls the operation program of the gantry crane.

7. A remote intelligent control method for a shipbuilding gantry crane according to claim 6, characterized in that: The step S3 further comprises: Step S31: Establish a common gantry crane warning area database, and store in advance the span between two legs and the maximum hoisting height corresponding to the common gantry crane models; Step S32: Match the span l between the two legs corresponding to the current gantry crane model from the common gantry crane warning area database 跨 and maximum lifting height l 高 , calculate the warning area S 预 =k1·l 跨 ·l 高 ; Where k1 is the control coefficient, which is a constant greater than 0; Step S33: Get the spatial position (x, y, z) of the hook, and make a circle with an area S with the plane coordinates (x, y) of the hook as the center. 预 The circular plane range is used as the warning area; Step S34: After capturing the detection factor reflection signal, perform imaging processing on the reflection signal and output the volume V of the hoisted object space after imaging processing. 物 , take the plane coordinates (x, y) of the hook as the center and make a circle with area S 高 The circular plane range is regarded as the high-risk area, where S 高 =k2·V 物 , and S 高 预 , where k2 is the control coefficient, which is a constant greater than 0;​ Step S35: Calculate the area of ​​the circle as S 高 Radius Get the moving speed value v of the hoisted object in the real-time equipment control command of the gantry crane 物 , the weight of the hoisted object G, using the formula l 危 =k3·v 物 2 G calculates the length of the dangerous area, where k3 is the control coefficient, which is a constant greater than 0; Step S36: Take the plane coordinates (x, y) of the hook as the midpoint of the side width, and the moving direction of the equipment control instruction as the extension direction of the side length, with 2r 高 is the side width length, l 危 The rectangle with the side length of is used as the danger zone.

8. A remote intelligent control method for a shipbuilding gantry crane according to claim 6, characterized in that: The step S4 further comprises: Step S41: Divide the warning area into several groups of square blocks with a side length of n0, where the part of the warning area edge that is not filled with a square block is still treated as a warning area, where the side length of the square block is Where α is the control parameter, which is a constant greater than 0; Step S42: Obtain the dangerous area in step S3, and predict the evolution of the dangerous area over time according to the subsequent equipment control instructions. When the predicted dangerous area overlaps with the corresponding square block, the time value t1 of the overlap is recorded on the corresponding square block; Step S43: When the monitoring screen identifies that a person has entered the warning area, the movement trajectory and movement speed in the warning area are recorded, the direction block of the subsequent path is predicted based on the recorded data, and the time value t2 of the entry direction block is recorded on the corresponding square block; Step S44: Select a square block with records t1 and t2, and compare the records t1 and t2 of the selected square block respectively. b When, t b The preset threshold is used to judge whether a person will affect the lifting operation when passing through the corresponding direction block area, and the person is output as an interference target, and the interference target is given an audible and visual alarm through the partition alarm unit.

9. A remote intelligent control method for a shipbuilding gantry crane according to claim 7, characterized in that: The step S34 further comprises: Step S341: The detection factor is emitted to the cargo under the hook through the detection factor emission module, and the reflection signal after the detection factor contacts the cargo is captured by the system; Step S342: Perform three-dimensional space restoration fitting imaging according to the detection factor reflection signal, establish a proportional restored hoisting object space model, and mark the coordinate positions (x i ,y i ,z i ), where i = 1, 2, ..., n, and n is the total number of corners of the current hoisting object space model; Step S343: Connect the hook with the coordinate positions of each corner and calculate the length of each line segment Take the maximum value l max ; Step S344: Take the spatial position (x, y, z) of the hook as the center point of the sphere, max As the radius, make a space sphere, and output the volume of the air-conditioning sphere as the space volume of the hoisted object after imaging processing. The calculation expression is:

10. A remote intelligent control method for a shipbuilding gantry crane according to claim 6, characterized in that: The step S5 further comprises: Step S51: When the monitoring screen identifies that there is a person entering the warning area, the processing result of the warning area processing module is obtained. When the result is that there is a person affecting the hoisting operation, the partition alarm unit is controlled to sound and light alarm at the square block where the interfering person is located, reminding the potential interfering person to avoid the dangerous area of ​​the gantry crane; Step S52: When the monitoring screen identifies that a person has entered the dangerous area, the start-stop unit is started, controls the current gantry crane operation program to stop, and simultaneously issues an audible and visual alarm; Step S53: Before the gantry crane is operated, when the monitoring screen identifies that a person has entered a high-risk area, the equipment control instructions of the gantry crane controlled by the start-stop unit cannot be executed, and an audible and visual alarm is issued to remind the person to evacuate.

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