Automatic control system of portal crane

Abstract

The invention provides a portal crane automatic control system, and belongs to the field of port automation. The system comprises a cabin information acquisition unit and a positioning unit, the cabin information acquisition unit and the positioning unit are respectively connected with the data transmission unit, and the data transmission unit is connected with the central control machine; a simulation processing unit and a path planning unit are arranged on the central control machine; the cabin information acquisition unit is used for acquiring cabin information; the positioning unit is used for collecting position information of the grab bucket, the portal frame and the slewing mechanism; the simulation processing unit is used for performing simulation processing according to the cabin information to obtain a three-dimensional point cloud picture; and the path planning unit is used for planning an optimal path for the portal crane. Automatic control over the portal crane is achieved, the operation risk of cargo loading and unloading of a bulk cargo wharf is reduced, the operation efficiency is improved, and the working intensity of a driver is relieved.

Description

Technical Field

[0001] The invention belongs to the field of port automation, and in particular relates to a door crane automation control system. Background Art

[0002] At the bulk cargo terminal of the port, gantry cranes (short for portal cranes) are usually used for loading and unloading cargo in the hold. The gantry crane can be roughly divided into two parts: the upper rotating part and the lower running part. The lower running part includes a door-shaped base frame (i.e., the gantry) and a trolley mechanism. The trolley mechanism drives the gantry to run along the ground track. The upper rotating part is installed on the gantry and can rotate relative to the lower running part. The deadweight and lifting weight of the gantry crane are borne by the gantry and transmitted to the ground track by the gantry. Specifically, the upper rotating part includes: a slewing mechanism, a luffing mechanism, and a lifting mechanism, wherein the slewing mechanism is used to control the rotational movement of the upper part of the gantry crane; the luffing mechanism includes a pull rod, an arm and a trunk beam, the pull rod and the arm beam are connected to the slewing mechanism through a hinge shaft, the other end of the pull rod and the arm beam is hinged to one end of the trunk beam, and a pulley is provided at the other end of the trunk beam; the lifting mechanism includes a drum, a wire rope and a grab bucket, one end of the wire rope is wound around the drum, and the other end of the wire rope passes around the pulley and is connected to the grab bucket, and the lifting and lowering of the grab bucket is achieved by winding up or lowering the wire rope by the drum, and at the same time, the grab bucket can grab the material when it is closed, and can unload the material when it is opened.

[0003] When operating a traditional gantry crane, a professional driver needs to use the control handle in the driver's cab to continuously adjust the slewing angle of the slewing mechanism, the amplitude of the variable amplitude mechanism, and the height of the grab bucket of the lifting mechanism to carry out the operation of grab bucket entering the cabin and grabbing materials to unload the ship. That is, grab the materials in the cabin, lift the grab bucket so that the grab bucket passes over the edge of the ship, and move it to the designated position on land and then lower it to unload the materials. Since the slewing mechanism drives the grab bucket to fall into the material grabbing process with great inertia, the precise grabbing position of the manually operated grab bucket is difficult to control, and there is a risk of the grab bucket hitting the material cabin. Moreover, at the bulk cargo terminal, the on-site working environment is poor, and the driver is in the driver's cab for a long time looking down at the grab bucket to operate, which is easy to cause occupational diseases.

[0004] In addition, loading operations are affected by many changing factors such as terminal collection and distribution vehicles, environmental protection auxiliary equipment, terminal staff, and the shape of cargo stacks. Loading operations require a higher level of intelligence for the automation system. Summary of the invention

[0005] The purpose of the present invention is to solve the problems existing in the above-mentioned prior art and provide a door crane automation control system to reduce operation risks, improve operation efficiency and reduce the work intensity of drivers.

[0006] The present invention is achieved through the following technical solutions:

[0007] The present invention provides a door crane automatic control system, the system comprising: a cabin information collection unit and a positioning unit; the cabin information collection unit and the positioning unit are respectively connected to a data transmission unit, and the data transmission unit is connected to a central control machine; a simulation processing unit and a path planning unit are arranged on the central control machine;

[0008] The cabin information collection unit is used to collect cabin information;

[0009] The positioning unit is used to collect the position information of the grab bucket, the gantry, and the slewing mechanism;

[0010] The simulation processing unit is used to perform simulation processing according to the cabin information to obtain a three-dimensional point cloud image;

[0011] The path planning unit is used to plan an optimal path for the gantry crane.

[0012] Preferably, the cabin information collection unit includes a plurality of 3D scanners and a pan-tilt platform;

[0013] The cabin information includes cabin boundaries, cabin openings, and storage locations of materials in the cabin.

[0014] Preferably, the positioning unit comprises: a grab positioning module, a gantry positioning module, and a rotary positioning module;

[0015] The grab bucket positioning module includes: an incremental encoder installed on the motor controlling the grab bucket and an absolute encoder installed on the drum; the position information of the grab bucket is obtained according to the incremental encoder and the absolute encoder;

[0016] The gantry positioning module includes: an incremental encoder connected to the output shaft of the variable frequency motor of the trolley mechanism, and an absolute encoder connected to the wheel axle of the trolley mechanism; the position information of the gantry is obtained according to the incremental encoder and the absolute encoder;

[0017] The rotary positioning module includes: an absolute value encoder and a GPS installed on a rotary gear of the rotary mechanism; the position information of the rotary mechanism is obtained according to the absolute value encoder, and the position information of the rotary mechanism is obtained through the GPS at the same time.

[0018] Preferably, the gantry positioning module further comprises: an inverted U-shaped plate and a FLAG plate;

[0019] Inverted U-shaped plates are respectively installed on the outside of both sides of the bottom of the trolley mechanism, and the transmitting end and the receiving end of the infrared counter-radiation sensor are respectively installed on the two inner walls of each inverted U-shaped plate;

[0020] Multiple FLAG plates perpendicular to the ground are set on the roadbed on both sides of the gantry crane's travel path;

[0021] When the trolley mechanism moves, the FLAG plate passes through the inverted U-shaped plate, which can block the light path of the infrared radiation sensor.

[0022] Preferably, the data transmission unit comprises: an optical cable reel and an Ethernet slip ring;

[0023] The Ethernet slip ring is arranged at the rotation center of the rotation mechanism of the door machine;

[0024] The data from the upper electrical room of the gantry crane is transmitted to the lower electrical room of the gantry crane via the Ethernet slip ring, and then the data from the upper electrical room and the data from the lower electrical room are transmitted to the central control machine via the optical cable reel.

[0025] Preferably, the simulation processing unit performs simulation processing according to the cabin information to form a three-dimensional image and a hatch and material pile information database, and then generates a three-dimensional point cloud map using the three-dimensional image and the hatch and material pile information database.

[0026] Preferably, the path planning unit obtains the material picking point using the three-dimensional point cloud map, calculates the time from the material picking point to the material unloading point using each action mode, and takes the path corresponding to the action mode with the shortest time as the optimal path.

[0027] Preferably, an anti-collision unit is further provided on the central control machine, and the anti-collision unit includes: an adjacent door machine anti-collision module and a single door machine anti-collision module;

[0028] The adjacent gantry crane anti-collision module is used to obtain the horizontal relative distance between the two adjacent grab buckets according to the position information of the grab buckets of the two gantry cranes, and to judge in real time whether the horizontal relative distance is less than the safety distance. If not, the two gantry cranes remain unchanged and operate separately. If yes, the time corresponding to the optimal path of each gantry crane is subtracted from the time that has been operated to obtain the remaining time, so that the gantry crane with a short remaining time continues to operate, and the gantry crane with a long remaining time is suspended. When the horizontal relative distance is greater than or equal to the safety distance, the gantry crane with a long remaining time is restarted to continue the operation.

[0029] The single-door crane anti-collision module uses the cabin information and the position information of the grab bucket to calculate the distance between the grab bucket and the cabin boundary in real time, and stops the operation when the distance between the grab bucket and the cabin boundary is less than or equal to a set threshold.

[0030] Compared with the prior art, the beneficial effects of the present invention are: the present invention realizes the automatic control of the gantry crane, reduces the operation risk of loading and unloading goods at the bulk cargo terminal, improves the operation efficiency, and reduces the work intensity of the driver. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic diagram of the structure of the automatic control system for a door crane according to the present invention;

[0032] Figure 2 A schematic structural diagram of an inverted U-shaped plate in a door crane automation control system of the present invention.

[0033] Figure 3 A comparison diagram between the processing results of the simulation processing unit in the automatic control system for door cranes of the present invention and the actual object. DETAILED DESCRIPTION

[0034] The present invention is further described in detail below in conjunction with the accompanying drawings:

[0035] The present invention provides a door crane automation control system, such as Figure 1 As shown, the system includes: a cabin information collection unit and a positioning unit; the cabin information collection unit and the positioning unit are respectively connected to the data transmission unit, and the data transmission unit is connected to the central control machine; a simulation processing unit and a path planning unit are arranged on the central control machine.

[0036] The details are as follows:

[0037] The cabin information collection unit is used to collect cabin information and send the cabin information to the data transmission unit.

[0038] The cabin information collection unit includes a plurality of 3D scanners and a pan-tilt platform. Specifically, a 3D scanner and a pan-tilt platform can be arranged on the right side of the trunk of the gantry crane, the slewing mechanism or the land side of the fixed platform (the side of the fixed platform facing the sea is the sea side, and the side facing the mainland is the land side).

[0039] The cabin information includes cabin boundaries, cabin openings, and storage locations of materials in the cabin. In order to grasp the actual situation of the cargo in the cabin, at least two 3D scanners and pan / tilts are installed on the gantry crane. In this system, the 3D scanner is used as an eye to scan single and multiple cabins, obtain cabin boundaries, cabin openings, and storage locations of materials in the cabin, and send the cabin information to the data transmission unit.

[0040] The positioning unit is used to collect the position information of the grab bucket, the gantry, and the slewing mechanism, and send the position information to the data transmission unit. The positioning unit includes: a grab bucket positioning module, a gantry positioning module, and a slewing positioning module, which are as follows:

[0041] The grab positioning module includes an incremental encoder installed on the motor that controls the grab and an absolute encoder installed on the drum. The motor is used to control the rotation of the drum. The position information of the grab can be obtained according to the rotation angular velocity, rotation angle and gear ratio of the incremental encoder installed on the motor. At the same time, the position information of the grab can also be obtained according to the rotation angular velocity, rotation angle and gear ratio of the absolute encoder installed on the drum (the method of converting the position information by the rotation angular velocity, rotation angle and gear ratio of the encoder itself is an existing mature technology and will not be repeated here). In this way, redundant control can be achieved by using the incremental encoder and the absolute encoder, that is, the position information obtained by the two encoders is compared in real time. If the difference between the two position information is greater than the set threshold, an alarm is issued, and the system can immediately adopt a safety protection strategy, such as stopping the motor or drum for inspection, etc.

[0042] The gantry positioning module includes an incremental encoder, an absolute encoder and a FLAG board. Encoder positioning is the main method, and FLAG board positioning is the auxiliary method. The absolute encoder is connected to the wheel axle of the trolley mechanism, and the incremental encoder is connected to the output shaft of the variable frequency motor of the trolley mechanism. The position information of the gantry can be calculated through the rotation angular velocity, rotation angle and gear ratio of the encoder and the GPS position distance coordinate information when the gantry is moving. When the difference between the position information of the two encoders is greater than the set threshold (for example, 0.5 cm), the system will issue an alarm to remind maintenance personnel to check.

[0043] Furthermore, FLAG boards perpendicular to the ground are installed on the roadbed on both sides of the gantry crane's travel path. The distance between two adjacent FLAG boards on a single side of the roadbed is 5 meters. Every time the gantry crane runs 5 meters, the infrared counter-radiation sensor installed at the bottom of the gantry crane sends a FLAG board blocking signal to correct the gantry crane's position.

[0044] Specifically, an inverted U-shaped plate 1 is installed on both sides of the bottom of the trolley mechanism. Figure 2As shown, the transmitting end 2 and the receiving end 3 of the infrared counter-radiation sensor are respectively installed on the two inner walls of the inverted U-shaped plate 1, and the inverted U-shaped plate 1 is connected to the bottom side of the trolley mechanism through the transverse rod on its upper part. When the trolley mechanism moves along the track, the inverted U-shaped plate 1 moves with the trolley mechanism, and the FLAG plate can pass through the inverted U-shaped plate 1. Under normal circumstances, the infrared rays emitted by the transmitting end 2 are received by the receiving end 3. When the FLAG plate enters the inverted U-shaped plate 1, the receiving end 3 cannot receive the infrared rays because the FLAG plate blocks the light path. At this time, the infrared counter-radiation sensor sends a FLGA board blocking signal. The FLAG board blocking signal can be used to know that the door machine has arrived at the FLAG board. After receiving the FLAG board blocking signal, the coordinate position of the FLAG board corresponding to the latest FLAG board blocking signal is used to cover the previous position information. In this way, the position of the door machine can be updated at any time with the movement of the door machine to achieve the positioning of the door machine.

[0045] The rotary positioning module includes an absolute encoder and a GPS installed on the rotary gear of the rotary mechanism. The position information of the rotary mechanism can be obtained through the rotation angular velocity, rotation angle and gear ratio of the absolute encoder. It is characterized by high resolution and fast data feedback response. Therefore, it is used as a position positioning system when the rotary mechanism is dynamic, but its disadvantage is that it is easy to produce errors after running for a long time. Therefore, a set of GPS system is added. GPS directly obtains the position information of the rotary mechanism. The characteristics of GPS are opposite to those of the encoder, so it is used as a static position compensation system. During operation, it is judged in real time whether the difference between the position information of the absolute encoder and the position information of the GPS is greater than the set threshold (for example, 0.5 degrees). If so, an alarm is issued to prompt the maintenance personnel to check. At the same time, the absolute encoder is corrected using the position information of the GPS, that is, every time the rotary mechanism stops, the PLC will cover the GPS position information of the rotary mechanism to the absolute encoder, thereby realizing the correction of the encoder.

[0046] The data transmission unit is used to transmit the data collected by the positioning unit and the cabin information collection unit to the central control machine in real time.

[0047] Specifically, the data transmission unit includes: an optical cable reel and a slip ring. An Ethernet slip ring is installed at the rotation center of the door machine's rotary mechanism. The Ethernet slip ring is used to realize the communication between the upper and lower electrical rooms of the door machine. The data of the upper electrical room of the door machine is transmitted to the lower electrical room of the door machine through the Ethernet slip ring. Then the data of the upper electrical room and the data of the lower electrical room are transmitted to the central control machine through the optical cable reel. Because the optical fiber transmission speed can reach 10Gbps, which is much higher than wireless transmission, and the bandwidth is very high, the delay is very low. Therefore, compared with wireless transmission, the data transmission unit of the present invention has high bandwidth and low delay characteristics. The delay of transmitted data can be controlled within 200ms.

[0048] The simulation processing unit is used to perform simulation processing according to the cabin information to obtain a three-dimensional point cloud map, as follows:

[0049] According to the received cabin information (cabin boundary, cabin opening and storage location of materials in the cabin), simulation processing is performed to form a three-dimensional image (such as Figure 3 As shown, Figure 3 The left side is the actual cabin, and the right side is the 3D image) and the hatch and material pile information database, and then the 3D image and the hatch and material pile information database are used to generate a 3D point cloud map. Each point cloud in the 3D point cloud map generated by the system has its own XYZ coordinates. The simulation processing unit is implemented using existing technology, for example, it can be implemented using the modeling method disclosed in patent documents such as 202210166061.X and 202211583421.2, which will not be repeated here.

[0050] The path planning unit is used to plan the optimal path for the gantry crane, as follows:

[0051] Calculate the time required to reach the unloading point from the material collection point. The material collection point can be obtained by using the three-dimensional point cloud map obtained by the simulation processing unit. The material collection point is the position where the grab grabs the material. For example, the point with the highest point density and the highest height in the three-dimensional point cloud map can be used as the material collection point. At this time, the grab amount is the largest. It can also be the material collection point selected by the driver on the three-dimensional point cloud map. The unloading point is the position where the grab unloads the material. For example, it can be directly above the hopper on land that has been determined in advance or the position on land specified for stacking goods.

[0052] The specific operations of the path planning unit are as follows:

[0053] Because the slewing mechanism, lifting mechanism and luffing mechanism can act sequentially or simultaneously, a variety of action modes can be designed from the material picking point to the unloading point under the premise of ensuring the stability of the grab, and each action mode corresponds to a path of movement of the grab, such as rotating while the luffing mechanism is changing the luffing, or lifting and lowering, changing the luffing while the slewing mechanism is rotating, or the three mechanisms act sequentially, etc. Different action modes correspond to different events. The time from the material picking point to the unloading point using each action mode is calculated (the existing mathematical method can be used to calculate through the speed, angular velocity and position of the slewing mechanism, lifting mechanism and luffing mechanism, which will not be repeated here), and the path corresponding to the action mode with the shortest time is taken as the optimal path.

[0054] The central control machine is further provided with an anti-collision unit, which includes: an adjacent door machine anti-collision module and a single door machine anti-collision module, as follows:

[0055] The adjacent gantry crane anti-collision module is used to prevent adjacent gantry cranes from colliding. During port operations, two adjacent gantry cranes are generally set at positions where no collision will occur, that is, the movement trajectories of the two gantry cranes will not overlap, but in some special cases, the trajectory overlap may occur, at which time the problem of adjacent gantry crane anti-collision needs to be considered. Each gantry crane has its own material collection point and unloading point. The path planning unit gives the optimal path for each gantry crane. However, a part of the area covered by the movement of the grab bucket in the optimal path of two adjacent gantry cranes may overlap. That is to say, when two adjacent gantry cranes operate according to their respective optimal paths, the trunks of the two gantry cranes may collide. The overlapping area is used as the collision area. In this case, it is necessary to obtain the horizontal relative distance between the two adjacent grab buckets in real time according to the position information of the grab buckets of the two gantry cranes (the horizontal relative distance of the two points can be obtained according to the spatial coordinates of the two points using a general mathematical formula, which will not be repeated here), and to determine in real time whether the horizontal relative distance is less than the safety distance. If not, the two gantry cranes remain unchanged and operate separately. If yes, the time corresponding to the optimal path of each gantry crane is calculated minus the time that has been operated to obtain the remaining time, so that the gantry crane with a short remaining time continues to operate, and the gantry crane with a long remaining time is suspended. When the horizontal relative distance is greater than or equal to the safety distance, the gantry crane with a long remaining time is restarted to continue the operation. In this way, it is ensured that in the overlapping area of ​​the optimal path, the two gantry cranes will always maintain a safe distance.

[0056] Furthermore, anti-collision radar sensors are installed at the middle, front and highest positions of the trunk of each gantry crane to achieve hardware anti-collision between the two cranes. At the same time, one of the two adjacent gantry cranes can be set as the master and the other as the slave. When the master's trunk and the slave's trunk are detected to enter the collision area, the slave stops working and avoids the master. After the master leaves the collision area, the slave continues working.

[0057] The single-door crane anti-collision module uses the position information of the cabin boundary and the grab in the cabin information to calculate the distance between the grab and the cabin boundary in real time (the distance between the two can be calculated through the spatial positions of the two, and the specific algorithm is a mathematical operation of the spatial coordinate system, which will not be repeated here). When the distance between the grab and the cabin boundary is less than or equal to the set threshold, the operation is stopped, which prevents the grab from colliding with the cabin boundary.

[0058] In this system, the 3D laser scanner acts as an eye to scan the hatch and the materials in the cabin, and performs simulation processing to form a 3D image and a hatch and material pile information database. The 3D simulation image can display the current materials in the cabin and the position and shape of the hatch in a three-dimensional and realistic manner. The driver selects the material collection point by clicking on the 3D point cloud map of the material pile on the touch screen or the system automatically recommends the material collection point. The system of the present invention automatically controls the grab bucket to reach the selected material collection point to grab the material, and automatically returns to the designated position above or behind the designated hopper on the ground to unload the material.

[0059] Furthermore, the system of the present invention also includes a video security unit: using image recognition and multi-sensor fusion technology to conduct real-time safety monitoring of equipment and personnel in the operation area to prevent safety accidents from occurring during the operation. Specifically including:

[0060] Smoke alarm: surveillance cameras are installed in the driver's cab, machine room, and electrical room for real-time detection of the driver's cab, machine room, and electrical room. At the same time, smoke alarms are installed in the driver's cab, machine room, and electrical room. When the smoke concentration reaches a certain threshold, the smoke alarm will be triggered, which is suitable for a variety of application scenarios. Smoke detection can be realized by monitoring videos in key areas to detect smoke. During the occurrence of smoke, the system will continue to give alarms and generate alarm feature data and alarm photos for subsequent search, analysis, and evidence collection.

[0061] Human intrusion: surveillance cameras are installed on the sea side and land side of the gantry crane to monitor the sea side and road test of the gantry crane in real time, and detect pedestrian targets in the surveillance video, including pedestrians entering the video alarm area from different angles and directions. While pedestrians are in the alarm area, the system continues to give alarms and generates alarm feature data and alarm photos for subsequent search, analysis, and evidence collection.

[0062] Personnel anti-collision: Analyze the video collected by the surveillance cameras on the sea and road sides of the gantry crane. When a person intrudes into the anti-collision area, an alarm will be issued, and the gantry crane will be slowed down and stopped to achieve the effect of automatic anti-collision and reduce personal injury to the intruder.

[0063] The video security module can send two signals, one signal is a status signal (including human intrusion, smoke alarm, etc.), and the other signal is video stream data (i.e. on-site photos, videos, etc.).

[0064] In the present invention, the three-dimensional laser scanner acts as the "eyes" to scan the cabin and cargo, obtain rich data information in the operating area, obtain the best material collection point and the optimal path, and convert them into control instructions to achieve smooth and precise operation of the grab.

[0065] The above technical solution is only one implementation mode of the present invention. For those skilled in the art, it is easy to make various types of improvements or modifications based on the principles disclosed in the present invention, and it is not limited to the technical solution described in the above specific embodiments of the present invention. Therefore, the above description is only preferred and does not have a restrictive meaning.

Claims

1. A door machine automation control system, characterized in that: The system comprises: a cabin information collection unit and a positioning unit; the cabin information collection unit and the positioning unit are respectively connected to the data transmission unit, and the data transmission unit is connected to the central control machine; the central control machine is provided with a simulation processing unit and a path planning unit; The cabin information collection unit is used to collect cabin information; The positioning unit is used to collect the position information of the grab bucket, the gantry, and the slewing mechanism; The simulation processing unit is used to perform simulation processing according to the cabin information to obtain a three-dimensional point cloud image; The path planning unit is used to plan an optimal path for the gantry crane.

2. The door crane automation control system according to claim 1 is characterized in that: The cabin information collection unit includes multiple 3D scanners and a pan-tilt platform; The cabin information includes cabin boundaries, cabin openings, and storage locations of materials in the cabin.

3. The door crane automation control system according to claim 1 is characterized in that: The positioning unit includes: a grab positioning module, a gantry positioning module, and a rotation positioning module; The grab bucket positioning module includes: an incremental encoder installed on the motor controlling the grab bucket and an absolute encoder installed on the drum; the position information of the grab bucket is obtained according to the incremental encoder and the absolute encoder; The gantry positioning module includes: an incremental encoder connected to the output shaft of the variable frequency motor of the trolley mechanism, and an absolute encoder connected to the wheel axle of the trolley mechanism; the position information of the gantry is obtained according to the incremental encoder and the absolute encoder; The rotary positioning module includes: an absolute value encoder and a GPS installed on a rotary gear of the rotary mechanism; the position information of the rotary mechanism is obtained according to the absolute value encoder, and the position information of the rotary mechanism is obtained through the GPS at the same time.

4. The door crane automation control system according to claim 3 is characterized in that: The gantry positioning module further comprises: an inverted U-shaped plate and a FLAG plate; Inverted U-shaped plates are respectively installed on the outside of both sides of the bottom of the trolley mechanism, and the transmitting end and the receiving end of the infrared counter-radiation sensor are respectively installed on the two inner walls of each inverted U-shaped plate; Multiple FLAG plates perpendicular to the ground are set on the roadbed on both sides of the gantry crane's travel path; When the trolley mechanism moves, the FLAG plate passes through the inverted U-shaped plate, which can block the light path of the infrared radiation sensor.

5. The door crane automation control system according to claim 1 is characterized in that: The data transmission unit comprises: an optical cable reel and an Ethernet slip ring; The Ethernet slip ring is arranged at the rotation center of the rotation mechanism of the door machine; The data from the upper electrical room of the gantry crane is transmitted to the lower electrical room of the gantry crane via the Ethernet slip ring, and then the data from the upper electrical room and the data from the lower electrical room are transmitted to the central control machine via the optical cable reel.

6. The door crane automation control system according to claim 1 is characterized in that: The simulation processing unit performs simulation processing according to the cabin information to form a three-dimensional image and a hatch and material pile information database, and then generates a three-dimensional point cloud map using the three-dimensional image and the hatch and material pile information database.

7. The door crane automation control system according to claim 1 is characterized in that: The path planning unit uses the three-dimensional point cloud map to obtain the material collection point, calculates the time from the material collection point to the unloading point using each action mode, and takes the path corresponding to the action mode with the shortest time as the optimal path.

8. The door crane automation control system according to claim 1 is characterized in that: An anti-collision unit is further provided on the central control machine, and the anti-collision unit includes: an adjacent door machine anti-collision module and a single door machine anti-collision module; The adjacent gantry crane anti-collision module is used to obtain the horizontal relative distance between the two adjacent grab buckets according to the position information of the grab buckets of the two gantry cranes, and to judge in real time whether the horizontal relative distance is less than the safety distance. If not, the two gantry cranes remain unchanged and operate separately. If yes, the time corresponding to the optimal path of each gantry crane is subtracted from the time that has been operated to obtain the remaining time, so that the gantry crane with a short remaining time continues to operate, and the gantry crane with a long remaining time is suspended. When the horizontal relative distance is greater than or equal to the safety distance, the gantry crane with a long remaining time is restarted to continue the operation. The single-door crane anti-collision module uses the cabin information and the position information of the grab bucket to calculate the distance between the grab bucket and the cabin boundary in real time, and stops the operation when the distance between the grab bucket and the cabin boundary is less than or equal to a set threshold.

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