Automatic gantry crane control method for beam yard

Abstract

The invention relates to the technical field of automatic control, in particular to a beam yard automatic gantry crane control method which comprises the steps that a gantry crane online monitoring system is arranged, and initial dynamic monitoring information of a gantry crane is obtained; establishing a monitoring information loss evaluation model, evaluating the initial dynamic monitoring information by using the evaluation model and obtaining a monitoring information evaluation result, and updating the initial dynamic monitoring information based on the evaluation result to obtain dynamic monitoring information of the gantry crane; analyzing the gantry crane in the beam yard according to the dynamic monitoring information of the gantry crane, and obtaining a position analysis result, a stress prediction result and a load state detection result of the gantry crane in the beam yard; and the position analysis result, the stress prediction result and the load state detection result are combined to regulate and control the beam yard gantry crane, and safe and efficient operation of the beam yard gantry crane is guaranteed. The position, the stress and the load state of the gantry crane are analyzed according to the dynamic monitoring information, adjustment of the operation plan of the gantry crane is facilitated, and the efficiency and the safety are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic control, and specifically relates to a control method for an automatic gantry crane in a beam yard. Background Art

[0002] Gantry cranes are widely used in multiple fields such as logistics transportation, manufacturing production, and highway construction. In a beam yard, gantry cranes are used for hoisting, transporting, and stacking various heavy components. However, the traditional operation methods of gantry cranes mostly rely on the experience and manual coordination of operators, which are not only inefficient but also have a very high probability of errors and are prone to safety accidents.

[0003] With the continuous development of automatic control technology, automatic control technology can achieve remote monitoring, automatic control, and intelligent decision-making of equipment and systems by integrating sensors, actuators, controllers, and communication devices, etc. Currently, there are defects in the actual application of gantry crane automatic control technology. Among them, the automatic control means of gantry cranes are relatively single, making it difficult to adapt to and match complex and changeable operating conditions; its data processing process has limitations when dealing with large-scale data and cannot guarantee the accuracy and feasibility of control instructions; at the same time, the control method needs to be improved in terms of stability and reliability and cannot guarantee the stable operation of the gantry crane during long-term operation; in addition, the existing technology has deficiencies in terms of intelligence and adaptability and cannot be flexibly adjusted and optimized according to actual operation requirements.

[0004] In view of the deficiencies of the existing gantry crane automatic control methods, it is necessary to further optimize the control method of the automatic gantry crane to achieve precise control, remote monitoring, and intelligent decision-making of the gantry crane by integrating advanced technologies and algorithms. Summary of the Invention

[0005] In view of the deficiencies of existing methods and the requirements of practical applications, the control method of the automated gantry crane in the beam yard of the present invention, through the coordinated action of the online monitoring system and the information loss assessment model, significantly improves the accuracy, intelligence, and adaptability of gantry crane control, providing a strong guarantee for the safe and efficient production of the beam yard. To improve the intelligence and adaptability of gantry crane control and adapt to the actual operation requirements, the online monitoring system and the information loss assessment model set up in the present invention can effectively enhance the accuracy, intelligence, and adaptability level of the control method, ensure the safe and efficient operation of the gantry crane, and improve the operation efficiency. At the same time, it ensures the stable operation of the gantry crane during long-term operation. The present invention provides a control method for an automated gantry crane in a beam yard, and the method includes: setting up an online monitoring system for the gantry crane, and obtaining the initial dynamic monitoring information of the gantry crane through the online monitoring system for the gantry crane; establishing a monitoring information loss assessment model, using the monitoring information loss assessment model to evaluate the initial dynamic monitoring information of the gantry crane and obtaining a monitoring information evaluation result, and updating the initial dynamic monitoring information of the gantry crane based on the monitoring information evaluation result to obtain the dynamic monitoring information of the gantry crane; analyzing the gantry crane in the beam yard according to the dynamic monitoring information of the gantry crane, and obtaining the position analysis result, stress prediction result, and load status detection result of the gantry crane in the beam yard; combining the position analysis result, the stress prediction result, and the load status detection result to adjust and control the gantry crane in the beam yard to ensure the safe and efficient operation of the gantry crane in the beam yard.

[0006] Optionally, the setting up of the online monitoring system for the gantry crane includes: configuring online monitoring devices and layout information monitoring points in the online monitoring system for the gantry crane based on the operating characteristics of the gantry crane. According to the operating characteristics of the gantry crane, the present invention configures corresponding online monitoring devices, which can achieve accurate monitoring of key parameters, helping to improve the accuracy and reliability of gantry crane monitoring data.

[0007] Optionally, the establishment of the monitoring information loss assessment model includes: establishing a monitoring information loss assessment model based on the wireless signal propagation characteristics; The monitoring information loss assessment model satisfies the following relationship:

[0008] Wherein, represents the signal propagation loss result, represents the signal propagation loss constant, represents the transmission distance factor, represents the signal propagation loss exponent, L represents the transmission distance between the receiving device and the transmitting device, represents the signal frequency factor, represents the signal transmission frequency, represents the speed of light.

[0009] The present invention can more accurately evaluate the integrity and reliability of the dynamic monitoring information of the gantry crane by calculating the loss of the wireless signal during transmission through the monitoring information loss evaluation model, which helps to reduce false alarms or missed alarms caused by signal loss, and further improves the effectiveness of the monitoring information.

[0010] Optionally, the evaluating the initial dynamic monitoring information of the gantry crane by using the monitoring information loss evaluation model and obtaining the monitoring information evaluation result, and updating the initial dynamic monitoring information of the gantry crane based on the monitoring information evaluation result to obtain the dynamic monitoring information of the gantry crane includes: obtaining the monitoring information evaluation result based on the monitoring information loss evaluation model and the initial dynamic monitoring information of the gantry crane, and the monitoring information evaluation result includes the signal propagation loss result; introducing the average path loss coefficient of the gantry crane online monitoring system; obtaining the information comparison result according to the monitoring information evaluation result and the average path loss coefficient; Updating the initial dynamic monitoring information of the gantry crane according to the information comparison result to obtain the dynamic monitoring information of the gantry crane. The present invention takes the monitoring information loss evaluation model and the average path loss coefficient as references, which can further correct and optimize the monitoring information and improve the accuracy of the dynamic monitoring information of the gantry crane.

[0011] Optionally, the analyzing the gantry crane of the beam yard according to the dynamic monitoring information of the gantry crane includes: constructing a position analysis model, a stress prediction model and a load state detection model according to the dynamic monitoring information of the gantry crane; comprehensively analyzing the gantry crane of the beam yard by combining the position analysis model, the stress prediction model and the load state detection model. The present invention comprehensively analyzes the gantry crane of the beam yard according to the dynamic monitoring information of the gantry crane, which can improve the safety and stability of the gantry crane operation, optimize the operation efficiency and extend the service life of the equipment.

[0012] Optionally, constructing a position analysis model, a stress prediction model and a load state detection model according to the dynamic monitoring information of the gantry crane includes: The position analysis model satisfies the following relationship:

[0013] Wherein, represents the gantry crane position coordinate after rotation optimization, represents the x-axis of the gantry crane position coordinate, represents rotating around axis by an angle, represents the y-axis of the gantry crane position coordinate, represents rotating around axis by an angle, represents the z-axis of the gantry crane position coordinate, represents rotating around axis by an angle.

[0014] The position analysis model of the present invention takes into account the rotation angle of the gantry crane in three-dimensional space, can more accurately describe its position state, can timely detect and correct deviations, and improve the operation efficiency and safety of the gantry crane.

[0015] Optionally, constructing a position analysis model, a stress prediction model, and a load status detection model based on the dynamic monitoring information of the gantry crane includes: analyzing the external forces acting on the main beam of the gantry crane based on the dynamic monitoring information of the gantry crane; establishing a stress prediction model based on the external forces and the dynamic monitoring information of the gantry crane; The stress prediction model satisfies the following relationship:

[0016] Wherein, represents the normal stress of the main beam, represents the external force acting on the main beam of the gantry crane, represents the corresponding effectiveness index, represents the perpendicular distance from the external force acting point of the gantry crane to the axis of the main beam, represents the sectional moment of inertia of the main beam of the gantry crane, represents the section modulus of the main beam section for bending resistance.

[0017] The stress prediction model of the present invention is beneficial to understanding the stress distribution of the gantry crane under different working conditions, is beneficial to improving the bearing capacity and anti-fatigue performance of the gantry crane, and guides the formulation of a more reasonable maintenance plan and replacement cycle.

[0018] Optionally, constructing a position analysis model, a stress prediction model, and a load status detection model based on the dynamic monitoring information of the gantry crane includes: analyzing the reduction coefficient of the wire rope overturning moment based on the dynamic monitoring information of the gantry crane; establishing a wire rope frequency estimation function in the load status detection model based on the reduction coefficient and the dynamic monitoring information of the gantry crane; The wire rope frequency estimation function satisfies the following relationship:

[0019] Wherein, represents the natural frequency of the wire rope, represents the parameter related to the structure and shape of the wire rope, represents the corresponding weight coefficient, represents the tension of the wire rope, represents the density of the wire rope, represents the length of the wire rope, represents the reduction coefficient corresponding to the external force overturning moment of the main beam of the gantry crane.

[0020] The overturning moment reduction coefficient and load status detection model of the present invention can more accurately estimate the natural frequency of the wire rope, effectively reflect the tension and working status of the wire rope, and is conducive to timely discovering potential load abnormalities or overloading situations.

[0021] Optionally, analyzing the gantry crane in the beam yard according to the gantry crane dynamic monitoring information and obtaining the position analysis result, stress prediction result and load status detection result of the gantry crane in the beam yard includes: obtaining the coordinate position data of the gantry crane based on the position analysis model; obtaining the stress data on the main beam of the gantry crane according to the stress prediction model; obtaining the frequency data of the wire rope according to the wire rope frequency estimation function in the load status detection model; obtaining the position analysis result of the gantry crane based on the coordinate position data; obtaining the stress prediction result of the gantry crane according to the stress data; and combining the frequency data and stress data to obtain the load status detection result of the gantry crane. The present invention can improve the safety and reliability of gantry crane operation by comprehensively analyzing and controlling based on the position analysis result, stress prediction result and load status detection result.

[0022] Optionally, combining the position analysis result, the stress prediction result and the load status detection result to regulate the gantry crane in the beam yard to ensure the safe and efficient operation of the gantry crane in the beam yard includes: introducing the historical working information of the gantry crane in the beam yard; controlling and adjusting the position, stress and load status of the gantry crane in the beam yard based on the historical working information, the gantry crane dynamic monitoring information, the position analysis result, the stress prediction result and the load status detection result to ensure the safe and efficient operation of the gantry crane in the beam yard. The present invention regulates the gantry crane in the beam yard by combining the position analysis result, stress monitoring result and load status detection result and introducing the historical working information, which can improve the safety, efficiency and maintenance cost - effectiveness of the gantry crane, and contribute to the intelligent and efficient development of the construction industry. Description of the Drawings

[0023] Figure 1 It is a flow chart of the control method for the automatic gantry crane in the beam yard of the present invention; Figure 2 It is a schematic diagram of the distribution of monitoring nodes in the control method for the automatic gantry crane in the beam yard of the present invention; Figure 3 It is a schematic diagram of the control system for the automatic gantry crane in the beam yard of the present invention; Detailed Embodiments

[0024] Specific embodiments of the present invention will be described in detail below. It should be noted that the embodiments described here are only for illustrative purposes and are not used to limit the present invention. In the following description, in order to provide a thorough understanding of the present invention, a large number of specific details are set forth. However, it is obvious to those of ordinary skill in the art that the present invention does not have to be practiced with these specific details. In other instances, well-known circuits, software, or methods have not been specifically described to avoid obscuring the present invention.

[0025] Throughout the specification, references to "one embodiment", "an embodiment", "one example", or "an example" mean that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment of the present invention. Thus, the phrases "in one embodiment", "in an embodiment", "one example", or "an example" appearing throughout the specification do not necessarily all refer to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and / or sub-combination in one or more embodiments or examples. In addition, those of ordinary skill in the art should understand that the diagrams provided herein are for illustrative purposes only and are not necessarily drawn to scale.

[0026] Please refer to Figure 1 , in order to improve the intelligence and adaptive ability of the gantry crane control method, the operating state of the gantry crane can be flexibly adjusted and optimized according to the actual operation scenario. At the same time, in order to further enhance the robustness and reliability of the control method and ensure the safe and stable operation of the gantry crane. The present invention provides a control method for an automated gantry crane in a beam yard. The above-mentioned control method for an automated gantry crane in a beam yard includes the following steps: S1. Set up an online monitoring system for the gantry crane, and obtain the initial dynamic monitoring information of the gantry crane through the above-mentioned online monitoring system for the gantry crane. The specific setting steps and implementation contents are as follows: Configure online monitoring devices and layout information monitoring points in the online monitoring system for the gantry crane based on the operating characteristics of the gantry crane, and then obtain the initial dynamic monitoring information of the gantry crane through the online monitoring system for the gantry crane.

[0027] First, construct an online monitoring system for the gantry crane.

[0028] In order to achieve dynamic monitoring of the gantry crane, corresponding online monitoring devices are configured in the gantry crane system based on its operating characteristics. At the same time, it is necessary to reasonably layout information monitoring points, and the above-mentioned devices will continuously monitor and capture the key information of the gantry crane.

[0029] In the data acquisition stage, it mainly relies on sensors and intelligent monitoring technologies. The device can accurately measure various parameters of the gantry crane and transmit the data to the online monitoring system of the gantry crane in real time. Subsequently, the computer in the online monitoring system preprocesses and preliminarily analyzes the relevant data to provide decision-making support for the automated gantry crane control method.

[0030] The online monitoring system of the gantry crane can not only conduct real-time dynamic monitoring of the operating state of the gantry crane, but also realize functions in multiple aspects such as fault information alarm, production statistics, and equipment maintenance. It not only improves the safety of the gantry crane, but also realizes the overall control and monitoring of the operating state of the gantry crane.

[0031] At the same time, it can also conduct remote real-time dynamic monitoring of the gantry crane through GPS satellite positioning and data transmission technologies. Based on this, not only can potential equipment faults be detected in a timely manner, but also safety assessments can be carried out on the gantry crane, thereby further improving the accuracy and safety of the monitoring results.

[0032] Then, conduct simulation and monitoring point layout for the online monitoring system.

[0033] After the online monitoring system of the gantry crane is constructed, conduct intelligent simulation for the gantry crane. In the embodiment, CAE simulation technology can be used to conduct simulation for it to determine the optimal installation positions of various sensors, effectively improving the monitoring effect and accuracy.

[0034] Analyze the working scenarios and loads of the gantry crane; preliminarily determine the CAD structure diagram, conduct strength simulation analysis on the maximum load-bearing capacity of the gantry crane, determine different monitoring positions of stress and strain, and at the same time mark and summarize the monitoring points, which can provide a scientific basis for the installation of system sensors.

[0035] In terms of the selection of sensors, it is necessary to follow basic principles such as advanced technology, reliable performance, reasonable economy, stable durability, and meeting monitoring requirements. The selected sensors should have the function of automatic data acquisition and can maintain durability and accuracy during long-term monitoring. At the same time, it is also necessary to consider the protection ability of the sensors, design a suitable protective housing to protect them. In addition, in order to facilitate the acquisition and processing of monitoring data, it is necessary to uniformly plan and set the models of system sensors.

[0036] In terms of the structural monitoring of the online monitoring system of the gantry crane, it is necessary to reasonably arrange information monitoring points. For the above-mentioned monitoring point arrangement, please refer to Figure 2 , where the numbers 1-7 respectively represent the monitoring point positions in the online monitoring system of the gantry crane To comprehensively capture the deformation of the gantry crane during operation, in terms of vibration monitoring, by analyzing the peak values of the data curves during the normal operation of the gantry crane, a reasonable safety factor is set. Through a series of monitoring measures and layout improvements, the accuracy and integrity of the dynamic monitoring information of the gantry crane can be ensured. The above monitoring data provides an information basis for the management and control of the gantry crane.

[0037] The dynamic monitoring information of the gantry crane covers multiple aspects. For relevant content, please refer to Table 1.

[0038] Table 1 Gantry Crane Dynamic Monitoring Information Table

[0039] The monitoring indicators in Table 1 aim to comprehensively monitor the operating status of the gantry crane, timely detect potential safety hazards, so as to ensure the safety and smooth progress of the construction. At the same time, it also ensures the effectiveness and comprehensiveness of the monitoring information, which helps to better control the actual operating conditions of the gantry crane.

[0040] Furthermore, based on the dynamic monitoring information of the gantry crane, which mainly focuses on the gantry crane and its operating environment, multiple monitoring parameters are selected, including the load-bearing capacity and deformation of the gantry crane itself, environmental wind speed, settlement and horizontal deformation of the pier column, and lateral displacement of the bridge, etc. For the corresponding monitoring information content, please refer to Table 2.

[0041] Table 2 Information Statistics Table of Gantry Crane Monitoring Parameters and Monitoring Equipment

[0042] Among them, the environmental wind speed and direction are directly related to the stability and safety of the gantry crane under wind load; the bridge support structure can reflect the stress state of the pier column during the hoisting process and whether there are potential safety hazards; the lateral displacement of the bridge can intuitively reflect the overall stability of the bridge during the hoisting process and whether there are structural offsets or instabilities caused by improper hoisting operations. Based on Table 2, it can be seen that the on-line monitoring system of the gantry crane can obtain comprehensive and accurate dynamic monitoring information of the gantry crane, providing a guarantee for the effective implementation and smooth operation of the control method of the automated gantry crane in the beam yard.

[0043] In this embodiment, the on-line monitoring system of the gantry crane will be regularly inspected and maintained to ensure that the relevant equipment and instruments can function properly, ensure the normal operation of the monitoring system, and obtain accurate dynamic monitoring information of the gantry crane.

[0044] Furthermore, the method for obtaining the initial dynamic monitoring information of the gantry crane in this embodiment is only an optional condition of the present invention. In one or some other embodiments, the method for obtaining the dynamic monitoring information of the gantry crane can be optimized according to the actual operating conditions of the gantry crane and the data monitoring requirements, so as to more precisely capture the changes of the gantry crane during operation and ensure the stability and reliability of the monitoring system.

[0045] S2. Establish a monitoring information loss evaluation model, use the monitoring information loss evaluation model to evaluate the initial dynamic monitoring information of the gantry crane and obtain the monitoring information evaluation result, and update the initial dynamic monitoring information of the gantry crane based on the above monitoring information evaluation result to obtain the dynamic monitoring information of the gantry crane. The specific steps and implementation contents are as follows: During the transmission process of the dynamic monitoring information of the gantry crane, it is not only affected by the distance between the sending and receiving devices, but also closely related to the frequency of the signal and the external environmental factors on the propagation path. These related factors jointly affect the attenuation degree of the dynamic monitoring data signal during the transmission process. During the propagation process of the data signal, the increase in distance will cause the signal strength to gradually weaken, while the frequency of the signal will affect its penetration ability and anti-interference ability. In addition, external factors such as obstacles, humidity, and temperature on the propagation path will also have different degrees of influence on signal propagation.

[0046] In this embodiment, a monitoring information loss evaluation model is established based on the wireless signal propagation characteristics. The above monitoring information loss evaluation model satisfies the following relationship:

[0047] Where, represents the signal propagation loss result, represents the signal propagation loss constant, represents the transmission distance factor, represents the signal propagation loss exponent, L represents the transmission distance between the receiving device and the transmitting device, represents the signal frequency factor, represents the signal transmission frequency, represents the speed of light.

[0048] The construction basis of the above monitoring information loss evaluation model lies in the loss characteristics of wireless signals during the propagation process due to factors such as distance, signal frequency, and external environmental factors. This model can quantify the influence of relevant variables on the attenuation of signal strength, and further evaluate the quality loss situation of data during the transmission process.

[0049] This monitoring information loss evaluation model comprehensively considers the combined effects of distance, signal frequency, and various external environmental factors on the wireless signal propagation loss, providing technical support for accurately predicting and evaluating the loss of signals during the transmission process.

[0050] The signal propagation loss result is used to quantify the attenuation degree of the signal during transmission.

[0051] The signal propagation loss constant is a fixed value related to specific propagation environments and signal characteristics, which reflects the basic loss characteristics of signal propagation under ideal conditions (free space).

[0052] The transmission distance factor refers to a parameter used to describe the relationship between signal loss and transmission distance during signal propagation. In the monitoring information loss assessment model, the specific value of the transmission distance factor depends on various factors, including but not limited to the propagation environment, signal frequency, characteristics of transmitting and receiving devices, etc., and can effectively quantify the trend of signal strength gradually weakening with the increase of distance.

[0053] The signal propagation loss exponent is a parameter used to describe the rate or ratio of signal loss changing with the increase of propagation distance during signal propagation. This exponent is usually related to specific propagation environments and signal characteristics and is an important parameter in the signal propagation loss assessment model, which is beneficial to subsequent communication system design or network planning and accurately assesses the propagation loss of data signals.

[0054] The transmission distance between the receiving device and the transmitting device refers to the straight-line distance that the signal travels from the transmitting device (radio base station, satellite, mobile phone, etc.) to the receiving device (mobile phone, radio receiver, satellite receiver, etc.). This distance is a key factor in signal propagation loss assessment and directly affects the attenuation degree of the signal.

[0055] The signal frequency factor refers to a parameter related to the signal frequency during signal propagation or processing, which describes the influence of signal frequency on system response or propagation loss. In the fields of signal processing, communication systems, and control systems, the frequency factor can be used to describe the frequency response of the system to the input signal and represent the phase difference of the signal at different frequencies.

[0056] The signal transmission frequency refers to the number of pulses emitted by radio waves or other signal carriers per unit time during digital signal transmission, which describes the number of oscillations or changes per second of the signal. In a communication system, the selection of signal transmission frequency has an important impact on the performance and capacity of the system. A higher transmission frequency can support a higher bandwidth, thus achieving a faster data transmission rate. However, as the frequency increases, the signal will be subject to more attenuation and interference during transmission, such as atmospheric attenuation, multipath propagation effects, etc. Therefore, when selecting the signal transmission frequency, factors such as the performance requirements of the system, propagation environment, and medium conditions need to be comprehensively considered.

[0057] The speed of light refers to the propagation speed of light in a vacuum and is a basic constant in physics.

[0058] The above-mentioned transmission distance factor, frequency factor, and loss constant are all closely related to specific environmental conditions and transmission media. When designing the gantry crane online monitoring system or conducting network planning, it is necessary to fully consider the impact of relevant parameters on the propagation loss of data signals to ensure the accuracy and reliability of the dynamic monitoring information of the gantry crane.

[0059] The above-mentioned monitoring information loss evaluation model has dynamic adaptability and can flexibly adjust the model parameter settings according to different environmental conditions and signal characteristics to accurately reflect the signal loss situation in the actual propagation environment. Through the monitoring information loss evaluation model, the loss degree of wireless signals during transmission can be predicted and evaluated, thereby providing strong guarantee for data quality, helping to ensure the integrity, accuracy, and reliability of the gantry crane dynamic monitoring information, and providing data support for subsequent gantry crane control and adjustment.

[0060] Then, based on the monitoring information loss evaluation model and the initial dynamic monitoring information of the gantry crane, the monitoring information evaluation result is obtained. The above-mentioned monitoring information evaluation result mainly includes the signal propagation loss result; at the same time, the average path loss coefficient of the gantry crane online monitoring system needs to be introduced.

[0061] Based on the monitoring information loss evaluation model and the initial dynamic monitoring information of the gantry crane, the evaluation result of the monitoring information can be obtained, and this result mainly includes the loss result of the signal during propagation.

[0062] The signal propagation loss is the result of the combined action of multiple factors. Based on the initial dynamic monitoring information of the gantry crane, information such as the signal propagation loss constant, transmission distance, signal transmission frequency, and related physical parameters can be obtained, and the above information is input into the monitoring information loss evaluation model. Through the model, the signal propagation loss result of the initial dynamic monitoring information of the gantry crane can be obtained.

[0063] By integrating the dynamic monitoring data of the gantry crane with the monitoring information loss evaluation model, it is possible to obtain and analyze the loss situation experienced by the signal on the propagation path. The above process involves multiple key factors, including but not limited to the signal propagation loss constant, the actual distance of signal transmission, signal frequency, and related physical parameters.

[0064] First, parameter data is obtained based on the initial dynamic monitoring information of the gantry crane. Subsequently, the above data is input into the monitoring information loss evaluation model, and through the model, the signal propagation loss result of the initial dynamic monitoring information of the gantry crane can be obtained, so as to accurately simulate and predict the propagation loss of the signal under different conditions.

[0065] Through the calculation and analysis of the model, the signal propagation loss results of the gantry crane dynamic monitoring information are obtained. The above results not only reveal the loss degree of the signal on the propagation path, but also provide a basis for the optimization and improvement of the gantry crane monitoring system.

[0066] To analyze the signal propagation loss more deeply, the average path loss coefficient of the gantry crane online monitoring system is introduced and compared with the signal propagation loss results.

[0067] In the embodiment, the average path loss coefficient needs to satisfy the following relationship:

[0068] Where, represents the average path loss coefficient, represents the transmission distance factor, represents the signal propagation loss exponent, represents the average transmission distance between the receiving device and the transmitting device, represents the near-earth reference distance.

[0069] The near-earth reference distance refers to a fixed reference distance value. This distance can be selected at a point near the earth's surface to compare with the different distances that the signal may experience during actual transmission. In the process of signal propagation loss analysis, the introduction of the near-earth reference distance can standardize and simplify the loss analysis process. By comparing the actual transmission distance with the near-earth reference distance, the loss situation of the signal at different transmission distances can be understood more intuitively.

[0070] Finally, the information comparison result is obtained based on the above monitoring information evaluation result and the average path loss coefficient; the initial dynamic monitoring information of the gantry crane is updated according to the information comparison result to obtain the gantry crane dynamic monitoring information.

[0071] The above monitoring information evaluation result and the average path loss coefficient are used for information comparison analysis. The accuracy and reliability of the initial dynamic monitoring information of the gantry crane are evaluated by comparing the actual signal propagation loss with the average path loss coefficient.

[0072] During the comparison process, if it is found that the signal propagation loss at a certain monitoring point exceeds the average path loss coefficient, it means that the data at this point is abnormal or has errors. To improve the accuracy and reliability of the monitoring data, the above abnormal data will be further processed, including but not limited to measures such as data re-acquisition, data cleaning, and data iterative optimization. Data cleaning involves operations such as removing noise, correcting errors, or eliminating unreasonable data points; while data optimization includes data smoothing, interpolation, or correction using other algorithms to improve the overall quality of the dynamic monitoring information.

[0073] After the above processing steps, a more accurate and reliable set of target monitoring data can be obtained. The above set reflects the real-time state of the gantry crane dynamic monitoring system, provides an important basis for subsequent analysis and decision-making. The data after optimization and processing will constitute the gantry crane dynamic monitoring information, and further provide an information basis for the effective implementation of the gantry crane control method in the beam yard automation.

[0074] Furthermore, the optimization method and specific steps of the gantry crane dynamic monitoring information in this embodiment are only an optional condition of the present invention. In one or some other embodiments, the optimization method and specific steps of the gantry crane dynamic monitoring information can be replaced according to the actual situation of data monitoring requirements and information loss. The present invention can perform data optimization adjustment and customization according to different application scenarios and requirements, ensuring the accuracy of the data, thereby improving the adaptability and flexibility of the method.

[0075] S3. Analyze the gantry crane in the beam yard according to the gantry crane dynamic monitoring information, and obtain the position analysis result, stress prediction result and load status detection result of the gantry crane in the beam yard. The specific implementation content is as follows: A position analysis model, a stress prediction model and a load status detection model are constructed based on the gantry crane dynamic monitoring information; combined with the above position analysis model, stress prediction model and load status detection model, a comprehensive analysis of the gantry crane in the beam yard is carried out. Based on the set of target monitoring data, the information such as the position, stress and load status of the gantry crane is detected and intelligently analyzed in real time, which helps to ensure the safety and efficiency of the gantry crane operation.

[0076] Construct a position analysis model based on the gantry crane dynamic monitoring information.

[0077] A position analysis model is constructed based on the dynamic monitoring information of the gantry crane. This model integrates the Internet of Things technology and GPS positioning technology to achieve precise detection and analysis of the gantry crane position. A positioning sensor is installed on the gantry crane equipment, which can capture its precise geographical location data in real time. The relevant data is then transmitted to the central processing unit of the gantry crane online monitoring system, and in-depth processing is carried out using data analysis software. At the same time, a visualization device is configured in the gantry crane online monitoring system, which can clearly display the position of the gantry crane, and then the real-time position characteristics of the gantry crane can be quickly grasped, so as to more efficiently schedule and monitor the working mode of the gantry crane.

[0078] To describe the position and attitude of the gantry crane in three-dimensional space, in the embodiment, based on the gantry crane's own coordinate system for analysis, where point O represents the center of gravity of the gantry crane. In this coordinate system axis and axis are respectively parallel to two sides of the gantry crane, and The axis is perpendicular to the surface of the gantry crane and points upward.

[0079] To achieve precise positioning of the gantry crane's position, the concept of Euler angles is introduced in the embodiment, and the rotation state of the gantry crane is specifically described through a rotation matrix, where three rotation angles are defined: represents the angle by which the gantry crane rotates around the X-axis, represents the angle by which the gantry crane rotates around the Y-axis, represents the angle by which the gantry crane rotates around the Z-axis. Through the above rotation angles and the corresponding rotation matrix, a mathematical relationship can be established between the current position and the initial position of the gantry crane. The above relationship not only describes the translational position of the gantry crane in three-dimensional space but also further analyzes the rotation attitude of the gantry crane.

[0080] represents the angle of rotation around and satisfies the following relationship;

[0081] represents the angle of rotation around and satisfies the following relationship;

[0082] represents the angle of rotation around and satisfies the following relationship;

[0083] The above position analysis model satisfies the following relationship:

[0084] Among them, represents the position coordinates of the gantry crane after rotation optimization, represents the x-axis of the gantry crane's position coordinates, represents the angle of rotation around axis, represents the y-axis of the gantry crane's position coordinates, represents the angle of rotation around axis, represents the z-axis of the gantry crane's position coordinates, represents the angle of rotation around axis.

[0085] Furthermore, combining the rotation angles around the x-axis, y-axis, z-axis, and the above position analysis model, the position coordinates of the gantry crane after rotation optimization need to satisfy the following relationship:

[0086] By introducing Euler angles and rotation matrices, the position and attitude of the gantry crane in three-dimensional space can be comprehensively and accurately described. Based on this, the translational position of the gantry crane and the rotation angles around each axis can be analyzed, thus achieving the accurate capture of its dynamic state. At the same time, the rotation matrix is used for coordinate position calculation, and the relevant calculation results can be directly used on the visualization device of the gantry crane online monitoring system, and then the position and attitude of the gantry crane can be intuitively observed and grasped.

[0087] Analyze the external forces acting on the main girder of the gantry crane according to the gantry crane dynamic monitoring information, and establish a stress prediction model based on the above external forces and gantry crane dynamic monitoring information.

[0088] First, analyze the external forces acting on the main girder of the gantry crane according to the gantry crane dynamic monitoring information.

[0089] The external forces acting on the main girder of the gantry crane are the result of the combined action of multiple factors. It is not only affected by the characteristics of the main girder of the gantry crane itself, such as the windward area, but also closely related to external environmental conditions, such as wind speed and wind pressure. Therefore, relevant factors need to be comprehensively considered when calculating the external forces on the main girder to ensure the accuracy and reliability of the calculation results.

[0090] In the embodiment, the external forces acting on the main girder of the gantry crane need to satisfy the following relationship:

[0091] Among them, represents the external force acting on the main girder of the gantry crane, represents the maximum windward area on the main girder of the gantry crane, represents the preset basic wind pressure value, represents the frequency conversion coefficient corresponding to the design wind speed v, represents the wind load shape coefficient, represents the wind pressure height change coefficient when the height exceeds 20 meters.

[0092] The preset basic wind pressure value can be calculated and optimized according to the wind speed and a certain conversion relationship. In practical applications, the basic wind pressure value can be scientifically adjusted and optimized according to meteorological data and the specific working environment of the gantry crane to more accurately reflect the actual situation.

[0093] In the embodiment, the basic wind pressure value is calculated according to the formula The corresponding score for a 9 - level wind is 24 and satisfies the following relationship where represents the wind speed, and are used to represent the speed unit, The frequency conversion coefficient takes into account the characteristics of the wind speed varying with time and the influence of related changes on the force on the main girder of the gantry crane. Introducing the frequency conversion coefficient can more accurately describe the contribution of wind speed fluctuations to the external force.

[0094] The wind load shape coefficient reflects the influence of the shape and size of the main girder of the gantry crane on the wind force it receives. Different main girder designs have different wind load shape coefficients. Therefore, when designing and optimizing the gantry crane, it is necessary to fully consider the influence of different shape designs to ensure that the main girder has a reasonable windward area and shape.

[0095] When the height of the gantry crane exceeds 20 meters, the wind pressure height change coefficient becomes particularly important. It takes into account the influence of height increase on the wind pressure. Introducing the wind pressure height change coefficient can more comprehensively evaluate the influence of height factors on the external force.

[0096] At the same time, sensors and monitoring technologies can also be used to track and record the changes in the external force received by the main girder of the gantry crane in real time and establish an early warning mechanism. When the external force exceeds the preset safety threshold, the monitoring equipment can automatically issue an alarm to remind the operator to take measures in time to ensure the safe operation of the gantry crane.

[0097] In this embodiment, a stress prediction model is established based on the external force acting on the main girder of the gantry crane and the dynamic monitoring information of the gantry crane. Based on this stress prediction model, various influencing factors such as wind force, load, temperature, etc. can be comprehensively considered. The above factors directly or indirectly affect the stress state of the main girder of the gantry crane. Establishing a stress prediction model based on the external force on the main girder can timely detect abnormal stress conditions of the main girder, improve prediction accuracy, enhance safety, and optimize maintenance strategies, thereby providing a strong guarantee for the safe and efficient operation of the gantry crane.

[0098] The above stress prediction model satisfies the following relationship:

[0099] Among them, represents the normal stress of the main girder, represents the external force acting on the main girder of the gantry crane, represents the corresponding effectiveness index, represents the perpendicular distance from the external force action point of the gantry crane to the axis of the main girder, represents the moment of inertia of the cross-section of the main girder of the gantry crane, represents the section modulus of the cross-section of the main girder for bending resistance The normal stress of the main girder represents the stress perpendicular to the cross-section direction generated inside the main girder of the gantry crane when it is subjected to an external force. It is an important indicator to measure the structural strength and stability of the main girder.

[0100] The external forces acting on the main girder of the gantry crane refer to the sum of various external loads borne by the main girder during the operation of the gantry crane. The above-mentioned loads include, but are not limited to, wind force, cargo weight, dynamic load, etc. The magnitude and direction of the external forces will directly affect the stress distribution of the main girder.

[0101] The effectiveness index corresponding to the vertical distance is related to the position of the external force application point and can reflect the degree of influence of the external force application point on the stress of the main girder. It involves factors such as the distribution and transmission efficiency of the external force. In practical applications, the effectiveness index needs to be adjusted and modified according to experimental data or empirical formulas.

[0102] The vertical distance from the external force application point of the gantry crane to the axis of the main girder represents the vertical distance between the external force application point and the axis of the main girder. The magnitude of the vertical distance will affect the moment of the external force, and thus affect the bending stress and deformation of the main girder.

[0103] The section moment of inertia of the main girder of the gantry crane is a geometric parameter that measures the bending resistance of the main girder section. It is closely related to the section shape and size of the main girder. The larger the above-mentioned section moment of inertia, the stronger the bending resistance of the main girder.

[0104] The section modulus of the main girder section reflects the influence of the section shape on the bending resistance ability. It is an important parameter in mechanics of materials and can be used to describe the resistance ability of the section when subjected to bending forces. The larger the section modulus of bending, the smaller the deformation of the main girder when subjected to the same bending force.

[0105] The above parameters play a crucial role in the stress prediction model, jointly determining the stress distribution and deformation of the main girder of the gantry crane, and are key indicators for evaluating the structural strength and stability of the main girder. In practical applications, relevant parameter values can be reasonably adjusted and optimized according to the specific gantry crane model, working environment and load conditions to ensure the accuracy and reliability of the stress prediction model.

[0106] The above stress prediction model can comprehensively consider various influencing factors such as wind force, load, temperature, etc. Through real-time monitoring and data analysis, the model can more accurately predict the stress state of the main girder, and the prediction results are real-time, which helps relevant personnel to make timely responses. In addition, the parameters in the stress prediction model reflect the structural characteristics and material properties of the main girder. Analyzing and optimizing the relevant parameters can provide a scientific basis for the control, design and improvement of the gantry crane, and further improve the practical application effect of the control method of the automated gantry crane in the beam yard.

[0107] Analyze the reduction coefficient of the wire rope overturning moment based on the dynamic monitoring information of the gantry crane; establish a wire rope frequency estimation function in the load state detection model based on the reduction coefficient and the dynamic monitoring information of the gantry crane; In the case of long-term use and heavy load bearing, the monitoring of the gantry crane wire rope is crucial. In actual applications, potential problems such as fatigue and wire breakage may occur in the gantry crane wire rope. To effectively evaluate the overall condition of the wire rope, a load status detection model for the gantry crane wire rope is set up in the embodiment.

[0108] Use the tension sensor in the gantry crane online monitoring system to monitor the tension on the wire rope in real time to ensure that the tension always remains within the safe range. At the same time, a vibration sensor can also be used to collect the vibration signals generated by the wire rope during operation. By analyzing the above signals, the changes in frequency and amplitude can be monitored, which helps to deeply understand the internal condition of the wire rope.

[0109] In actual applications, the influence of complex factors such as bending and bending moment needs to be considered. The bending effect will cause the overall stiffness of the wire rope to decrease in the non-bending direction, thereby causing a redistribution of internal stress. The above effects usually lead to a decrease in the natural frequency. To accurately evaluate the overall condition of the gantry crane wire rope, in this embodiment, the reduction coefficient corresponding to different wire rope overturning moments is analyzed based on the external force acting on the gantry crane main beam.

[0110] In the embodiment, the overturning moment corresponding to the external force on the main beam needs to meet the following conditions:

[0111] Among them, represents the corresponding overturning moment, represents the corresponding weight coefficient, represents the external force acting on the gantry crane main beam, represents the corresponding direction relative to the resultant force direction of the gantry crane components.

[0112] The overturning moment is used to describe the overturning effect of the external force on the gantry crane main beam. In gantry crane lifting equipment, the magnitude of the overturning moment is directly related to the stability and safety of the equipment. The calculation of the overturning moment needs to consider factors such as the magnitude, direction, and acting point of the external force.

[0113] The external force acting on the gantry crane main beam is the main reason for the gantry crane to generate an overturning moment. When calculating the overturning moment, the magnitude and direction of the external force need to be determined.

[0114] The weight coefficient can be used to describe the relative importance of the external force in the calculation of the overturning moment, and thus can adjust the contribution degree of the external force to the overturning moment. The specific value of this weight coefficient can be determined and modified according to the actual situation.

[0115] The angle represents the angle of the external force relative to the resultant force direction of the gantry crane components. When calculating the overturning moment, the included angle between the line of action of the external force and the axis of the main girder of the gantry crane needs to be considered, and the magnitude of the above angle will directly affect the calculation result of the overturning moment.

[0116] In summary, in the calculation process of the overturning moment, the influence of multiple parameters needs to be considered. It is necessary to accurately determine the magnitude and direction of the external force, the value of the weight coefficient, and the magnitude of the angle based on the dynamic monitoring information of the gantry crane to ensure the accuracy and reliability of the calculation results. At the same time, attention should also be paid to the structural characteristics and stress conditions of the main girder of the gantry crane in order to more accurately evaluate its stability and safety.

[0117] During the dynamic monitoring of the gantry crane, a reduction coefficient is introduced to evaluate its stability and safety , which is used to describe the reduction degree of the external force overturning moment of the main girder of the gantry crane. The reduction coefficient in the embodiment is determined according to the actually monitored overturning moment. The specific process is as follows: First, the overturning moment corresponding to the external force of the main girder of the gantry crane is calculated through monitoring and analysis. Then, according to the magnitude and direction of the overturning moment, as well as the structural characteristics and stress conditions of the main girder of the gantry crane, a corresponding reduction coefficient is matched. This reduction coefficient reflects the actual influence degree of the external force overturning moment of the main girder of the gantry crane under specific conditions, and it is affected by various factors, including the tension of the wire rope, material properties, use environment, etc.

[0118] Based on the interaction relationship between the external force overturning moment of the main girder of the gantry crane and the stress state of the wire rope, analyzing the reduction coefficient of the wire rope overturning moment can more accurately evaluate the performance of the wire rope when bearing external forces and its influence on the overall stability of the gantry crane.

[0119] The reduction coefficient plays an important role in the dynamic monitoring of the gantry crane. It can not only more accurately evaluate the actual influence degree of the overturning moment, but also provide an important basis for optimizing the design and use strategy of the gantry crane. Through continuous monitoring and analysis, the value of the reduction coefficient can be continuously optimized to ensure that the gantry crane maintains good stability and safety under different working conditions.

[0120] Furthermore, in this embodiment, a wire rope frequency estimation function is established based on the above reduction coefficient, and the wire rope frequency estimation function needs to satisfy the following relationship:

[0121] Where, represents the natural frequency of the wire rope, represents the parameters related to the structure and shape of the wire rope, denote the corresponding weight coefficient denote the tension of the wire rope denote the density of the wire rope denote the length of the wire rope denote the reduction coefficient corresponding to the external force overturning moment of the main beam of the gantry crane

[0122] The natural frequency is the frequency of the wire rope during free vibration, which is a physical property of the wire rope. It determines the vibration response of the wire rope after being subjected to external forces and is of great significance for evaluating the stability and safety of the wire rope

[0123] The parameter related to the structure and shape of the wire rope is an empirical parameter, which can be used to consider the influence of the structure and shape of the wire rope on its natural frequency. It depends on factors such as the twisting method, number of strands, and diameter of the wire rope. In practical applications its value can be determined through experiments or empirical formulas

[0124] The weight coefficient represents the weight of the tension of the wire rope in the estimation of the natural frequency, which reflects the influence degree of the tension on the natural frequency of the wire rope. The value of the weight coefficient is affected by various factors such as the material, structure, and working environment of the wire rope

[0125] The tension of the wire rope is the tension acting on the wire rope and is one of the key factors affecting the natural frequency of the wire rope. Both the magnitude and direction of the above-mentioned tension will directly affect the vibration characteristics of the wire rope

[0126] The wire rope density represents the density of the wire rope and is an important physical property of the wire rope material. The size of the density will affect the mass and inertia of the wire rope, thereby affecting its natural frequency

[0127] The length of the wire rope determines the wavelength and frequency of the wire rope vibration. Among them, the longer the length, the longer the vibration wavelength and the lower the natural frequency

[0128] The reduction coefficient corresponding to the external force overturning moment of the main beam of the gantry crane can be used to consider the influence of the external force overturning moment of the main beam of the gantry crane on the natural frequency of the wire rope, which reflects the possible decrease or change of the natural frequency of the wire rope under the action of external forces

[0129] The wire rope frequency estimation function calculates the natural frequency of the wire rope. In this process, the influence of various factors is considered, which is conducive to subsequent analysis of the structural characteristics and stress conditions of the wire rope and the gantry crane, so as to more accurately regulate the operation plan of the gantry crane. At the same time, by estimating the natural frequency of the wire rope, the vibration response of the wire rope after being stressed can be monitored in real time, and potential vibration abnormalities or instability conditions can be detected in time. Based on this, safety accidents such as wire rope fracture and shedding can be prevented, thereby improving the overall safety of the gantry crane

[0130] In this embodiment, first, coordinate position data of the gantry crane is obtained based on the position analysis model; stress data on the main beam of the gantry crane is obtained according to the stress prediction model; frequency data of the wire rope is obtained according to the wire rope frequency estimation function in the load state detection model; immediately afterwards, a position analysis result of the gantry crane is obtained based on the coordinate position data; a stress prediction result of the gantry crane is obtained according to the stress data; and a load state detection result of the gantry crane is obtained by combining the frequency data and the stress data.

[0131] In this embodiment, a series of precise and systematic steps are taken to comprehensively evaluate the working state and performance of the gantry crane.

[0132] First, the real-time coordinate position data of the gantry crane is obtained by using the position analysis model, providing a solid foundation for subsequent analysis and judgment.

[0133] Immediately afterwards, the stress state on the main beam of the gantry crane is predicted and analyzed according to the stress prediction model. This step not only reveals the stress conditions of the main beam under different working conditions, but also provides key data for evaluating the structural strength and safety of the gantry crane.

[0134] At the same time, the key component of the wire rope is monitored, and the frequency data of the wire rope is obtained through the wire rope frequency estimation function in the load state detection model. The above data is of great significance for judging the tension state of the wire rope, predicting its service life, and timely discovering potential safety hazards.

[0135] After obtaining the above key data, more in-depth analysis and judgment are carried out. A position analysis result of the gantry crane is obtained based on the coordinate position data, which helps to understand the specific position and distribution of the gantry crane at the operation site. At the same time, a stress prediction result of the gantry crane is obtained according to the stress data, which helps to evaluate the structural integrity and safety of the gantry crane subsequently. Finally, the load state of the gantry crane is detected and analyzed by combining the frequency data and the stress data. Through the above steps, not only the working state of the gantry crane under different load conditions is revealed, but also data support is provided for optimizing the operation process, improving the operation efficiency, and equipment safety regulation.

[0136] Furthermore, the method for obtaining the multi-dimensional detection and analysis results of the gantry crane in the beam yard in this embodiment is only an optional condition of the present invention. In one or some other embodiments, the method for obtaining the multi-dimensional detection and analysis results of the gantry crane can be adjusted according to the actual situation of the dynamic monitoring information and the basic conditions of the gantry crane control. Different gantry cranes in the beam yard have different equipment models, working environments, and usage conditions. Adjusting the detection and analysis methods according to the actual situation can ensure that the detection results of the gantry crane are closer to the actual working state, thereby improving the applicability and accuracy of the results.

[0137] S4. Based on the above position analysis results, stress prediction results, and load status detection results, the gantry crane in the beam yard is regulated to ensure its safe and efficient operation. The specific implementation details are as follows: The control method for the automated gantry crane in the beam yard also includes introducing the historical working information of the gantry crane in the beam yard.

[0138] Based on the historical working information, dynamic monitoring information of the gantry crane, position analysis results, stress prediction results, and load status detection results, the position, stress, and load status of the gantry crane are controlled and adjusted to ensure the safe and efficient operation of the gantry crane.

[0139] This implementation optimizes and expands the regulation strategy of the gantry crane. It not only combines the position analysis results, stress prediction results, and load status detection results but also introduces the historical working information of the gantry crane in the beam yard. The comprehensive regulation method can more comprehensively understand the operating conditions of the gantry crane, thus ensuring its safe and efficient operation.

[0140] In an optional embodiment, the historical working information is fully utilized. The historical information records the past operating trajectory, stress changes, load conditions, and possible problems and failures of the gantry crane. By deeply mining and analyzing the historical data, the operating rules and potential risks of the gantry crane can be accurately analyzed and predicted, providing strong technical support for the control method and corresponding regulation strategy of the automated gantry crane in the beam yard.

[0141] At the same time, combined with the real-time dynamic monitoring information of the gantry crane, including the real-time monitoring data of position, stress, and load status, a comprehensive and accurate assessment of the current state of the gantry crane is carried out. Combining real-time and historical information can more accurately judge the operating state of the gantry crane and promptly discover and handle abnormal situations.

[0142] On this basis, according to the position analysis results, stress prediction results, and load status detection results, targeted control and adjustment are carried out on the position, stress, and load status of the gantry crane. By adjusting the operating trajectory of the gantry crane, optimizing its stress distribution, and reasonably distributing the load, the safety and efficiency of the gantry crane during operation are ensured.

[0143] In addition, attention should also be paid to the flexibility and adjustability of the control method and regulation strategy. According to the actual operating conditions and requirements of the gantry crane, the regulation strategy can be adjusted at any time to adapt to different working environments and task requirements, making the control method for the automated gantry crane in the beam yard more practical.

[0144] In summary, by introducing historical work information and combining it with real-time gantry crane dynamic monitoring information, position analysis results, stress prediction results, and load status detection results, a comprehensive and targeted regulation of the gantry crane in the beam yard is carried out, which not only improves the safety and efficiency of the gantry crane, but also provides a strong guarantee for its stable operation in the complex and changeable beam yard environment.

[0145] Please refer to Figure 3 , in an optional embodiment, in order to efficiently execute a beam yard automated gantry crane control method provided by the present invention, the present invention further provides a beam yard automated gantry crane control system. The above system mainly includes a processor, an input device, an output device, and a memory. The above processor, input device, output device, and memory are interconnected. Among them, the above memory is used to store a computer program, and the computer program includes program instructions. The processor is configured to call the program instructions to execute the specific steps of the beam yard automated gantry crane control method and related embodiments provided by the present invention. The beam yard automated gantry crane control system of the present invention has a complete, objective, and stable structure.

[0146] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; 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 recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered by the scope of the claims and the specification of the present invention.

Claims

1. A control method for an automated gantry crane in a beam yard, characterized in that, The method includes: Setting up an on-line monitoring system for gantry cranes, and obtaining initial dynamic monitoring information of the gantry crane through the on-line monitoring system for gantry cranes; Establishing a monitoring information loss evaluation model, using the monitoring information loss evaluation model to evaluate the initial dynamic monitoring information of the gantry crane and obtaining a monitoring information evaluation result, and updating the initial dynamic monitoring information of the gantry crane based on the monitoring information evaluation result to obtain dynamic monitoring information of the gantry crane; Analyzing the gantry crane in the beam yard according to the dynamic monitoring information of the gantry crane, and obtaining a position analysis result, a stress prediction result and a load status detection result of the gantry crane in the beam yard; Combining the position analysis result, the stress prediction result and the load status detection result to regulate the gantry crane in the beam yard to ensure the safe and efficient operation of the gantry crane in the beam yard.

2. The beam yard automated gantry crane control method according to claim 1, characterized in that The setting up the on-line monitoring system for gantry cranes includes: Configuring on-line monitoring equipment and layout information monitoring points in the on-line monitoring system for gantry cranes based on the operation characteristics of the gantry crane.

3. The beam yard automated gantry crane control method according to claim 1, wherein The establishing the monitoring information loss evaluation model includes: Establishing a monitoring information loss evaluation model based on the wireless signal propagation characteristics; The monitoring information loss evaluation model satisfies the following relationship: ， Among them, represents the signal propagation loss result, represents the signal propagation loss constant, represents the transmission distance factor, represents the signal propagation loss exponent, L represents the transmission distance between the receiving device and the transmitting device, represents the signal frequency factor, represents the signal transmission frequency, represents the speed of light.

4. The beam yard automatic gantry crane control method according to claim 2, wherein The using the monitoring information loss evaluation model to evaluate the initial dynamic monitoring information of the gantry crane and obtaining a monitoring information evaluation result, and updating the initial dynamic monitoring information of the gantry crane based on the monitoring information evaluation result to obtain dynamic monitoring information of the gantry crane includes: Obtaining a monitoring information evaluation result based on the monitoring information loss evaluation model and the initial dynamic monitoring information of the gantry crane, and the monitoring information evaluation result includes a signal propagation loss result; Introducing the average path loss coefficient of the on-line monitoring system for gantry cranes; Obtaining an information comparison result according to the monitoring information evaluation result and the average path loss coefficient; Updating the initial dynamic monitoring information of the gantry crane according to the information comparison result to obtain dynamic monitoring information of the gantry crane.

5. The beam yard automated gantry crane control method according to claim 1, wherein, The analyzing the gantry crane in the beam yard according to the dynamic monitoring information of the gantry crane includes: Constructing a position analysis model, a stress prediction model and a load status detection model according to the dynamic monitoring information of the gantry crane; Combining the position analysis model, the stress prediction model and the load status detection model to comprehensively analyze the gantry crane in the beam yard.

6. The beam yard automated gantry crane control method according to claim 5, wherein, The constructing a position analysis model, a stress prediction model and a load status detection model according to the dynamic monitoring information of the gantry crane includes: The position analysis model satisfies the following relationship: ， Among them, represents the position coordinates of the gantry crane after rotation optimization, represents the x-axis of the position coordinates of the gantry crane, represents rotation around axis by an angle, represents the y-axis of the position coordinates of the gantry crane, represents rotation around axis by an angle, represents the z-axis of the position coordinates of the gantry crane, represents rotation around axis by an angle.

7. The control method of the automated gantry crane in the beam yard according to claim 5, wherein The constructing a position analysis model, a stress prediction model and a load status detection model according to the dynamic monitoring information of the gantry crane includes: Analyzing the external force acting on the main beam of the gantry crane according to the dynamic monitoring information of the gantry crane; Establishing a stress prediction model based on the external force and the dynamic monitoring information of the gantry crane; The stress prediction model satisfies the following relationship: ， Among them, represents the normal stress of the main girder, represents the external force acting on the main girder of the gantry crane, represents the corresponding validity index, represents the perpendicular distance from the external force acting point of the gantry crane to the axis of the main girder, represents the section moment of inertia of the main girder of the gantry crane, represents the section modulus of resistance to bending of the main girder section.

8. The beam yard automated gantry crane control method according to claim 5, wherein, The constructing a position analysis model, a stress prediction model and a load status detection model according to the dynamic monitoring information of the gantry crane includes: Analyzing the reduction coefficient of the wire rope overturning moment according to the dynamic monitoring information of the gantry crane; Establishing a wire rope frequency estimation function in the load status detection model based on the reduction coefficient and the dynamic monitoring information of the gantry crane. The wire rope frequency estimation function satisfies the following relationship: ， Among them, represents the natural frequency of the wire rope, represents the parameters related to the structure and shape of the wire rope, represents the corresponding weight coefficient, represents the tension of the wire rope, represents the density of the wire rope, represents the length of the wire rope, represents the reduction coefficient corresponding to the external force overturning moment of the main beam of the gantry crane.

9. The beam yard automated gantry crane control method according to claim 5, wherein Analyzing the gantry crane in the beam yard based on the dynamic monitoring information of the gantry crane, and obtaining the position analysis result, stress prediction result and load state detection result of the gantry crane in the beam yard includes: Obtaining the coordinate position data of the gantry crane based on the position analysis model; Obtaining the stress data on the main beam of the gantry crane according to the stress prediction model; Obtaining the frequency data of the wire rope according to the wire rope frequency estimation function in the load state detection model; Obtaining the position analysis result of the gantry crane based on the coordinate position data; Obtaining the stress prediction result of the gantry crane according to the stress data; Combining the frequency data and the stress data to obtain the load state detection result of the gantry crane.

10. The beam yard automated gantry crane control method according to claim 9, wherein Combining the position analysis result, the stress prediction result and the load state detection result to control the gantry crane in the beam yard to ensure the safe and efficient operation of the gantry crane in the beam yard includes: Introducing the historical working information of the gantry crane in the beam yard; Controlling and adjusting the position, stress and load state of the gantry crane in the beam yard based on the historical working information, the dynamic monitoring information of the gantry crane, the position analysis result, the stress prediction result and the load state detection result to ensure the safe and efficient operation of the gantry crane in the beam yard.

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