A remote intelligent control system and method for shipbuilding gantry crane

Abstract

The present invention discloses a remote intelligent control system for a shipbuilding gantry crane and a method thereof, comprising 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 acquire relevant data during the lifting period 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 within the early warning area. The control management module is used to control the gantry crane and issue 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 interconnected for communication. The present invention is 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, also known as shipbuilding gantry cranes, are essential and crucial equipment in the shipbuilding industry. They operate under complex conditions, with high operational requirements and dangerous high-altitude locations. In recent years, the widespread use of gantry cranes in shipbuilding has led to a growing number of construction accidents.

[0003] To ensure construction safety, the traditional practice is to designate fixed safety zones for gantry cranes. However, the establishment of fixed safety zones has been expanding year by year with the tightening of safety regulations. Although larger safety zones can ensure sufficient safety buffers under various operating conditions, the large-scale safety zone setting makes the system overly sensitive to human intrusion, which not only affects work efficiency but may also cause the staff's operation process to be frequently interrupted. At the same time, fixed safety zones impose significant restrictions on the activities of relevant on-site personnel. In complex operating environments such as shipbuilding, workers need to move frequently between various operating areas to complete various tasks. Excessively large safety zones limit the range of workers' activities, forcing them to detour or take other measures to avoid triggering the early warning system, which undoubtedly increases the difficulty and time cost of the work. Therefore, it is very 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 for a shipbuilding gantry crane and a method thereof, so as to solve the problems raised in the above 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 zone analysis module, a warning zone processing module, and a control management module, wherein the data acquisition module is used to collect relevant data during the gantry crane hoisting period, the safety zone analysis module is used to analyze and divide the safety zone near the gantry crane, the warning zone processing module is used to perform block analysis and warning processing within the warning zone, and the control management module is used to control the gantry crane and issue warning signals, and the data acquisition module, the safety zone analysis module, the warning zone processing module, and the control management module are communicatively connected to each other;

[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 belonging to the early warning area. The high-risk area calculation module is used to calculate and output the range belonging to the high-risk area. The dangerous area prediction module is used to calculate and output the range belonging to 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 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.

[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 issue a warning signal to remind personnel 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 into 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 fitted imaging hoisted cargo 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, obtain the global monitoring image within the original safety area of the gantry crane, and when the gantry crane is ready to hoist the cargo, transmit 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. The danger level of the warning area is smaller than that of the danger area, which is smaller than that of the high-risk area; the range of the high-risk area is smaller than that of the danger area, which is smaller than that of the warning area, which is smaller than that of the original safety area.

[0014] Step S3: Based on 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 presence of interfering personnel;

[0016] Step S5: Based on the real-time division output of the warning area, dangerous area and 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: establishing a common gantry crane warning area database, storing in advance the span between the 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 =k1·l 跨 ·l 高 ; Where k1 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 of 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 an area of 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;

[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 instruction 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 danger zone, where k3 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 direction of the device control instruction movement as the direction of the side length extension, 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 of square blocks with a side length of n0. If the edge of the warning area is not filled with a square block, it is still treated as a warning area. 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 based on the subsequent equipment control instructions. When the predicted dangerous area overlaps with the corresponding square block, the time value t1 when the overlap occurs is recorded on the corresponding square block;

[0027] Step S43: When the monitoring screen identifies a person entering the warning area, the movement trajectory and movement speed within 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 in the corresponding square block;

[0028] Step S44: Select a square block with records t1 and t2, and compare the records t1 and t2 of the selected square block. When |t1-t2|≤t b When, t b ​The preset threshold is used to determine 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 transmitting module transmits a detection factor to the cargo under the hook, and the reflected signal after the detection factor contacts the cargo is captured by the system;

[0031] Step S342: Perform three-dimensional space restoration and fitting imaging based on the detection factor reflection signal, establish a proportional restoration of the hoisted 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 in the current hoisting object space model;

[0032] Step S343: Connect the hook and each corner coordinate position and calculate the length of each line segment respectively 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 a person has entered the warning area, the processing result of the warning area processing module is obtained. If the result indicates that the person has affected the hoisting operation, the partition alarm unit is controlled to sound and light alarms in the square block where the interfering person is located, reminding potential interfering persons 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 activated to control the gantry crane to stop its current operation program and simultaneously issue an audible and visual alarm;

[0037] Step S53: Before the gantry crane is put into operation, 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: 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 figure:

[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 clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts 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 zone analysis module, an early warning zone processing module, and a control management module. The data acquisition module is used to collect relevant data during the gantry crane's hoisting operation. The safety zone analysis module is used to analyze and divide the safety zone near the gantry crane. The early warning zone processing module is used to perform block analysis and early warning processing within the early warning zone. The control management module is used to control the gantry crane and issue early warning signals. The data acquisition module, safety zone analysis module, early warning zone processing module, and control management module are communicatively connected to each other.

[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 belonging to the early warning area. The high-risk area calculation module is used to calculate and output the range belonging to the high-risk area. The dangerous area prediction module is used to calculate and output the range belonging to 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 outer 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.

[0047] 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 when each group of blocks enters the dangerous area. The interference target judgment module is used to analyze and judge whether there is relevant personnel interference 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 early warning signals 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 into 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 fitted imaging hoisted cargo and perform spherical imaging processing.

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

[0051] Step S1: Collect the weight G of the load being hoisted by the gantry crane, the spatial position of the hook, the model parameters of the gantry crane, and the equipment control instructions, obtain a global monitoring image within the gantry crane's original safety zone, and when the gantry crane is preparing to hoist the load, emit a detection factor toward the load under the hook to collect the volume information of the currently hoisted load; the original safety zone refers to the fixed safety zone traditionally designated for gantry cranes;

[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. The danger level of the warning area is smaller than that of the danger area, which is smaller than that of the high-risk area; the high-risk area is smaller than that of the danger area, which is smaller than that of the warning area, which is smaller than the original safety area. Subsequently, different warning levels and corresponding control measures can be adopted according to different areas, providing more suitable treatment methods compared to traditional one-size-fits-all control measures.

[0053] Step S3: Based on 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 presence of interfering personnel;

[0055] Step S5: Based on the real-time division output of the warning area, dangerous area and 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: establishing a common gantry crane warning area database, storing in advance the span between the 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 =k1·l 跨 ·l 高 ; Where k1 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 of 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 an area of 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;

[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 instruction 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 danger zone, where k3 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 direction of the device control instruction movement as the direction of the side length extension, 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 of square blocks with a side length of n0. If the edge of the warning area is not filled with a square block, it is still treated as a warning area. Where α is a control parameter and a constant greater than 0. The above formula indicates that when the warning area is divided into blocks, the size of each block is related to the weight of the gantry crane hoisting object and shows an inversely proportional relationship. When the weight of the hoisting object is greater, the side length is smaller, and the area of the divided block group is also smaller. The smaller the area of a single block group, the higher the processing accuracy of the warning area, thereby achieving a more refined analysis and prediction of the effect of interfering personnel when hoisting heavy objects. Because heavy objects have greater inertia when changing their motion state, the stress of the gantry crane changes greatly during the frequent changes in the original execution instructions during the hoisting process. Therefore, maximizing the reduction of false interference effectively avoids the impact of heavy hoisting objects on the stress changes of the gantry crane, thereby improving the safety and service life of the gantry crane. At the same time, during the operation of light hoisting objects, by dividing the area into larger blocks, the position prediction relationship between interfering personnel and the hoisting object can be effectively fuzzy processed, which can not only improve the early warning safety redundancy of 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 based on the subsequent equipment control instructions. When the predicted dangerous area overlaps with the corresponding square block, the time value t1 when the overlap occurs is recorded on the corresponding square block;

[0066] Step S43: When the monitoring screen identifies a person entering the warning area, the movement trajectory and movement speed within 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 in the corresponding square block;

[0067] Step S44: Select a square block with records t1 and t2, and compare the records t1 and t2 of the selected square block. When |t1-t2|≤t b When, t b Based on the preset threshold, it is judged that people 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 prompted by sound and light alarm through the partition alarm unit; for the early warning area, due to the low safety level and relatively large scope involved, further analysis and processing are carried out in the early warning area to predict the direction blocks and personnel trajectories where the danger level is upgraded to dangerous areas. When it is predicted that the personnel may enter the subsequent dangerous area if they continue 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 personnel activities, thus having the characteristics of high flexibility and intelligence.

[0068] Step S34 further includes:

[0069] Step S341: The detection factor transmitting module transmits a detection factor to the cargo under the hook, and the reflected signal after the detection factor contacts the cargo is captured by the system;

[0070] Step S342: Perform three-dimensional space restoration and fitting imaging based on the detection factor reflection signal, establish a proportional restoration of the hoisted 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 in the current hoisting object space model;

[0071] Step S343: Connect the hook and each corner coordinate position and calculate the length of each line segment respectively 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 will be within the spherical spatial 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 this data, effectively dealing with changes in high-risk areas caused by rotation and offset during the hoisting process of hoisted objects with different appearances, and improving the redundancy of on-site safety predictions.

[0073] Step S5 further comprises:

[0074] Step S51: When the monitoring screen identifies that a person has entered the warning area, the processing result of the warning area processing module is obtained. If the result indicates that the person has affected the hoisting operation, the partition alarm unit is controlled to sound and light alarms in the square block where the interfering person is located, reminding potential interfering persons 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 activated to control the gantry crane to stop its current operation program and simultaneously issue an audible and visual alarm;

[0076] Step S53: Before the gantry crane is put into operation, 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] This application is equipped with a data acquisition module, a safety area analysis module, an early warning area processing module and a control management module. It 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, so as to achieve 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 personnel activities, thereby achieving the effect of improving work efficiency.

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

[0079] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are 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 will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A remote intelligent control method for a shipbuilding gantry crane, characterized by: 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, obtain the global monitoring image within the original safety area of the gantry crane, and when the gantry crane is ready to hoist the cargo, transmit 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. The danger level of the warning area is smaller than that of the danger area, which is smaller than that of the high-risk area; the range of the high-risk area is smaller than that of the danger area, which is smaller than that of the warning area, which is smaller than that of the original safety area. Step S3: Based on 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 presence of interfering personnel; Step S5: Based on the real-time output of the warning area, dangerous area and 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; The step S3 further comprises: Step S31: establishing a common gantry crane warning area database, storing in advance the span between the two legs and the maximum hoisting height corresponding to the common gantry crane models; Step S32: Match the span between the two legs according to the current gantry crane model from the common gantry crane warning area database and maximum lifting height , calculate the area of the warning area ;in is the control coefficient, which is a constant greater than 0; Step S33: Get the spatial position (x, y, z) of the hook, and take the plane coordinate (x, y) of the hook as the center to make an area 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 of the hoisted object space after imaging processing. , with the hook's plane coordinates (x, y) as the center, the area is The circular plane range is regarded as the high-risk area, where ,and , where is the control coefficient, which is a constant greater than 0; Step S35: Calculate the area of the circle Radius , obtain the moving speed value of the hoisted object in the real-time equipment control instruction of the gantry crane , the weight of the hoisted object G, using the formula Calculate the length of the dangerous area, where 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 direction of the equipment control instruction movement is the direction of the side length extension, with 2 The length of the side width, The rectangle with the side length of is used as the danger zone.

2. The remote intelligent control method for a shipbuilding gantry crane according to claim 1, characterized in that: The step S4 further comprises: Step S41: Divide the warning area into several groups with side lengths If the edge of the warning area is not filled with the square block, the part of the square block is still treated as the warning area. The side length of the square block is , where is the control parameter, which is a constant greater than 0; Step S42: Get 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 of the overlap on the corresponding square block. ; 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 of the entry direction block is recorded on the corresponding square block. ; Step S44: Select existing records and The selected square blocks are compared with their recorded and ,when When The preset threshold is used to determine 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.

3. The remote intelligent control method for a shipbuilding gantry crane according to claim 1, characterized in that: The step S34 further comprises: Step S341: The detection factor transmitting module transmits a detection factor to the cargo under the hook, and the reflected signal after the detection factor contacts the cargo is captured by the system; Step S342: Perform three-dimensional space restoration fitting imaging based on the detection factor reflection signal, establish a proportional restoration of the hoisted object space model, and mark the coordinate positions of each corner of the hoisted object space model ( ), 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 and each corner coordinate position and calculate the length of each line segment respectively , take the maximum value ; Step S344: Take the spatial position (x, y, z) of the hook as the center point of the sphere, As the radius, make a space sphere, and output the volume of the space sphere as the space volume of the hoisted object after imaging processing. The calculation expression is .

4. The remote intelligent control method for a shipbuilding gantry crane according to claim 1, characterized in that: The step S5 further comprises: Step S51: When the monitoring screen identifies that a person has entered the warning area, the processing result of the warning area processing module is obtained. If the result indicates that the person has affected the hoisting operation, the partition alarm unit is controlled to sound and light alarms in the square block where the interfering person is located, reminding potential interfering persons 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 activated to control the gantry crane to stop its current operation program and simultaneously issue an audible and visual alarm; Step S53: Before the gantry crane is put into operation, 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.

5. A remote intelligent control system for a shipbuilding gantry crane for implementing the method of claim 1, 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 issue early warning signals. The data acquisition module, safety area analysis module, early warning area processing module and control management module are interconnected and communicated with each other. 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 belonging to the early warning area. The high-risk area calculation module is used to calculate and output the range belonging to the high-risk area. The dangerous area prediction module is used to calculate and output the range belonging to the dangerous area.

6. The remote intelligent control system for shipbuilding gantry crane according to claim 5, 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 outline 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.

7. The remote intelligent control system for shipbuilding gantry crane according to claim 5, characterized in that: 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 when each group of blocks enters the dangerous area. The interference target judgment module is used to analyze and judge whether there is relevant personnel interference during the period when each group of blocks enters the dangerous area.

8. The remote intelligent control system for shipbuilding gantry crane according to claim 5, 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, and the partition alarm unit is used to send out an early warning signal to remind personnel to leave the safe area.

9. The remote intelligent control system for a shipbuilding gantry crane according to claim 5, 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 into 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 fitted imaging hoisted cargo and perform spherical imaging processing.

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