Intelligent distance adjusting control system for port crane

Abstract

The invention discloses an intelligent distance adjusting control system for a port crane, and relates to the technical field of port machinery automation control, the intelligent distance adjusting control system comprises two millimeter wave radars symmetrically mounted on two sides of a lifting appliance cross beam, and the millimeter wave radars are used for detecting the distance between a lifting appliance and a container top and a lateral barrier; the visual identification camera is mounted in the center of the top of the lifting appliance cross beam, and the visual identification camera vertically and downwards covers a container corner fitting identification area; the mechanical redundancy detection module comprises a rotating seat, a plurality of tilt angle sensors are installed on the annular side wall of the bottom of the rotating seat, a first guide plate is installed in the lower area of the rotating seat, trigger assemblies are installed at the positions, close to the tilt angle sensors, of the side wall of the first guide plate, and a main mechanical arm is arranged at the front end of the rotating seat; in extreme weather such as rainstorm and strong wind, the system is automatically switched to a mechanical redundancy mode, and the distance adjusting accuracy is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of port machinery automation control, and particularly to an intelligent distance adjustment control system for a port crane. Background Art

[0002] In container loading and unloading operations, port cranes need to frequently adjust the relative distance between the spreader and the container, ship, or truck. Traditional distance adjustment control relies on manual operation or simple open-loop control, and has the following defects: 1. Insufficient accuracy: Affected by wind load and load swing, the positioning error of the spreader is large (usually exceeding ±5 cm), which easily causes collisions; 2. Low efficiency: Manual repeated fine-tuning is time-consuming and cannot adapt to dynamic operating environments (such as ships swaying with the waves); 3. High energy consumption: Frequent start and stop of the motor leads to waste of electric energy, and the brake wears seriously. In the prior art, some solutions achieve closed-loop control through laser ranging, but lack the intelligent decision-making ability for complex working conditions (such as rain and fog interference, multi-target obstacle avoidance), and are not deeply coupled with the kinematic model of the crane. Summary of the Invention

[0003] The purpose of the present invention is to provide an intelligent distance adjustment control system for a port crane to solve the problems raised in the above background art.

[0004] To solve the above technical problems, the present invention provides the following technical solution: An intelligent distance adjustment control system for a port crane, comprising: Perception unit: including millimeter-wave radars symmetrically installed on both sides of the spreader beam for detecting the distance between the spreader and the top of the container and lateral obstacles; and a vision recognition camera installed at the center of the top of the spreader beam, vertically covering the container corner fitting recognition area; Mechanical redundancy detection module: including an inclination sensor installed on the annular side wall at the bottom of the rotating base, a trigger assembly on the side wall of the first guide plate, and a main robotic arm provided at the front end; Control logic: When the environmental parameters reach extreme conditions, switch to the mechanical redundancy detection module for distance adjustment, and dynamically correct the spreader distance adjustment path through data fusion of the inclination sensor data with the data of the millimeter-wave radar and the vision recognition camera.

[0005] According to the above technical solution, the trigger assembly includes: A first trigger plate driven by a first electric control rod, on the surface of which there are grooves with balls; A second trigger plate driven by a second electric control rod, on the surface of which there are grooves with balls; When the balls press the inclination sensor, synchronously activate the pressure feedback mechanism of the electric control rod to judge the contact effectiveness.

[0006] According to the above technical solution, an electric control mechanical rod and a telescopic rod are installed on the wall surface of the main robotic arm to drive the second electric control rod and the trigger plate to move.

[0007] According to the above technical solution, large, medium, and small hook assemblies are arranged at the front end of the main robotic arm and are lifted through pulley assemblies; the medium hook is lifted through the first pulley assembly of the main robotic arm, and the small hook is lifted through the second pulley assembly in the hanging groove.

[0008] According to the above technical solution, a support plate is installed in the area of the main robotic arm above the hook assembly, and the support plate drives the baffle assembly to clamp the hook through a telescopic rod.

[0009] According to the above technical solution, the baffle assembly includes a base plate, a telescopic rod, and a limiting plate, and the limiting plate contacts the hook through a buffer assembly.

[0010] According to the above technical solution, the buffer assembly includes a spring structure and a clamping plate, providing a buffer space for the shaking of the hook.

[0011] According to the above technical solution, a rotating seat is welded to a metal frame, the main robotic arm is connected to a telescopic cylinder through a support rod, and the telescopic cylinder is detachably connected to the metal frame to enhance stability.

[0012] According to the above technical solution, a telescopic rod and a ball are installed at the bottom of the metal frame, and a tilt angle sensor is touched to obtain rotation angle data.

[0013] According to the above technical solution, the mechanical redundancy module performs multi-level verification: first verifying the angle deviation between the rotating seat and the main robotic arm, second verifying the angle data of the metal frame, and grading and determining structural damage.

[0014] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: In the present invention, by providing a mechanical redundancy detection module, in extreme weather such as heavy rain and strong wind, the system automatically switches to the mechanical redundancy mode: through the physical contact between the tilt angle sensor and the trigger ball, the rotation angles (a1 / a2 / a3) of the rotating seat, the main robotic arm, and the metal frame are obtained, and the structural stability is verified hierarchically to avoid the loss of control of the lifting appliance caused by the failure of electronic devices; The limiting plate and the buffer assembly (spring + clamping plate) limit the swinging amplitude of the hook, reducing the risk of cargo collision. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation to the present invention. In the drawings: Figure 1 is the overall three-dimensional structure schematic diagram of the present invention; Figure 2 is the schematic diagram of the first guide plate of the present invention; Figure 3It is a schematic diagram of the position of the second trigger plate of the present invention; Figure 4 It is a schematic diagram of the overall side structure of the present invention; Figure 5 It is a schematic diagram of the detailed structure of the second trigger plate of the present invention; Figure 6 It is of the present invention Figure 1 Schematic diagram of area A therein; Figure 7 It is a schematic diagram of the clamping plate of the present invention; Figure 8 It is a three-dimensional structure schematic diagram of the arm head area of the main robotic arm of the present invention; Figure 9 It is a top view of the arm head area of the main robotic arm of the present invention; Figure 10 It is a schematic diagram of the fifth telescopic rod of the present invention; In the figure: 1, millimeter wave radar; 2, stainless steel L-shaped bracket; 3, visual recognition camera; 4, base; 5, rotating base; 6, inclination sensor; 7, first guide plate; 8, trigger assembly; 9, first electric control rod; 10, housing; 11, first trigger plate; 12, first guide plate; 13, trigger assembly; 14, main robotic arm; 15, first electric control robotic rod; 16, first telescopic rod; 17, second telescopic rod; 18, second electric control rod; 19, second trigger plate; 20, second groove; 21, second ball; 22, second electric control robotic rod; 23, hook assembly; 24, support plate; 25, third telescopic rod; 26, substrate; 27, fourth telescopic rod; 28, limit plate; 29, spring structure; 30, clamping plate; 31, metal frame; 32, support rod; 33, first connecting rod; 34, telescopic cylinder; 35, connection hole; 36, first pulley assembly; 37, second pulley assembly; 38, second connecting rod; 39, extension plate; 40, second driving member; 41, hanging groove; 42, first metal rod; 43, first roller; 44, first driving member; 45, second metal rod; 46, second roller; 47, first ejector rod; 48, second ejector rod; 49, fifth telescopic rod; 50, annular groove; 51, third ball. Specific embodiments

[0016] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0017] Please refer to Figures 1-10, the present invention provides a technical solution: an intelligent distance adjustment control system for a port crane, including a sensing unit. The sensing unit includes two millimeter-wave radars 1 symmetrically installed on both sides of the spreader beam. The millimeter-wave radars 1 are horizontally directed in front of and below the spreader, covering the straight-line detection area between the spreader and the target (container, ship deck). The millimeter-wave radars 1 are at least 1.5 meters away from the bottom of the spreader, with a depression angle of 15 degrees (detecting the distance between the top of the container and the spreader), a horizontal angle of ±30 degrees (covering lateral obstacles). The 15-degree depression angle aligns the beam center line emitted by the millimeter-wave radar 1 with the top of the container below the spreader, directly measuring the distance between the spreader and the container, avoiding detection blind spots caused by the beam being too vertical (such as 90 degrees vertically downward), or being unable to cover near-ground targets due to being too horizontal (such as 0 degrees). At the same time, there are often strong reflectors such as accumulated water and metal debris on the port ground. The 15-degree depression angle can reduce the direct reflection of the radar beam with the ground and reduce the false alarm rate. The ±30-degree horizontal angle setting is because in the port environment, there are often obstacles such as ship masts, cargo stacks, and transfer vehicles on the side of the spreader. The ±30-degree horizontal angle can scan about 10 - 30 meters in the left and right areas (depending on the radar power), triggering the obstacle avoidance path planning in time; Both of the two millimeter-wave radars 1 are installed on the spreader beam through stainless steel L-shaped brackets 2. The stainless steel L-shaped brackets 2 are fixed on the spreader beam through M12 bolts, and shock-absorbing rubber pads are embedded in the brackets; Polycarbonate protective covers (transmittance ≥ 95%) are installed on the surfaces of both of the two millimeter-wave radars 1, and electric heating films (constant temperature 40°C) are built-in to prevent condensation; A vision recognition camera 3 is installed at the center of the top of the spreader beam. The vision recognition camera 3 looks vertically downward at the grasping area of the spreader, covering the container corner fitting recognition area, and is used to detect the alignment state between the spreader and the side of the container; Through the cooperation of the millimeter-wave radar 1 and the vision recognition camera 3, the distance adjustment process of the crane is realized through electronic equipment. The electronic equipment has a fast distance adjustment rate, making the working efficiency of the crane high; A mechanical redundancy detection module is also set on the crane. The crane includes a base 4 and a rotating seat 5. The mechanical redundancy detection module includes: a number of inclination sensors 6 are closely installed on the bottom annular side wall of the rotating seat 5. Miniature batteries are configured in the inclination sensors 6. The miniature batteries are connected to the circuit set on the crane and can charge the miniature batteries when the circuit is powered on. The miniature batteries can then supply energy to the inclination sensors 6 through the stored electricity when the circuit is powered off, maintaining the normal operation of the inclination sensors 6. Here, the power-off of the circuit is not the power-off of the main power supply of the crane, and the normal working process of the crane continues as usual. A first guide plate 7 is installed in the lower area of the rotating seat 5. The first guide plate 7 is welded to the rotating seat 5 in an irregular shape. A trigger assembly 8 is installed on the side wall of the first guide plate 7 near the inclination sensors 6. The trigger assembly 8 has the function of contacting the inclination sensors 6; When the rotating base 5 drives the boom to rotate, it drives the first guide plate 7 to rotate. The first guide plate 7 drives the trigger assembly 8 to rotate. When the trigger assembly 8 contacts the inclination sensor 6, the inclination sensor 6 acquires data. By analyzing the data, the rotation angle of the rotating base 5 can be obtained, and then the rotation angle of the boom can be obtained, and finally the position information of the boom can be obtained. This method of obtaining the position information of the boom is used in extreme weather or power outage situations; The trigger assembly 8 includes a first electric control rod 9 fixedly installed on the side wall of the first guide plate 7. A housing 10 is arranged on the outer side of the first electric control rod 9. The housing 10 is a cylindrical shape with both ends penetrating. One end is welded to the first guide plate 7, and the other end has no completely sealed structure. A first trigger plate 11 is fixedly installed at the end of the first electric control rod 9. The area of the first trigger plate 11 is larger than that of the housing 10. A plurality of first grooves 12 are arranged on the surface of the first trigger plate 11. The height of the first grooves 12 is at the same horizontal plane as the inclination sensor 6. A first ball 13 is installed in the first grooves 12 by bearings. When the first ball 13 touches and presses the inclination sensor 6, the inclination sensor 6 acquires data. If it is necessary to adjust the distance by using a mechanical redundancy detection module, the mechanical redundancy detection module adjusts the distance to drive the first electric control rod 9 to extend and drive the first trigger plate 11 to move. The movement of the first trigger plate 11 drives the first ball 13 to move towards the inclination sensor 6 until the first ball 13 contacts the inclination sensor 6. The rotation of the rotating base 5 is not affected by the first ball 13, and it also plays a protective role while pressing the inclination sensor 6. During the movement of the first trigger plate 11, it is restricted by the position of the housing 10, reducing the moving path distance of the first electric control rod 9 while the housing 10 also protects the first electric control rod 9 and extends the service life of the first electric control rod 9; At the front end of the rotating base 5, a main robotic arm 14 is provided. The middle of the main robotic arm 14 has a hollow structure. On the wall surface of the main robotic arm 14, a first electric control robotic rod 15 is installed. On the first electric control robotic rod 15, a first telescopic rod 16 is installed. At the end of the first telescopic rod 16, a second electric control robotic rod 22 is installed. On the second electric control robotic rod 22, a second telescopic rod 17 is installed. At the end of the second telescopic rod 17, a second electric control rod 18 is fixedly installed. At the end of the second electric control rod 18, a second trigger plate 19 is fixedly installed. On the surface of the second trigger plate 19, a plurality of second grooves 20 are provided. The height of the second grooves 20 can be adjusted to be on the same horizontal plane as the inclination sensor 6. In the second grooves 20, second balls 21 are installed by bearings. When the second balls 21 press on the inclination sensor 6, the inclination sensor 6 obtains data. The mechanical redundancy detection module adjusts the distance to drive the second electric control rod 18 to extend, driving the second trigger plate 19 to move. The movement of the second trigger plate 19 drives the second balls 21 to move towards the inclination sensor 6 until the second balls 21 contact the inclination sensor 6 to obtain the rotation angle of the main robotic arm 14. The rotation angle of the rotating base 5 is obtained through the first ball 13, denoted as a1. The rotation angle of the rotating base 5 is obtained through the second balls 21, denoted as a2. After the mechanical redundancy detection module obtains a1 and a2, it compares the two. If the data of the two are consistent, it means that the rotation angles of the rotating base 5 and the main robotic arm 14 are consistent, which is one of the necessary conditions for working. If the data of the two are inconsistent, it means that there is a deviation in the rotation angles of the rotating base 5 and the main robotic arm 14, and it is judged that the crane has structural damage. At this time, the crane cannot accurately land for work, avoiding damage to the goods caused by the crane working with damaged structure; In non-extreme weather, the mechanical redundancy detection module controls the first electric control robotic rod 15, the first telescopic rod 16, the second electric control robotic rod 22, and the second telescopic rod 17 to cooperate and operate to retract the second trigger plate 19 and the structures installed on the second trigger plate 19, reducing the probability of damage to the second trigger plate 19 and the structures installed on the second trigger plate 19; At the front end of the main robotic arm 14, three hook assemblies 23 are provided. The hook assemblies 23 will not be elaborated here as they are all existing technical structures. Two support plates 24 are fixedly installed in the area of the main robotic arm 14 above the hook assemblies 23. The two support plates 24 are arranged facing each other, and on the facing surfaces, third telescopic rods 25 are fixedly installed. On each support plate 24, a third telescopic rod 25 is symmetrically installed. At the end of each third telescopic rod 25, a set of baffle assemblies is fixedly installed, that is, two sets of baffle assemblies are provided on the side walls of each support plate 24. This setting enables the baffle assemblies not to affect the normal operation of the hook assemblies 23; The baffle assembly includes a base plate 26 installed at the end of the third telescopic rod 25. A fourth telescopic rod 27 is fixedly installed at the bottom of the base plate 26, and a limit plate 28 is fixedly installed at the bottom of the fourth telescopic rod 27. Both the base plate 26 and the limit plate 28 are made of metal. After switching to the distance adjustment mode of the mechanical redundancy detection module, the mechanical redundancy detection module first drives the fourth telescopic rod 27 to extend and then drives the limit plate 28 to descend. The limit plate 28 descends to a position flush with the hook assembly 23. When the hook assembly 23 is in the initial position, the fourth telescopic rod 27 is driven to operate so that the fourth telescopic rod 27 can extend a preset distance to ensure that the destination of the descending limit plate 28 is near the hook assembly 23. Then, the third telescopic rod 25 is driven to extend to drive the base plate 26 to move towards the hook assembly 23 until the two limit plates 28 clamp the hook assembly 23. When the hook assembly 23 descends subsequently, the fourth telescopic rod 27 descends synchronously with the hook assembly 23, and the reset process is also synchronous, ensuring the stability of the crane when lifting goods; A shaft ball is provided at the connection between the third telescopic rod 25 and the base plate 26. Through the shaft ball, the base plate 26 and the limit plate 28 have an offset space of ±4 degrees, increasing the distance adjustment space between the hook assembly 23 and the limit plate 28 in extreme weather and reducing the damage rate of the limit plate 28; A buffer assembly is provided on the contact surface between the limit plate 28 and the hook assembly 23. The buffer assembly includes a spring structure 29 fixedly installed on the side wall surface of the limit plate 28. The spring structure 29 is a rubber spring in this embodiment. A clamping plate 30 is fixedly installed at the end of the rubber spring. The contact between the clamping plate 30 and the hook assembly 23 provides a buffer space. When the hook assembly 23 shakes, the spring structure 29 performs the first step of buffering, and the shaft ball performs the second step of buffering to limit the shaking amplitude of the hook assembly 23; The three groups of hook assemblies 23 are divided into a large hook, a medium hook, and a small hook according to volume. The large hook, the medium hook, and the small hook are all lifted and lowered through pulley assemblies. The position of the large hook among the three groups of hook assemblies 23 is restricted by the buffer assembly as described above. The other two groups of hooks are prone to shaking due to their small volume and are not used in extreme weather; A metal frame 31 is welded on the rotating base 5. A number of support rods 32 are installed on the main robotic arm 14. A first connecting rod 33 is installed at the top of the number of support rods 32. A telescopic cylinder 34 is installed at one end of the first connecting rod 33 close to the metal frame 31. A connecting hole 35 is provided at one end of the telescopic cylinder 34 facing the metal frame 31. The diameter of the connecting hole 35 matches the diameter of the metal rod on the metal frame 31. The mechanical redundancy detection module drives the telescopic cylinder 34 to expand and contract to realize the connection or disconnection between the first connecting rod 33 and the metal frame 31. If it is not necessary to drive the main robotic arm 14 to adjust the distance up and down, it is necessary to drive the telescopic cylinder 34 to extend through the mechanical redundancy detection module so that the connecting hole 35 is connected to the metal frame 31, increasing the support strength between the first connecting rod 33 and the rotating base 5, and finally improving the stability of the entire main robotic arm 14. If it is necessary to drive the main robotic arm 14 to adjust the distance up and down, it is necessary to drive the telescopic cylinder 34 to reset through the mechanical redundancy detection module so that the connecting hole 35 is disconnected from the metal frame 31, without affecting the up and down adjustment of the main robotic arm 14; The middle hook is lifted and lowered through a first pulley assembly 36 provided on the main robotic arm 14. The small hook is lifted and lowered through a second pulley assembly 37 provided on the main robotic arm 14. A second connecting rod 38 is fixedly installed at the end of the first connecting rod 33. The second connecting rod 38 extends downward until it is fixed in a partial area at the end of the main robotic arm 14. A first driving member 44 is fixedly installed at the end of the second connecting rod 38. An extension plate 39 is installed on one side of the second connecting rod 38. A second driving member 40 is fixedly installed on the extension plate 39. A hanging groove 41 is provided in the partial area at the end of the main robotic arm 14. The second pulley assembly 37 is arranged in the hanging groove 41; The second pulley assembly 37 includes a first metal rod 42 fixedly installed on the main robotic arm 14. A first roller 43 is provided in the middle area of the first metal rod 42. The first roller 43 is a fixed-area rolling structure; The second pulley assembly 37 further includes a second metal rod 45 fixedly installed in the hanging groove 41. A second roller 46 is provided in the middle area of the second metal rod 45. The second roller 46 is a fixed-area rolling structure; A first ejector rod 47 is provided at the output end of the first driving member 44, and a second ejector rod 48 is provided at the output end of the second driving member 40. The first ejector rod 47 is energized by the first driving member 44 to achieve telescopic movement, and the second ejector rod 48 is energized by the second driving member 40 to achieve telescopic movement. In extreme weather conditions, when movement restriction of the small hook is required, the mechanical redundancy detection module drives the first driving member 44 and the second driving member 40 to operate, and then drives the first ejector rod 47 and the second ejector rod 48 to extend until the first ejector rod 47 presses against the first roller 43 and the second ejector rod 48 presses against the second roller 46. The telescopic movement on the first roller 43 and the second roller 46 is restricted by pressing on the first roller 43 and the second roller 46, avoiding the small hook from descending in extreme weather. If the movement of the rope matching the small hook causes the small hook to descend, the yaw amplitude of the small hook is too large, which is likely to cause collision with the large hook when grabbing goods in extreme weather; The middle hook is used for assisting in grabbing goods, and the length of the rope it matches is short, so no auxiliary fixing structure is required; At the bottom of one of the metal rods perpendicular to the ground on the metal frame 31, a fifth telescopic rod 49 is fixedly installed. The fifth telescopic rod 49 passes through the rotating seat 5, and its bottom is a telescopic structure. An annular groove 50 is provided in the upper edge area of the bottom of the fifth telescopic rod 49. A third ball 51 is installed in the annular groove 50 by means of a bearing. When the third ball 51 presses against the inclination sensor 6, the inclination sensor 6 acquires data. The mechanical redundancy detection module drives the fifth telescopic rod 49 to extend to drive the third ball 51 to move down to a position flush with the inclination sensor 6. At this time, the third ball 51 is in direct contact with the inclination sensor 6. When the rotating seat 5 rotates, the third ball 51 acquires the rotation angle of the metal frame 31, denoted as a3. After the mechanical redundancy detection module acquires a3, it compares it with a1 and a2. If the data of the three are consistent, it means that the rotation angles of the rotating seat 5, the main robotic arm 14, and the hook assembly are consistent, and all conditions for working are met. If the data of the three are inconsistent, it means that there are deviations in the rotation angles of the rotating seat 5, the main robotic arm 14, and the hook assembly, and it is judged that the crane has structural damage, and the crane does not work; First, compare the data of a1 and a2. If the comparison of the data of a1 and a2 is qualified, then connect the metal frame 31 and the telescopic cylinder 34, and compare the data of a1, a2, and a3, reducing the crane structure adjustment process; The sensing unit is connected to the humidity detector and the wind speed detector set in the remote control center. If the humidity detector and the wind speed detector detect that the port environment data reaches extreme conditions, the sensing unit changes the crane adjustment method, changing the electronic device adjustment to the mechanical redundancy detection module adjustment, improving the reliability of the crane adjustment. The combination of the mechanical redundancy detection module adjustment and the electronic device adjustment enables the crane to still operate safely when the electronic device fails, reducing the shutdown accident rate.

[0018] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device.

[0019] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An intelligent distance adjustment control system for a port crane, characterized in that, Including: Perception unit: It includes two millimeter-wave radars (1) symmetrically installed on both sides of the spreader beam. The millimeter-wave radar (1) is used to detect the distance between the spreader and the top and lateral obstacles of the container. And a vision recognition camera (3) installed at the center of the top of the spreader beam. The vision recognition camera (3) vertically covers the container corner fitting recognition area downward. Mechanical redundancy detection module: It includes a rotating seat (5). A plurality of inclination sensors (6) are installed on the annular side wall at the bottom of the rotating seat (5). A first guide plate (7) is installed in the lower area of the rotating seat (5). A trigger assembly (8) is installed on the side wall of the first guide plate (7) near the inclination sensor (6). A main robotic arm (14) is provided at the front end of the rotating seat (5). Control logic: When the environmental parameters reach extreme conditions, it switches to the mechanical redundancy detection module for distance adjustment. Through the data fusion of the inclination sensor (6) data with the data of the millimeter-wave radar (1) and the vision recognition camera (3), the spreader distance adjustment path is dynamically corrected.

2. The intelligent distance adjustment control system for a port crane according to claim 1, characterized in that, The trigger assembly (8) of the mechanical redundancy detection module includes: A first electric control rod (9), and the first electric control rod (9) is installed on the side wall of the first guide plate (7). A first trigger plate (11), and the first trigger plate (11) is installed at the end of the first electric control rod (9). A first groove (12) with a first ball (13) is provided on its surface. A second electric control rod (18), and the second electric control rod (18) is arranged on the main robotic arm (14). A second trigger plate (19), and the second trigger plate (19) is installed at the end of the second electric control rod (18). A second groove (20) with a second ball (21) is provided on its surface. When the first ball (13) and the second ball (21) press against the inclination sensor (6), the pressure feedback mechanism of the electric control rod is synchronously activated to judge the contact effectiveness.

3. The intelligent distance adjustment control system for a port crane according to claim 2, characterized in that, A first electric control mechanical rod (15) is installed on the wall surface of the main robotic arm (14). A first telescopic rod (16) is installed on the first electric control mechanical rod (15). A second electric control mechanical rod (22) is installed at the end of the first telescopic rod (16). A second telescopic rod (17) is installed on the second electric control mechanical rod (22). The second electric control rod (18) is installed at the end of the second telescopic rod (17).

4. The intelligent distance adjustment control system for a port crane according to claim 3, characterized in that Three hook assemblies (23) are provided at the front end of the main robotic arm (14). The three hook assemblies (23) are divided into a large hook, a medium hook, and a small hook according to volume. The large hook, the medium hook, and the small hook are all lifted and lowered through pulley assemblies. The medium hook is lifted and lowered through a first pulley assembly (36) provided on the main robotic arm (14). The small hook is lifted and lowered through a second pulley assembly (37) provided on the main robotic arm (14). A hanging groove (41) is provided in a partial area at the end of the main robotic arm (14). The second pulley assembly (37) includes a first metal rod (42) fixedly installed on the main robotic arm (14). A first roller (43) is provided in the middle area of the first metal rod (42). The first roller (43) is a fixed-area rolling structure. The second pulley assembly (37) further includes a second metal rod (45) fixedly installed in the hanging groove (41). A second roller (46) is arranged in the middle area of the second metal rod (45), and the second roller (46) is a rolling structure in a fixed area.

5. The intelligent distance adjustment control system for a port crane according to claim 4, characterized in that, Two support plates (24) are fixedly installed in the area of the main robotic arm (14) above the hook assembly (23). A third telescopic rod (25) is fixedly installed on the facing surfaces of the two support plates (24). One third telescopic rod (25) is symmetrically installed on each support plate (24). A set of baffle assemblies are fixedly installed at the ends of each third telescopic rod (25), that is, two sets of baffle assemblies are arranged on the side walls of each support plate (24).

6. The intelligent distance adjustment control system for a port crane according to claim 5, characterized in that, The baffle assembly includes a base plate (26) installed at the end of the third telescopic rod (25). A fourth telescopic rod (27) is fixedly installed at the bottom of the base plate (26), and a limit plate (28) is fixedly installed at the bottom of the fourth telescopic rod (27).

7. The intelligent distance adjustment control system for a port crane according to claim 6, characterized in that, A buffer assembly is arranged on the contact surface between the limit plate (28) and the hook assembly (23). The buffer assembly includes a spring structure (29) fixedly installed on the side wall surface of the limit plate (28). A clamping plate (30) is fixedly installed at the end of the rubber spring. The contact between the clamping plate (30) and the hook assembly (23) provides a buffer space.

8. An intelligent distance adjustment control system for a port crane according to claim 7, characterized in that, A metal frame (31) is welded on the rotating base (5). A number of support rods (32) are installed on the main robotic arm (14). A first connecting rod (33) is installed at the tops of the number of support rods (32). A telescopic cylinder (34) is installed at one end of the first connecting rod (33) close to the metal frame (31). A connecting hole (35) is arranged at one end of the telescopic cylinder (34) facing the metal frame (31), and the diameter of the connecting hole (35) matches the diameter of the metal rod on the metal frame (31); A second connecting rod (38) is fixedly installed at the end of the first connecting rod (33). A first driving part (44) is fixedly installed at the end of the second connecting rod (38). An extension plate (39) is installed on one side of the second connecting rod (38). A second driving part (40) is fixedly installed on the extension plate (39). The second pulley assembly (37) is arranged in the hanging groove (41).

9. The intelligent distance adjustment control system for a port crane according to claim 8, characterized in that, A first ejector rod (47) is arranged at the output end of the first driving part (44), and a second ejector rod (48) is arranged at the output end of the second driving part (40); A fifth telescopic rod (49) is fixedly installed at the bottom of one of the metal rods perpendicular to the ground on the metal frame (31). An annular groove (50) is arranged in the upper edge area at the bottom of the fifth telescopic rod (49), and a third ball (51) is installed in the annular groove (50) by means of a bearing.

10. The intelligent distance adjustment control system for a port crane according to claim 9, characterized in that, The mechanical redundancy detection module performs multi-level verification: First verification: If there is a deviation between the angle a1 of the rotating base (5) and the angle a2 of the main robotic arm (14), it is determined that there is a distance adjustment error in the crane; Secondary verification: Trigger the connection between the telescopic cylinder (34) and the metal frame (31), and re-judge the distance adjustment process of the crane by comparing the angles a1 and a2 with the angle a3 of the metal frame (31).

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