Control method of special bridge crane for port

Abstract

The invention discloses a control method of a special bridge crane for a port, and relates to the technical field of cranes, and the control method is characterized by comprising the following steps: when an abnormal movement influence factor exists in an aerial area in the working process of the crane, judging whether the abnormal movement influence factor is a falling structure of the crane or not; when the abnormal movement influence factor is the falling structure of the crane and can directly influence the normal operation of the crane, stopping the operation of the crane; when the abnormal movement influence factor is the self structure of the crane falling but cannot directly influence the normal work of the crane, or when the abnormal movement influence factor is not the self structure of the crane falling, the movement state information of the abnormal movement influence factor and the lifting state information of the crane during work are obtained; the device has the effects that the conditions of shaking, deviation and the like caused by external interference in the hoisting process are reduced, and the stability and the reliability of operation are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of cranes, and more particularly to a control method for a special bridge crane for a port. Background Art

[0002] In the modern industrial field, especially in ports, large logistics centers, and heavy machinery manufacturing, cranes, as important material handling equipment, play an extremely critical role. However, with the continuous expansion of industrial production scale and the increasing complexity of the operating environment, cranes face many threats from abnormal movement factors during operation. Existing technologies and equipment have certain limitations in dealing with these problems. For example, after long-term use and operation, some structural components of the crane will be worn and loose. For example, if birds or flying objects appear in the air in the working area of ​​the crane, some connecting bolts may gradually loosen and fall off due to vibration, and small parts with severe wear may also fall off during operation. Once these structural components that fall off the crane itself enter the air, they become abnormal movement factors, posing a threat to the safety of the crane itself and surrounding equipment and personnel.

[0003] When faced with abnormal movement influencing factors, traditional cranes are often unable to determine whether the abnormal movement influencing factors will affect the operation of the crane operating according to the predetermined lifting status information, and thus are unable to adjust and control the lifting status of the crane according to the situation. Therefore, it is easy for the abnormal movement influencing factors to hit the crane, causing safety accidents. Summary of the invention

[0004] In view of the shortcomings of the prior art, an object of the present invention is to provide a control method for a special bridge crane for a port.

[0005] To achieve the above object, the present invention provides the following technical solutions: A control method for a special bridge crane for a port, the method comprising the following steps: When there is an abnormal movement influencing factor in the aerial area during the operation of the crane, determine whether the abnormal movement influencing factor is the crane's own structure that has fallen off; When the abnormal movement influencing factor is the detached structure of the crane itself and can directly affect the normal operation of the crane, the crane should be stopped; When the abnormal movement influencing factor is the structure of the crane that has fallen off but cannot directly affect the normal operation of the crane, or when the abnormal movement influencing factor is not the structure of the crane that has fallen off, the movement state information of the abnormal movement influencing factor and the hoisting state information of the crane when it is working are obtained; Based on the movement status information of the abnormal movement influencing factor and the hoisting status information during the operation of the crane, determine whether the abnormal movement influencing factor affects the operation of the crane operating according to the predetermined hoisting status information. If it causes an impact, adjust and control the hoisting status of the crane.

[0006] Preferably, the movement status information of the abnormal movement influencing factor includes the movement speed information of the abnormal movement influencing factor and the movement direction information of the abnormal movement influencing factor.

[0007] Preferably, the hoisting status information includes the hoisting travel trajectory route information and the hoisting travel speed information.

[0008] Preferably, it further includes the following steps: Divide the crane component structure into a crane fixed component structure and a crane movable component structure according to whether the crane component structure can move.

[0009] Preferably, based on the movement status information of the abnormal movement influencing factor and the hoisting status information during the operation of the crane, determine whether the abnormal movement influencing factor affects the operation of the crane operating according to the predetermined hoisting status information. If it causes an impact, adjust and control the hoisting status of the crane, which specifically includes the following steps: Judge whether the abnormal movement influencing factor can impact the crane fixed component structure according to the movement direction information of the abnormal movement influencing factor; If the abnormal movement influencing factor can impact the crane fixed component structure, identify the number of abnormal movement influencing factors that can affect the crane fixed component structure, the types of abnormal movement influencing factors, and the weight of a single abnormal movement influencing factor; Judge the impact degree of the abnormal movement influencing factor on the crane fixed component structure according to the number of abnormal movement influencing factors, the types of abnormal movement influencing factors, the weight of a single abnormal movement influencing factor, and the movement speed information of the abnormal movement influencing factor. When the impact degree of the abnormal movement influencing factor on the crane fixed component structure affects the normal operation of the crane, adjust and control the hoisting status of the crane according to the situation; If the impact degree of the abnormal movement influencing factor on the crane fixed component structure does not affect the normal operation of the crane, or when the abnormal movement influencing factor cannot impact the crane fixed component structure, obtain the distance value between the abnormal movement influencing factor and the crane movable component structure at this time; Judge whether the abnormal movement influencing factor impacts the crane movable component structure operating according to the predetermined hoisting status information according to the movement speed information of the abnormal movement influencing factor, the movement direction information of the abnormal movement influencing factor, the hoisting travel trajectory route information, the hoisting travel speed information, and the distance value between the abnormal movement influencing factor and the crane movable component structure. If it causes an impact on the crane movable component structure, adjust and control the hoisting status of the crane.

[0010] Preferably, if the lifting state of the crane is affected by the impact on the moving component structure of the crane, the following steps are specifically included to adjust and control it: Judge the part of the abnormal movement impact factor hitting the moving component structure of the crane, and adjust the corresponding part of the moving component structure of the crane to avoid the impact of the abnormal movement impact factor.

[0011] Judge the part of the abnormal movement impact factor hitting the moving component structure of the crane. If the part of the abnormal movement impact factor hitting the moving component structure of the crane is the trolley or the crab, adjust the lifting and traveling speed of the trolley or the crab of the moving component structure of the crane to avoid the impact of the abnormal movement impact factor; If the part of the abnormal movement impact factor hitting the moving component structure of the crane is the spreader or the goods, judge the position where the abnormal movement impact factor hits the spreader or the goods, and adjust the position of the spreader or the goods through the lifting ropes to avoid the impact of the abnormal movement impact factor; If the part of the abnormal movement impact factor hitting the moving component structure of the crane is the lifting rope, judge whether the lifting rope can be retracted upward to avoid the impact of the abnormal movement impact factor. If the lifting rope can be retracted upward to avoid the impact of the abnormal movement impact factor, control the lifting rope of the moving component structure of the crane to retract upward. If the lifting rope can be retracted upward but cannot avoid the impact of the abnormal movement impact factor, control the moving speed of the lifting rope of the moving component structure of the crane to avoid the impact of the abnormal movement impact factor.

[0012] Preferably, when the impact degree of the abnormal movement impact factor on the fixed component structure of the crane affects the normal operation of the crane, adjust and control the lifting state of the crane according to the situation, and the following steps are specifically included: Identify whether the spreader of the moving component structure of the crane is lifting goods; If the spreader of the moving component structure of the crane is not lifting goods, stop the operation of the crane; If the spreader of the moving component structure of the crane is lifting goods, judge the lifting stage of the goods lifted by the spreader of the moving component structure of the crane; wherein, the lifting stage includes the stage of grasping the goods, the stage of transporting the goods, and the stage of unloading the goods; Calculate the time value required to lift the goods through the spreader of the moving component structure of the crane according to the lifting stage of the goods lifted by the spreader of the moving component structure of the crane, and mark it as the second time value; Obtain the time required in the stage of grasping the goods when the spreader of the moving component structure of the crane lifts the goods and mark it as the time value required for grasping the goods; Obtain the time required in the stage of unloading the goods when the spreader of the moving component structure of the crane lifts the goods and mark it as the time value required for unloading the goods; Obtain the distance value of the hoisting travel trajectory route; calculate the required time value for transporting the goods based on the distance value of the hoisting travel trajectory route and the hoisting travel speed information; If the hoisting stage of the crane moving component structure hoist for hoisting goods is the goods grasping stage, then accumulate and calculate the required time value for grasping goods, the required time value for transporting goods, and the required time value for unloading goods to obtain the second time value; If the hoisting stage of the crane moving component structure hoist for hoisting goods is the goods transporting stage, then obtain the handling distance value between the goods and the goods placement area when operating according to the predetermined hoisting state information, calculate the required hoisting time value based on the handling distance value and the hoisting travel speed information, and accumulate and calculate the required hoisting time value and the required time value for unloading goods to obtain the second time value; If the hoisting stage of the crane moving component structure hoist for hoisting goods is the goods unloading stage, then mark the required time value for unloading goods as the second time value; Obtain the distance value between the abnormal movement influencing factor and the fixed structure of the crane, calculate the time value for the abnormal movement influencing factor to impact the fixed structure of the crane based on the distance value between the abnormal movement influencing factor and the fixed structure of the crane and the moving speed information of the abnormal movement influencing factor, and mark it as the first time value; Adjust and control the hoisting state information of the crane according to the first time value and the second time value.

[0013] Preferably, adjusting and controlling the hoisting state information of the crane according to the first time value and the second time value specifically includes the following steps: If the first time value is greater than or equal to the second time value, then the crane moving component structure hoist will hoist the goods to the goods placement area and then stop the crane operation; If the first time value is less than the second time value, then identify the state of the hoisting stage of the crane moving component structure hoist for hoisting goods, and adjust and control the hoisting state information of the crane according to the state of the hoisting stage of the crane moving component structure hoist for hoisting goods; If the crane moving component structure hoist for hoisting goods is in the goods grasping stage, then obtain the required time for the crane moving component structure hoist to place the goods in the goods grasping area in the goods grasping stage. If the required time for placing the goods in the goods grasping area is less than or equal to the first time value, then control the crane moving component structure hoist to place the grasped goods in the goods grasping area and then stop the crane operation. If the required time for placing the goods in the goods grasping area is greater than the first time value, then stop the crane operation at this time; If the crane moving component structure sling is in the stage of transporting goods and lifting goods, obtain the time required for the crane moving component structure sling to transport and place the goods in the goods grabbing area. If the time required for the crane moving component structure sling to transport and place the goods in the goods grabbing area is less than or equal to the first time value, then control the crane moving component structure sling to place the grabbed goods in the goods grabbing area and stop the crane operation. If the time required for the crane moving component structure sling to transport and place the goods in the goods grabbing area is greater than the first time value, then stop the crane operation at this time; If the crane moving component structure sling is in the stage of unloading goods, then stop the crane operation at this time.

[0014] Preferably, the following steps are further included: Mark the crane directly affected by the abnormal movement influence factor as the regulated crane, and mark the remaining cranes as normal cranes; Obtain the distance value between the normal crane and the regulated crane and mark it as the interval distance value; Judge the impact degree of the abnormal movement influence factor on the regulated crane according to the abnormal movement influence factor moving speed information, abnormal movement influence factor moving direction information, abnormal movement influence factor quantity, abnormal movement influence factor type and single abnormal movement influence factor weight; Judge whether it is necessary to stop the operation of the normal crane according to the impact degree of the abnormal movement influence factor on the regulated crane.

[0015] Preferably, judging whether it is necessary to stop the operation of the normal crane according to the impact degree of the abnormal movement influence factor on the regulated crane specifically includes the following steps: Judge whether a damaged movement factor is generated according to the impact degree of the abnormal movement influence factor on the regulated crane; If the impact of the abnormal movement influence factor on the regulated crane does not generate a damaged movement factor, then do not stop the operation of the normal crane; If the impact of the abnormal movement influence factor on the regulated crane generates a damaged movement factor, then judge the radiation range of the damaged movement factor generated by the abnormal movement influence factor according to the abnormal movement influence factor moving speed information, abnormal movement influence factor moving direction information, abnormal movement influence factor quantity, abnormal movement influence factor type and single abnormal movement influence factor weight; Judge whether it affects the normal crane according to the radiation range of the damaged movement factor and the interval distance value. If it affects the normal crane, then stop the operation of the normal crane.

[0016] Compared with the prior art, the present invention has the following beneficial effects: In the present invention, by real-time monitoring of the abnormal movement impact factors in the airspace area during the operation of the crane, it is possible to accurately determine whether it is the shedding of the crane's own structure. If it is found that the shed structure directly affects the normal operation of the crane, measures to stop working are quickly taken, which can effectively avoid serious damage accidents such as violent collisions and tipping of the equipment caused by the shedding of structural components, fundamentally reduce the risk of major failures of the equipment, and then greatly extend the overall service life of the crane, and reduce the high costs brought by equipment maintenance and replacement. For those abnormal movement impact factors that are the shedding of the crane's own structure but do not directly affect the work for the time being, or are not the abnormal movement impact factors of the own structure, this solution analyzes according to their movement states and the hoisting states of the crane. If it is predicted that it may affect the normal operation of the crane, the hoisting state is adjusted in a timely manner, such as reasonably adjusting the hoisting speed and optimizing the hoisting trajectory. These series of measures can ensure that the crane can still operate stably in the face of complex and changeable working environments and emergencies, effectively reduce the shaking, offset and other situations caused by external interference during the hoisting process, and improve the stability and reliability of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic flow chart of a control method for a port special bridge crane proposed by the present invention; Figure 2 is a schematic flow chart of controlling the hoisting state of the crane when hitting the fixed component structure of the crane in a control method for a port special bridge crane proposed by the present invention; Figure 3 is a schematic flow chart of judging to stop the normal operation of the crane in a control method for a port special bridge crane proposed by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] Refer to Figures 1 to 3 as shown.

[0019] The embodiments further illustrate a control method for a port special bridge crane proposed by the present invention.

[0020] A control method for a port special bridge crane, the method comprising the following steps: When there are abnormal movement impact factors in the airspace area during the operation of the crane, judge whether the abnormal movement impact factors are the shed own structures of the crane; The crane is equipped with multiple cameras to monitor various parts of the equipment in real time. If it is found during operation that the shape, material and other characteristics of the abnormal movement influencing factor in the air match those of the crane's own components, for example, an object similar to a bolt or a small part on the crane is seen moving in the air, it is initially suspected that it is a self-detaching structure. At the same time, displacement sensors and vibration sensors are installed at key parts of the crane, such as joints and easily worn parts. When abnormal displacement or vibration changes are detected at these parts, combined with the camera images, it can assist in judging whether there is a component detachment.

[0021] A crane component database is established to record information such as the specifications and positions of each component. By comparing historical data and the current state, if it is found that the position of a certain component has changed and there is abnormal movement in the air, it can be judged as a detached component. For example, if the database shows that the position of a bolt at a certain place should be fixed, but currently it is detected that the bolt at this position has disappeared and there is an object similar to the bolt moving in the air, it can be determined.

[0022] When the abnormal movement influencing factor is the self-structure of the crane detachment and can directly affect the normal operation of the crane, the crane operation is stopped; The control system of the crane monitors the operating status of each functional module in real time, such as parameters of power output, speed, position feedback, etc. of mechanisms such as the hoisting, running, and slewing mechanisms. If, after the abnormal movement influencing factor detaches, it causes situations such as power interruption, abnormal speed fluctuation, and position control failure in related mechanisms, it indicates that it will directly affect the normal operation. For example, after the steel wire rope of the hoisting mechanism detaches, the hoisting operation cannot be carried out normally, which belongs to a direct impact.

[0023] The crane is provided with a variety of safety protection devices, such as limit switches, overload limiters, etc. When the abnormal movement influencing factor causes the safety protection device to be triggered, such as the limit switch malfunctioning and causing the crane to stop running, or the overload limiter giving an abnormal alarm and affecting the normal lifting operation, it can be judged that this factor can directly affect the normal operation.

[0024] When the abnormal movement influencing factor is the self-structure of the crane detachment but cannot directly affect the normal operation of the crane, or the abnormal movement influencing factor is not the self-structure of the crane detachment, the movement status information of the abnormal movement influencing factor and the lifting status information during the crane operation are obtained; The control system of the crane continuously monitors the operating parameters of the main functional modules such as hoisting, running, slewing, etc., such as motor current, running speed, position feedback, etc. If the abnormal movement influencing factor is the self-structure of the crane falling off, but the operating parameters of these functional modules still remain within the normal working range without abnormal fluctuations or fault alarms, it indicates that this factor cannot directly affect the normal operation of the crane at present. For example, even if a small non-critical component falls off, as long as the motor current of the hoisting mechanism is stable and the goods can be hoisted and lowered normally, it means that it has no direct impact on the normal operation.

[0025] The crane is equipped with a variety of safety protection devices such as limit switches, overload limiters, anti-collision devices, etc. After the abnormal movement influencing factor appears, check whether these safety protection devices trigger alarms or cause the crane to enter the protection shutdown state. If none of the safety protection devices act, it means that this factor does not pose a direct threat to the safe operation of the crane, that is, it cannot directly affect the normal operation of the crane. For example, if the fallen component does not touch the limit switch and does not trigger the overload limiter alarm, it can be judged that it will not directly affect the normal operation of the crane temporarily.

[0026] Judge whether the abnormal movement influencing factor affects the operation of the crane operating according to the predetermined lifting state information based on the movement state information of the abnormal movement influencing factor and the lifting state information when the crane is working. If it has an impact, then adjust and control the lifting state of the crane.

[0027] During the entire working process of the port special bridge crane, the system will continuously monitor the air area in real time. If an abnormal movement influencing factor is detected, the judgment program will be immediately started. The primary task is to determine whether the abnormal movement influencing factor belongs to the structural components that have fallen off the crane itself.

[0028] Among them, the abnormal movement influencing factor may be the self-structure that has fallen off the crane. For example, after long-term use of the crane, it detaches due to loose connection of nuts and bolts. The abnormal movement influencing factor may also be a bird or a flying object, etc.

[0029] This application confirms whether the abnormal movement influencing factor is the self-structure that has fallen off the crane, and this fallen structure can directly affect the normal operation of the crane. For example, it may cause damage to key components of the crane or loss of control of the operation, etc. The system will quickly and resolutely issue an instruction to stop the operation of the crane. This emergency treatment measure can cut off the source of potential danger in the shortest time, prevent the further deterioration and expansion of the accident, and protect the safety of equipment and personnel to the greatest extent.

[0030] When the abnormal movement influencing factor is the crane's own structure that has fallen off but does not directly affect the normal operation of the crane for the time being, or when the abnormal factor is not the structure that has fallen off from the crane itself, obtain the movement state information of the abnormal movement influencing factor. At the same time, obtain the hoisting state information when the crane is working. Subsequently, based on this comprehensive and accurate information, the system will conduct in-depth and detailed analysis and evaluation to determine whether the abnormal movement influencing factor will have a substantial impact on the operation of the crane operating according to the predetermined hoisting state information.

[0031] The movement state information of the abnormal movement influencing factor includes the movement speed information and the movement direction information of the abnormal movement influencing factor.

[0032] Reasonably install multiple high-speed cameras or vision sensors around the crane's working area. These devices can capture the moving images of the abnormal movement influencing factor at a high frame rate. Through image recognition algorithms, feature extraction and matching are performed on the influencing factor in consecutive frame images, and the position changes at different times are calculated to obtain the movement speed and direction. For example, the optical flow method is used to analyze the motion vectors of pixel points in the image to determine the movement of the influencing factor.

[0033] The hoisting state information includes the hoisting travel trajectory route information and the hoisting travel speed information.

[0034] Existing cranes can automatically plan the hoisting travel trajectory route and the hoisting travel speed according to the positions of the cargo grabbing area and the cargo placement area, and store the hoisting travel trajectory route and the hoisting travel speed inside the crane's system. Therefore, the hoisting travel trajectory route information and the hoisting travel speed information can be obtained by retrieving the hoisting travel trajectory route and the hoisting travel speed.

[0035] The crane is equipped with high-precision positioning devices, such as GPS, Beidou satellite navigation system, or indoor positioning systems based on laser or vision, etc., to accurately obtain the position information of the cargo grabbing area and the cargo placement area. At the same time, various sensors, such as laser range sensors, cameras, etc., are also installed within the crane's working area to monitor the working environment in real time and obtain information such as the position and size of obstacles.

[0036] After the crane's control system receives the position information of the cargo grabbing area and the placement area, combined with the obstacle information in the working environment, it uses path planning algorithms (such as A* algorithm, Dijkstra algorithm, etc.) to search for a collision-free and relatively shortest or optimal hoisting trajectory route from the cargo grabbing area to the cargo placement area within the working space. This process will comprehensively consider the movement limitations of the crane, such as turning radius, lifting height limitations, etc., to ensure that the planned trajectory route is feasible.

[0037] Based on factors such as the planned lifting trajectory route, the weight and characteristics of the goods, and the performance parameters of the crane itself, the control system uses a speed planning algorithm to determine the appropriate speed for each stage of the lifting.

[0038] When the lifting trajectory route and the lifting speed are determined, the control system stores this information in the storage module inside the crane system. The stored data will be associated with the corresponding task identifier or work scenario information for convenient retrieval quickly and accurately later.

[0039] When performing a similar lifting task again, the operator can issue an instruction through the human-machine interface to retrieve the previously stored lifting trajectory route information and the lifting travel speed information from inside the system. The control system controls the crane to operate according to the retrieved data along the planned trajectory route and speed to complete the lifting of the goods.

[0040] It also includes the following steps: The crane component structure is divided into a fixed crane component structure and a movable crane component structure according to whether the crane component structure can move.

[0041] Each component structure of the crane is judged and classified one by one. For example, the bridge support legs of the crane are fixed in position during normal operation and belong to the fixed component structure; while the trolley on the bridge can move horizontally along the bridge track to adjust the position of the lifting appliance, so the trolley belongs to the movable component structure. At the same time, the trolley, the hoisting rope, and the lifting appliance are all movable component structures of the crane.

[0042] Judge whether the abnormal movement impact factor affects the operation of the crane operating according to the predetermined lifting state information based on the movement state information of the abnormal movement impact factor and the lifting state information during the operation of the crane. If it causes an impact, then adjust and control the lifting state of the crane, which specifically includes the following steps: Judge whether the abnormal movement impact factor can hit the fixed crane component structure according to the movement direction information of the abnormal movement impact factor; If the abnormal movement impact factor can hit the fixed crane component structure, then identify the number of abnormal movement impact factors that can affect the fixed crane component structure, the types of abnormal movement impact factors, and the weight of a single abnormal movement impact factor; Judge the impact degree of the abnormal movement impact factor on the fixed crane component structure according to the number of abnormal movement impact factors, the types of abnormal movement impact factors, the weight of a single abnormal movement impact factor, and the movement speed information of the abnormal movement impact factor. When the impact degree of the abnormal movement impact factor on the fixed crane component structure affects the normal operation of the crane, then adjust and control the lifting state of the crane according to the situation; If the impact degree of the abnormal movement influence factor on the fixed component structure of the crane does not affect the normal operation of the crane, or the abnormal movement influence factor cannot impact the fixed component structure of the crane, obtain the distance value between the abnormal movement influence factor and the moving component structure of the crane at this time; According to the moving speed information of the abnormal movement influence factor, the moving direction information of the abnormal movement influence factor, the hoisting operation track route information, the hoisting operation speed information, and the distance value between the abnormal movement influence factor and the moving component structure of the crane, determine whether the abnormal movement influence factor impacts the moving component structure of the crane operating according to the predetermined hoisting state information. If it affects the moving component structure of the crane, adjust and control the hoisting state of the crane.

[0043] When the crane of the present application is working, the system obtains in real time the moving direction information of the abnormal movement influence factor and the hoisting state information of the crane (hoisting operation track route information, hoisting operation speed information). First, according to the moving direction information of the abnormal movement influence factor, judge whether it may impact the fixed component structure of the crane, because once the fixed component structure is damaged, it may affect the overall stability and basic functions of the crane.

[0044] If it is judged that the abnormal movement influence factor can impact the fixed component structure of the crane, identify the quantity, type, and weight of a single abnormal movement influence factor that can affect the fixed component structure of the crane. Then, combined with the moving speed information of the abnormal movement influence factor, through mechanical models and algorithms, comprehensively judge the impact degree of the abnormal movement influence factor on the fixed component structure of the crane.

[0045] The more the number of abnormal movement influence factors, under the same conditions, the more obvious the cumulative effect of the impact on the fixed component structure of the crane. Multiple influence factors hitting the same part or different key parts at the same time will increase the possibility and severity of structural damage.

[0046] The physical properties of different types of abnormal movement influence factors are different, and the ways and degrees of damage to the structure are also different. For example, metal components have a greater impact force and may cause surface depressions, deformations, or even ruptures of the structure; while some sharp objects, such as falling steel bars, etc., in addition to generating impact forces, may also pierce the surface of the structure and cause damage to the internal structure.

[0047] The greater the weight of a single abnormal movement influence factor, according to the kinetic energy formula , where is the kinetic energy, is the mass, For speed, at the same speed, the greater the kinetic energy it has, the more energy released when it hits, the stronger the impact force on the fixed structure of the crane, and the more serious the damage may be. For example, a heavier mechanical part falling and hitting the fixed structure is more likely to cause cracks or deformation in the structure than light debris.

[0048] Abnormal movement impact factor Movement speed information is one of the key factors affecting the impact degree. The faster the speed, the greater the kinetic energy of the abnormal movement impact factor, and the greater the impact force generated at the moment of impact. Moreover, high-speed impact may prevent the structure from evenly dispersing the impact force, resulting in local stress concentration, which is more likely to cause structural damage. For example, a high-speed flying object hitting a crane fixed structure may instantly destroy the key connection parts of the structure.

[0049] The impact assessment model is constructed. According to the importance of the above factors on the impact, the number, type, single weight and moving speed of abnormal movement influencing factors are assigned corresponding weights. For example, through the analysis of a large number of historical cases and experimental data, it is found that the moving speed has the greatest impact on the impact, and the weight is 0.4; the single weight is second, with a weight of 0.3; the type of abnormal movement influencing factors has a weight of 0.2; and the weight of the number is 0.1. However, the weights are not fixed and need to be adjusted according to the actual conditions such as different crane types and working environments.

[0050] Quantify each factor, directly count the number of abnormal movement influencing factors, classify and assign values ​​to different types of abnormal movement influencing factors, such as assigning metal parts a value of 3, sharp objects a value of 4, and ordinary light debris a value of 1, etc. Use weighing equipment or experience to estimate the weight of each abnormal movement influencing factor and perform numerical processing. Use radar, visual sensors and other equipment to obtain the moving speed of the abnormal movement influencing factor in real time and convert it into a numerical value. Multiply the quantified factor value with its corresponding weight, and then sum it up to obtain a comprehensive impact degree value. Assume that the number of abnormal movement influencing factors is , the quantification value of the category is , a single weight quantized value , quantified value of moving speed The corresponding weights are , , , , then the impact degree value .

[0051] Preset different ranges of impact degree values corresponding to different impact degree levels, such as slight, medium, and severe. For example, when the S value is less than 20, it is judged as a slight impact, which may only cause slight surface damage to the fixed component structure of the crane and basically does not affect normal operation; when 20 ≤ S < 50, it is a medium impact, which may cause local deformation of the structure and requires close attention and timely inspection and maintenance; when the S value is greater than or equal to 50, it is determined as a severe impact, which may damage key parts of the structure, affect the normal operation of the crane, and immediate measures need to be taken to adjust the lifting state or stop working for maintenance.

[0052] In practical applications, factors such as the material, strength, and design load-bearing capacity of the fixed component structure of the crane also need to be combined to dynamically adjust and comprehensively evaluate the judgment results of the impact degree, so as to more accurately judge the actual impact of the abnormal movement influencing factor on the fixed component structure of the crane. If the impact degree affects the normal operation of the crane, such as may cause structural deformation, damage to key components, etc., then adjust and control the lifting state of the crane according to the actual situation, such as reducing the lifting speed, changing the lifting trajectory, or even stopping the lifting operation, to avoid or reduce the impact damage. If the impact degree does not affect the normal operation of the crane, it means that the current situation does not pose a substantial threat to the basic functions of the crane, and at this time, enter the next judgment process for the moving component structure.

[0053] When the impact degree of the abnormal movement influencing factor on the fixed component structure of the crane does not affect the normal operation of the crane, or it is judged that the abnormal movement influencing factor cannot impact the fixed component structure of the crane, the system obtains the distance value between the abnormal movement influencing factor and the moving component structure of the crane at this time.

[0054] Based on the working area of the crane, establish a suitable three-dimensional coordinate system to clarify the initial positions of the abnormal movement influencing factor and the moving component structure of the crane in this coordinate system. For example, take a certain point on the fixed base of the crane as the coordinate origin, determine the directions of the X, Y, and Z axes, corresponding to two horizontal directions and the vertical direction respectively.

[0055] Predict the movement trajectory of the abnormal movement influencing factor. According to the movement speed information and movement direction information of the abnormal movement influencing factor, use kinematic formulas to predict its positions at different future time points. Assume the initial position of the abnormal movement influencing factor is , movement speed , and the movement direction vector is (normalized), then at time later, its position can be calculated by the following formula:

[0056]

[0057]

[0058] In actual situations, if there are influencing factors such as wind force and air flow in the working environment, it is also necessary to correct the movement trajectory of the abnormal movement influence factor. The environmental factor model can be established to convert factors such as wind force into additional velocity components and add them to the above calculations.

[0059] Determine the movement trajectory of the crane's moving component structure. Based on the crane's hoisting movement trajectory route information and hoisting movement speed information, determine the position of the crane's moving component structure at different time points.

[0060] Calculate the dynamic distance between the two. In the coordinate system established above, for each predicted time point, calculate the distance between the abnormal movement influence factor and the crane's moving component structure. . Use the distance formula in three-dimensional space. , where is the position of the abnormal movement influence factor at time , is the position of the crane's moving component structure at time.

[0061] Observe the changing trend of the distance over time. If within a certain time period, the distance continues to decrease and decreases to less than a preset safety distance threshold (this threshold is determined according to the size of the crane's moving component structure and actual safety requirements), it indicates that there is a risk of impact.

[0062] Combined with the calculation results of the dynamic distance and the movement trajectories of the abnormal movement influence factor and the crane's moving component structure, make a comprehensive judgment. If within a certain period in the future, the movement trajectories of the two have a tendency to intersect, and the distance continues to approach the safety distance threshold or is already less than this threshold, it is judged that the abnormal movement influence factor will impact the crane's moving component structure operating according to the predetermined hoisting state information; otherwise, it is judged that there will be no impact.

[0063] When it is judged that there is a risk of impact, corresponding measures can be taken according to the proximity to the safety distance threshold and the remaining time, such as adjusting the hoisting state or stopping the operation, to avoid the occurrence of impact accidents.

[0064] If the judgment result is that there may be an impact, since the moving component structure is directly involved in the hoisting operation, to avoid affecting the hoisting work and even causing accidents, the system will adjust and control the hoisting state of the crane, such as adjusting the running speed of the moving component structure and changing its movement trajectory, so that the crane's moving component structure avoids the abnormal movement influence factor and ensures the safe and smooth progress of the hoisting operation.

[0065] If it affects the moving component structure of the crane, adjust and control the lifting state of the crane. The specific steps are as follows: Judge the part of the abnormal movement influencing factor hitting the moving component structure of the crane, and adjust the corresponding part of the moving component structure of the crane to avoid the impact of the abnormal movement influencing factor.

[0066] Judge the part of the abnormal movement influencing factor hitting the moving component structure of the crane. If the part of the abnormal movement influencing factor hitting the moving component structure of the crane is the trolley or the crab, adjust the lifting and traveling speed of the trolley or the crab of the moving component structure of the crane to avoid the impact of the abnormal movement influencing factor. If the part of the abnormal movement influencing factor hitting the moving component structure of the crane is the spreader or the goods, judge the position where the abnormal movement influencing factor hits the spreader or the goods, and then adjust the position of the spreader or the goods through the lifting ropes to avoid the impact of the abnormal movement influencing factor. If the part of the abnormal movement influencing factor hitting the moving component structure of the crane is the lifting rope, judge whether the lifting rope can be retracted upward to avoid the impact of the abnormal movement influencing factor. If the lifting rope can be retracted upward to avoid the impact of the abnormal movement influencing factor, control the lifting rope of the moving component structure of the crane to retract upward. If the lifting rope can be retracted upward but cannot avoid the impact of the abnormal movement influencing factor, control the moving speed of the lifting rope of the moving component structure of the crane to avoid the impact of the abnormal movement influencing factor.

[0067] The crane is equipped with a variety of sensors and monitoring devices, such as cameras, proximity sensors, position sensors, etc., to monitor the relative position and motion state of the abnormal movement influencing factor and the moving component structure of the crane in real time. When the system judges that the abnormal movement influencing factor may affect the moving component structure of the crane, first obtain detailed information through these devices, and accurately judge the specific part hit by the abnormal movement influencing factor, whether it is the trolley, the crab, or the spreader, the goods, the lifting rope, etc.

[0068] Adjustment for the trolley or the crab: If it is judged that the part hit by the abnormal movement influencing factor is the trolley or the crab, the control system will calculate a suitable speed adjustment plan according to the moving speed, direction of the abnormal movement influencing factor and the current operating state of the trolley or the crab. For example, if the abnormal movement influencing factor approaches the trolley quickly from the front, the system will control the trolley to decelerate or accelerate, change its running speed, so that the trolley has left the original position when the abnormal movement influencing factor arrives, thus avoiding the impact. The adjusted speed information will be sent to the drive system of the trolley or the crab, and the drive system adjusts parameters such as the motor speed according to the instruction to achieve the change of speed.

[0069] Adjustment for the spreader or the goods: When the part struck by the abnormal movement impact factor is the spreader or the goods, first, the sensor accurately determines the position where the abnormal movement impact factor strikes the spreader or the goods. Then, the control system sends an instruction to the driving device of the lifting rope, and the driving device adjusts the length and tension of the lifting rope according to the instruction, thereby changing the position of the spreader or the goods. For example, if the abnormal movement impact factor approaches the spreader from above, the system controls the lifting rope to shorten appropriately, causing the spreader to descend a certain height to avoid the impact. During the adjustment process, the sensor will continuously monitor the position status of the spreader and the goods to ensure the accuracy and safety of the adjustment.

[0070] Adjustment for the lifting rope: If it is determined that the part struck by the abnormal movement impact factor is the lifting rope, the system first determines whether the lifting rope can avoid the impact by being wound up upward. This requires analyzing information such as the movement trajectory, speed of the abnormal movement impact factor, and the current length and position of the lifting rope. If the analysis shows that the lifting rope can avoid the impact by being wound up upward, the control system sends an upward winding instruction to the upward winding device of the lifting rope, and the upward winding device winds up the lifting rope upward according to the instruction. If winding up upward cannot avoid the impact, the lifting rope is moved at that speed to change the relative position with the abnormal movement impact factor, thereby avoiding the impact.

[0071] When the impact degree of the abnormal movement impact factor on the fixed component structure of the crane affects the normal operation of the crane, the lifting state of the crane is adjusted according to the situation, which specifically includes the following steps: Identify whether the spreader of the moving component structure of the crane is lifting goods; If the spreader of the moving component structure of the crane is not lifting goods, stop the operation of the crane; If the spreader of the moving component structure of the crane is lifting goods, determine the lifting stage of the goods lifted by the spreader of the moving component structure of the crane; among them, the lifting stage includes the stage of grasping the goods, the stage of transporting the goods, and the stage of unloading the goods; Calculate the time value required to lift the goods through the spreader of the moving component structure of the crane according to the lifting stage of the goods lifted by the spreader of the moving component structure of the crane, and mark it as the second time value; Obtain the time required in the stage of grasping the goods when the spreader of the moving component structure of the crane lifts the goods and mark it as the time value required for grasping the goods; Obtain the time required in the stage of unloading the goods when the spreader of the moving component structure of the crane lifts the goods and mark it as the time value required for unloading the goods; Obtain the distance value of the lifting travel trajectory route; calculate the time value required to transport the goods according to the distance value of the lifting travel trajectory route and the lifting travel speed information; If the lifting stage of the crane's mobile component structure sling for lifting goods is the goods-grabbing stage, then the time value required for grabbing the goods, the time value required for moving the goods, and the time value required for unloading the goods are accumulated to obtain a second time value; If the lifting stage of the crane's mobile component structure sling for lifting goods is the goods-moving stage, then the handling distance value between the goods and the goods placement area during operation according to the predetermined lifting state information is obtained, and the required lifting time value is calculated based on the handling distance value and the lifting travel speed information. The required lifting time value and the time value required for unloading the goods are accumulated to obtain a second time value; If the lifting stage of the crane's mobile component structure sling for lifting goods is the goods-unloading stage, then the time value required for unloading the goods is marked as the second time value; Obtain the distance value between the abnormal movement impact factor and the fixed component structure of the crane, and calculate the time value for the abnormal movement impact factor to hit the fixed component structure of the crane based on the distance value between the abnormal movement impact factor and the fixed component structure of the crane and the movement speed information of the abnormal movement impact factor, and mark it as the first time value; Adjust and control the lifting state information of the crane according to the first time value and the second time value.

[0072] When this application detects that the impact degree of the abnormal movement impact factor on the fixed component structure of the crane has affected the normal operation of the crane, first identify whether the sling of the crane's mobile component structure is lifting goods. If it is determined that the sling is not lifting goods, to avoid possible dangers, directly issue an instruction to stop the operation of the crane, cut off the power source of the crane, and make each mechanism stop running to prevent further damage caused by the abnormal movement impact factor.

[0073] If the sling is lifting goods, further determine the lifting stage of the crane's mobile component structure sling for lifting goods, that is, the goods-grabbing stage, the goods-moving stage, and the goods-unloading stage. This can be determined by obtaining information such as the position, action state of the sling, and the state of the goods through sensors. For example, when the sling is in the goods stacking area and in the closed grabbing action, it can be judged as the goods-grabbing stage.

[0074] If the lifting stage of the crane's mobile component structure sling for lifting goods is the goods-grabbing stage, obtain the time required for the crane's mobile component structure sling in the goods-grabbing stage (the time value required for grabbing the goods). This data can be determined through historical records, equipment parameters, and the progress of the current grabbing action. At the same time, obtain the distance value of the lifting travel trajectory route, calculate the time value required for moving the goods in combination with the lifting travel speed information, and add the time value required for the goods-unloading stage (the time value required for unloading the goods can be determined according to equipment parameters and historical data). Accumulate these three time values to obtain the second time value, that is, the total time required to complete the lifting of goods in this stage.

[0075] If the lifting stage of the crane's moving component structure sling for lifting goods is the stage of moving goods, obtain the handling distance value between the goods and the goods placement area when operating according to the predetermined lifting state information. Calculate the required lifting duration value based on the handling distance value and the hoisting travel speed information, and then accumulate it with the required unloading duration value of the goods to obtain the second duration value.

[0076] If the lifting stage of the crane's moving component structure sling for lifting goods is the stage of unloading goods, directly mark the required unloading duration value of the goods as the second duration value.

[0077] Calculation of the impact duration of the abnormal movement influence factor. Obtain the distance value between the abnormal movement influence factor and the fixed component structure of the crane through a sensor. Combine the moving speed information of the abnormal movement influence factor and use the formula "time = distance ÷ speed" to calculate the duration value of the abnormal movement influence factor hitting the fixed component structure of the crane, which is marked as the first duration value.

[0078] Adjust and control the lifting state information of the crane according to the first duration value and the second duration value, specifically including the following steps: If the first duration value is greater than or equal to the second duration value, the crane's moving component structure sling will stop the crane's work after lifting the goods to the goods placement area; If the first duration value is less than the second duration value, identify the state of the lifting stage of the crane's moving component structure sling for lifting goods, and adjust and control the lifting state information of the crane according to the state of the lifting stage of the crane's moving component structure sling for lifting goods; If the crane's moving component structure sling for lifting goods is in the stage of grasping goods, obtain the required duration for the crane's moving component structure sling to place the goods in the goods grasping area in the grasping goods stage. If the required duration for placing the goods in the goods grasping area is less than or equal to the first duration value, control the crane's moving component structure sling to stop the crane's work after placing the grasped goods in the goods grasping area. If the required duration for placing the goods in the goods grasping area is greater than the first duration value, stop the crane's work at this time; If the crane's moving component structure's sling is in the stage of transporting goods and moving the goods, obtain the time required for the crane's moving component structure's sling to transport the goods and place them in the goods grabbing area. Obtain the position of the crane's moving component structure's sling transporting the goods on the lifting trajectory. Since the crane can automatically plan the lifting and traveling trajectory route according to the positions of the goods grabbing area and the goods placement area, after obtaining the position of the crane's moving component structure's sling transporting the goods on the lifting trajectory at this time, the remaining distance value of the crane's moving component structure's sling transporting the goods on the lifting trajectory can be obtained. According to the remaining distance value of the crane's moving component structure's sling transporting the goods on the lifting trajectory and the lifting and traveling speed information, the time required for the crane's moving component structure's sling to transport the goods and place them in the goods grabbing area can be calculated. If the time required for the crane's moving component structure's sling to transport the goods and place them in the goods grabbing area is less than or equal to the first time value, control the crane's moving component structure's sling to place the grabbed goods in the goods grabbing area and then stop the crane. If the time required for the crane's moving component structure's sling to transport the goods and place them in the goods grabbing area is greater than the first time value, stop the crane at this time; If the crane's moving component structure's sling is in the stage of unloading goods, stop the crane at this time.

[0079] When the system obtains the first time value (calculated from the distance value between the abnormal movement influence factor and the fixed component structure of the crane and the abnormal movement influence factor's moving speed information) and the second time value (calculated according to the lifting stage of the crane's moving component structure's sling transporting the goods), first compare their magnitudes.

[0080] If the first time value is greater than or equal to the second time value, this indicates that before the abnormal movement influence factor hits the fixed component structure of the crane, the crane has enough time to complete the goods transportation work according to the predetermined lifting state. At this time, the sling of the crane's moving component structure will continue to transport the goods to the goods placement area along the established lifting and traveling trajectory route and speed. When the goods are successfully placed, the system will issue an instruction to stop the crane to ensure the safe and smooth end of the entire lifting process.

[0081] If the first time value is less than the second time value, it means that the current lifting task cannot be completed before the abnormal movement influence factor hits the fixed component structure of the crane. At this time, the system will further identify the lifting stage of the crane's moving component structure's sling transporting the goods.

[0082] If the crane moving component structure sling is in the stage of grasping goods during the handling of goods, obtain the time required for the crane moving component structure sling to place the goods in the goods grasping area during the stage of grasping goods. If this time is less than or equal to the first time value, it means that there is enough time to safely place the grasped goods back to the goods grasping area before the impact of the abnormal movement influence factor. Then, after the system controls the crane moving component structure sling to place the goods in the goods grasping area, the crane operation is stopped. If this time is greater than the first time value, it indicates that the goods cannot be placed back to the grasping area before the impact. To avoid danger, the system will immediately stop the crane operation.

[0083] If the crane moving component structure sling is in the stage of transporting goods during the handling of goods, obtain the time required for the crane moving component structure sling to transport and place the goods in the goods grasping area (which can be calculated based on information such as the current sling position, the lifting and traveling trajectory route, and the lifting and traveling speed). If this time is less than or equal to the first time value, the system controls the crane moving component structure sling to place the goods in the goods grasping area and then stops the crane operation. If this time is greater than the first time value, the system immediately stops the crane operation to prevent more serious consequences when the abnormal movement influence factor impacts.

[0084] If the crane moving component structure sling is in the stage of unloading goods during the handling of goods, since it is already close to the goods unloading link but cannot be completed before the impact of the abnormal movement influence factor, for safety, the system will directly issue an instruction to stop the crane operation to avoid continuing to operate in a dangerous situation.

[0085] It also includes the following steps: Mark the crane directly affected by the abnormal movement influence factor as the regulated crane, and mark the remaining cranes as normal cranes; Obtain the distance value between the normal crane and the regulated crane and mark it as the interval distance value; Judge the impact degree of the abnormal movement influence factor on the regulated crane according to the moving speed information of the abnormal movement influence factor, the moving direction information of the abnormal movement influence factor, the number of abnormal movement influence factors, the types of abnormal movement influence factors, and the weight of a single abnormal movement influence factor; Judge whether it is necessary to stop the operation of the normal crane according to the impact degree of the abnormal movement influence factor on the regulated crane.

[0086] In this application, within the working area of the crane, through various installed monitoring devices (such as cameras), the dynamics of the abnormal movement influence factor and the state of the crane are monitored in real time. If it is found that the abnormal movement influence factor directly affects a certain crane, such as impact or impending impact, then mark this crane as the regulated crane; at the same time, mark the other cranes not directly affected as normal cranes.

[0087] Using a positioning system or sensor-based ranging technology, obtain the distance value between the normal crane and the regulated crane, and mark it as the interval distance value.

[0088] The system collects data such as the moving speed information, moving direction information, quantity, type, and the weight of a single abnormal moving impact factor of the abnormal moving impact factor.

[0089] Collect a large number of actual cases where abnormal moving impact factors have hit cranes in the past, organize the relevant information (speed, direction, quantity, type, single weight) of the abnormal moving impact factor in each case, the specific circumstances of the impact, and the degree of damage suffered by the crane, etc., to establish a detailed historical case database.

[0090] When facing a new situation of abnormal moving impact factors, match the characteristic information of the current abnormal moving impact factor with the cases in the historical case database. Look for cases with a high degree of similarity, and refer to the damage conditions of the cranes in these cases to preliminarily judge the impact degree of the current abnormal moving impact factor on the regulated crane. For example, if the characteristics of the current abnormal moving impact factor are similar to those of a case that caused serious deformation of the crane structure in a certain historical case, it can be preliminarily considered that a serious impact may be caused.

[0091] Judge whether it is necessary to stop the normal crane from working according to the impact degree of the abnormal moving impact factor on the regulated crane.

[0092] Judge whether it is necessary to stop the normal crane from working according to the impact degree of the abnormal moving impact factor on the regulated crane, which specifically includes the following steps: Judge whether a damage-causing moving factor is generated according to the impact degree of the abnormal moving impact factor on the regulated crane; If the impact of the abnormal moving impact factor on the regulated crane does not generate a damage-causing moving factor, do not stop the normal crane from working; If the impact of the abnormal moving impact factor on the regulated crane generates a damage-causing moving factor, judge the radiation range of the damage-causing moving factor according to the moving speed information of the abnormal moving impact factor, the moving direction information of the abnormal moving impact factor, the quantity of the abnormal moving impact factor, the type of the abnormal moving impact factor, and the weight of a single abnormal moving impact factor; Judge whether it has an impact on the normal crane according to the radiation range of the damage-causing moving factor and the interval distance value. If it has an impact on the normal crane, stop the normal crane from working.

[0093] This application determines the impact degree of the regulating crane based on the abnormal movement impact factor, and further judges whether a damage movement factor will be generated (for example, components of the regulating crane fall off due to impact and become new abnormal movement impact factors). If the impact does not generate a damage movement factor, it indicates that the potential threat to the normal crane is small, and the normal crane operation is not stopped; if the impact generates a damage movement factor, then compare the radiation range of the damage movement factor with the spacing distance value. If the radiation range may cover the normal crane, that is, it affects the normal crane, then stop the normal crane operation to prevent the accident from expanding; if the radiation range does not affect the normal crane, the normal crane continues to operate.

[0094] Based on the abnormal movement impact factor, determine the impact degree of the regulating crane, and further judge whether a damage movement factor will be generated (for example, components of the regulating crane fall off due to impact and become new abnormal movement impact factors). If the impact does not generate a damage movement factor, it indicates that the potential threat to the normal crane is small, and the normal crane operation is not stopped; if the impact generates a damage movement factor, use finite element analysis software such as ANSYS and ABAQUS to establish an accurate model based on the structural characteristics, material properties of the regulating crane, and physical properties (such as mass, shape, hardness, etc.) of the damage movement factor. Input relevant parameters of the abnormal movement impact factor, such as movement speed, impact angle, etc., to simulate the scattering or movement of the damage movement factor after impacting the regulating crane. The software predicts the possible propagation path and influence range of the damage movement factor by calculating mechanical responses, including stress, strain, and displacement. For example, simulate the ejection trajectory of metal fragments after impact to determine the area they may affect.

[0095] Multibody dynamics simulation software, such as ADAMS, is suitable for simulating the interactions between multiple objects. Build models of the regulating crane, damage movement factor, and surrounding environment in this software, and set the motion parameters and physical properties of each object. Through simulation, observe the motion state of the damage movement factor after colliding with the crane, including changes in speed and direction, and then infer its radiation range. For example, simulate the impact of a falling component on the surrounding area after rebounding from the ground.

[0096] It is also possible to collect data on past similar abnormal movement impact factor impact events, including information such as the type, cause, movement trajectory, and impact range of the damage movement factor, and establish a database. When a new damage movement factor is generated, match and compare the relevant parameters of the current abnormal situation with the historical data. Use data mining and machine learning algorithms to predict the radiation range of the current damage movement factor based on the patterns in the historical data. For example, predict the radiation range of fragments in the current similar situation by analyzing the diffusion of fragments generated by past metal component impacts.

[0097] Compare the radiation range of the damaged movement factor with the interval distance value. If the radiation range may cover the normal crane, that is, it has an impact on the normal crane, stop the operation of the normal crane to prevent the accident from expanding; if the radiation range does not affect the normal crane, the normal crane continues to work.

[0098] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for a port-specific bridge crane, characterized in that: The method comprises the following steps: When there is an abnormal movement influencing factor in the aerial area during the operation of the crane, determine whether the abnormal movement influencing factor is the crane's own structure that has fallen off; When the abnormal movement influencing factor is the detached structure of the crane itself and can directly affect the normal operation of the crane, the crane should be stopped; When the abnormal movement influencing factor is the structure of the crane that has fallen off but cannot directly affect the normal operation of the crane, or when the abnormal movement influencing factor is not the structure of the crane that has fallen off, the movement state information of the abnormal movement influencing factor and the hoisting state information of the crane when it is working are obtained; According to the movement state information of the abnormal movement influencing factor and the lifting state information of the crane during operation, it is determined whether the abnormal movement influencing factor affects the operation of the crane operating according to the predetermined lifting state information. If so, the lifting state of the crane is adjusted and controlled.

2. The control method of a port-specific bridge crane according to claim 1, characterized in that: The movement state information of the abnormal movement influencing factor includes movement speed information of the abnormal movement influencing factor and movement direction information of the abnormal movement influencing factor.

3. The control method of a special bridge crane for a port according to claim 2, characterized in that: The hoisting status information includes hoisting running track route information and hoisting running speed information.

4. The control method of a special bridge crane for a port according to claim 3, characterized in that: Also includes: The crane structure is divided into a fixed crane structure and a mobile crane structure according to whether the crane structure can be moved.

5. The control method of a special bridge crane for a port according to claim 4, characterized in that: According to the movement state information of the abnormal movement influencing factor and the lifting state information of the crane during operation, it is judged whether the abnormal movement influencing factor affects the operation of the crane operating according to the predetermined lifting state information, and if so, the lifting state of the crane is adjusted and controlled, specifically including the following steps: According to the moving direction information of the abnormal moving influencing factor, it is judged whether the abnormal moving influencing factor can hit the fixed component structure of the crane; If the abnormal movement influencing factor can hit the fixed component structure of the crane, the impact degree of the abnormal movement influencing factor on the fixed component structure of the crane is judged according to the number of abnormal movement influencing factors, the type of abnormal movement influencing factors, the weight of a single abnormal movement influencing factor and the moving speed information of the abnormal movement influencing factor. When the impact degree of the abnormal movement influencing factor on the fixed component structure of the crane affects the normal operation of the crane, the hoisting state of the crane is adjusted and controlled according to the situation; If the impact degree of the abnormal movement influencing factor on the fixed component structure of the crane does not affect the normal operation of the crane, or the abnormal movement influencing factor cannot impact the fixed component structure of the crane, it is judged whether the abnormal movement influencing factor impacts the mobile component structure of the crane operating according to the predetermined lifting state information based on the moving speed information of the abnormal movement influencing factor, the moving direction information of the abnormal movement influencing factor, the lifting operation trajectory route information, the lifting operation speed information and the distance value between the abnormal movement influencing factor and the mobile component structure of the crane. If it affects the mobile component structure of the crane, the lifting state of the crane is adjusted and controlled.

6. The control method of a special bridge crane for a port according to claim 5, characterized in that: If the crane's moving component structure is affected, the crane's hoisting state is adjusted and controlled, specifically: determine where the abnormal movement influencing factor hits the crane's moving component structure, and adjust the corresponding part of the crane's moving component structure to avoid the abnormal movement influencing factor from hitting it.

7. The control method of a special bridge crane for a port according to claim 5, characterized in that: When the impact degree of the abnormal movement influencing factor on the fixed component structure of the crane affects the normal operation of the crane, the lifting state of the crane is adjusted and controlled according to the situation, which specifically includes the following steps: Identify whether the spreader of the crane's mobile component structure is lifting cargo; If the crane's mobile structure does not lift any cargo, stop the crane; If the crane moves the sling of the component structure to lift the cargo, then determine the lifting stage of the crane moving the sling of the component structure to lift the cargo; wherein the lifting stage includes the stage of grabbing the cargo, the stage of running the cargo, and the stage of unloading the cargo; Obtaining a distance value between the abnormal movement influence factor and the fixed component structure of the crane, and calculating a duration value of the abnormal movement influence factor hitting the fixed component structure of the crane according to the distance value between the abnormal movement influence factor and the fixed component structure of the crane and the moving speed information of the abnormal movement influence factor, and marking it as a first duration value; The hoisting state information of the crane is adjusted and controlled according to the first duration value and the second duration value.

8. The control method of a special bridge crane for a port according to claim 7, characterized in that: Adjusting and controlling the hoisting state information of the crane according to the first duration value and the second duration value specifically includes the following steps: If the first duration value is greater than or equal to the second duration value, the crane moves the structural lifting device to lift the cargo to the cargo placement area and then stops the crane operation; If the first duration value is less than the second duration value, the lifting state information of the crane is adjusted and controlled according to the state of the lifting stage of the crane's moving structure sling lifting the goods.

9. The control method of a special bridge crane for a port according to claim 8, characterized in that: The following steps are also included: The cranes that are directly affected by the abnormal movement influencing factors are marked as regulated cranes, and the remaining cranes are marked as normal cranes; Obtain the distance value between the normal crane and the regulated crane and mark it as the interval distance value; Determine the impact degree of the abnormal movement influencing factor on the control crane according to the moving speed information of the abnormal movement influencing factor, the moving direction information of the abnormal movement influencing factor, the number of the abnormal movement influencing factor, the type of the abnormal movement influencing factor and the weight of a single abnormal movement influencing factor; Whether it is necessary to stop normal crane operation is determined based on the impact degree of the abnormal movement influencing factor on the controlled crane.

10. The control method of a special bridge crane for a port according to claim 9, characterized in that: According to the impact degree of the abnormal movement influencing factor on the control crane, it is judged whether it is necessary to stop the normal crane operation, which specifically includes the following steps: Determine whether a damage movement factor is generated based on the impact degree of the abnormal movement influencing factor on the control crane; If the impact of the abnormal movement influencing factor on the regulating crane does not produce a damaging movement factor, the normal crane operation will not be stopped; If the abnormal movement influencing factor impacts the control crane to produce a damaging movement factor, the radiation range of the abnormal movement influencing factor producing the damaging movement factor is determined according to the movement speed information of the abnormal movement influencing factor, the movement direction information of the abnormal movement influencing factor, the number of abnormal movement influencing factors, the type of abnormal movement influencing factors and the weight of a single abnormal movement influencing factor; Determine whether the damage movement factor has an impact on the normal crane based on its radiation range and interval distance. If the normal crane is affected, stop the normal crane operation.

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