Multi-beam three-dimensional sonar underwater early warning system and method for portal crane

Abstract

The invention provides a multi-beam three-dimensional sonar underwater early warning system and method for a portal crane, and the system comprises an underwater monitoring and early warning system, and the underwater monitoring and early warning system comprises an underwater monitoring unit which is installed on a grabbing beam of the portal crane and enters underwater along with the operation of the grabbing beam of the portal crane so as to monitor the underwater condition around a gate; the operation guide unit is used for carrying out reference control on the operation route of the underwater monitoring unit, so that the underwater monitoring unit can operate between a grabbing beam and a gate of the portal crane; the signal transmission unit is used for being connected with the underwater monitoring unit and transmitting underwater signals monitored by the underwater monitoring unit to the data processing unit; the data processing unit is mounted in an electrical room of the portal crane and is used for analyzing the data monitored by the underwater monitoring unit and controlling the operation of the underwater monitoring unit; and the cable storage unit is mounted on the grabbing beam of the portal crane and is used for tensioning and storing the cable of the signal transmission unit in the operation process of the underwater monitoring unit. Accurate monitoring and safety early warning of the underwater operation area of the gate are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of safe operation of gantry cranes, and in particular to a gantry crane multi-beam three-dimensional sonar underwater early warning system and method. Background Art

[0002] When gantry cranes operate underwater, visual observation is limited by the water, making it difficult to effectively monitor the gate slot status. If floating foreign objects or structural deformations are not detected and addressed promptly, they can easily lead to mechanical jamming of the gate during opening and closing. This sudden failure can create an instantaneous impact load on the lifting mechanism, potentially leading to serious safety incidents such as wire rope breakage, damage to transmission components, and fatigue damage to the mechanical structure.

[0003] Existing technologies lack real-time dynamic monitoring of the gate operation area, making it impossible to provide effective early warning of potential dangers. To address this issue, there is an urgent need to develop an underwater monitoring and early warning system for gantry cranes that can adapt to complex underwater environments and provide real-time monitoring and intelligent early warning functions. Summary of the Invention

[0004] The purpose of the present invention is to overcome the above-mentioned shortcomings and provide a multi-beam three-dimensional sonar underwater early warning system and method for gantry cranes. The system combines multi-beam three-dimensional sonar imaging technology with intelligent algorithms to achieve accurate monitoring and safety early warning of the underwater operation area of the gate, effectively preventing mechanical jamming problems that may occur during the operation of the gate. It can be widely used in underwater operation scenarios of gantry cranes in the fields of water conservancy, hydropower, ports and terminals.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: a gantry crane multi-beam three-dimensional sonar underwater early warning system, including an underwater monitoring and early warning system, which includes: The underwater monitoring unit is installed on the gantry crane grab beam and moves underwater with the gantry crane grab beam to monitor the underwater conditions around the gate; The operation guide unit is used to control the operation route of the underwater monitoring unit, so that it can run between the gantry crane grab beam and the gate; A signal transmission unit, used to connect to the underwater monitoring unit and transmit the underwater signal monitored by the underwater monitoring unit to the data processing unit; The data processing unit is installed in the electrical room of the gantry crane and is used to analyze the data monitored by the underwater monitoring unit and control its operation; The cable storage unit is installed on the gantry crane grab beam and is used to tension and store the cables of the signal transmission unit during the operation of the underwater monitoring unit.

[0006] Preferably, the underwater monitoring unit includes a magnetic mobile trolley, which includes a driving front body and a follower rear body hinged by a pin shaft. The driving front body and the follower rear body are equipped with permanent magnetic adsorption wheels. A driving mechanism for providing power and a tension monitoring sensor for monitoring cable tension are installed inside the driving front body. A positioning device is installed on the driving front body and is used to achieve precise positioning and position control.

[0007] Preferably, the magnetic mobile trolley can selectively move to the parking track or the gate running track under the action of the rotating track changing mechanism, wherein the rotating track changing mechanism is installed on the base on the gantry crane grab beam, the parking track is installed on the base, the base is installed on the gantry crane grab beam, and the gate running track is installed on the gate and arranged along its height direction.

[0008] Preferably, the driving front body is equipped with an underwater camera and a multi-beam three-dimensional sonar imaging device; The underwater camera is used to assist in acquiring optical image data of the gate operation area, as well as to identify the operation guide unit and guide the operation of the magnetic mobile vehicle; The multi-beam three-dimensional sonar imaging device is used to obtain high-precision three-dimensional image data of the underwater operation area of the gate; A protective cover is provided outside the lens of the underwater camera and the multi-beam three-dimensional sonar imaging device. The protective cover is made of corrosion-resistant material, and the outer surface of the protective cover is coated with an anti-biological adhesion coating.

[0009] Preferably, the signal transmission unit is composed of a zero-buoyancy underwater cable, a cable connector and a signal relay device, one end of the zero-buoyancy underwater cable is connected to the signal port of the underwater monitoring unit, and the other end is connected to the signal relay device, and the signal relay device is connected to the accompanying cable port of the gantry crane grab beam; Among them, underwater monitoring data is transmitted to the data processing unit installed in the gantry crane electrical room via zero-buoyancy underwater cables, signal relay devices, and grab beam accompanying cables, realizing communication between the two.

[0010] Preferably, the cable storage unit includes a cable reel for winding and storing the zero-buoyancy underwater cable. The cable reel has a built-in disc-type stainless steel spring, which has a constant tension control function for realizing automatic retraction and release of the cable, ensuring that the cable is always in a tensioned state. When the magnetic mobile trolley moves downward, it pulls the cable and the disc-type stainless steel spring is stretched; when the magnetic mobile trolley moves upward, the disc-type stainless steel spring recovers, pulling the cable upward and winding it on the cable reel; During the operation of the magnetic mobile trolley, the tension monitoring sensor monitors the cable tension in real time. According to the feedback signal of the tension monitoring sensor, the running speed of the magnetic mobile trolley is adjusted to ensure that the cable is always in a constant tension state.

[0011] Preferably, the operation guide unit consists of a base, a rotating track changing mechanism, a parking track, a gate running track and a safety baffle; the base is used to provide a parking track and a rotating track changing mechanism for the underwater monitoring unit to provide a safe and reliable installation foundation, and is provided with a protective cover; the rotating track changing mechanism and the parking track are installed on the base in coordination, and a changing track is provided on the top of the gate running track for adapting to the track surface of the door rotating track changing mechanism to achieve a smooth transition between the two tracks, and a safety baffle is provided at the bottom end of the gate running track.

[0012] Preferably, the rotating track changing mechanism includes a waterproof motor fixed on the base, the output shaft of the waterproof motor is equipped with a driving gear, the driving gear is engaged with the arc-shaped gear ring for transmission, the arc-shaped gear ring is rotatably installed inside the arc-shaped seat, the arc-shaped seat is arranged inside the base, and a rotating track is installed on the inner wall of the arc-shaped gear ring.

[0013] Preferably, the data processing unit is composed of an industrial control computer and a human-computer interaction interface. The industrial control computer is used to realize sonar data processing, image recognition and early warning judgment; the human-computer interaction interface is used to display the underwater model of the gate slot, the general shape of foreign objects in the water, the height of the gate from the bottom of the gate slot, and related information of the gate slot width; By installing an industrial control computer and a human-machine interface at a suitable location in the gantry crane's cab and communicating with the gantry crane's electrical control system, a pop-up window will be displayed to remind the driver based on the set judgment conditions, and the gantry crane will be stopped when necessary.

[0014] In another aspect, the present invention provides a method for operating a gantry crane multi-beam three-dimensional sonar underwater early warning system, comprising the following steps: Initial deployment phase: The gantry crane grab beam is connected to the gate, and the magnetic mobile trolley runs, adsorbed on the track, and moves from the gantry crane grab beam to the bottom of the gate; The cable reel rotates as the trolley moves, stretching the disc-type stainless steel spring to keep the cable in a taut state. Gate operation monitoring: After the gate enters the water, a multi-beam 3D sonar system continuously scans the gate operating area, acquiring high-precision 3D images of the underwater environment. Underwater cameras assist in acquiring optical images to verify the sonar data. A data processing unit analyzes the sonar data to create a 3D model of the underwater environment. Key parameters such as the distance between the gate and the slot, and the integrity of the slot structure, are monitored in real time. When the gate drops to the bottom of the gate slot, the system sends a command and the magnetic mobile trolley moves toward the upper edge of the gate. The cable is collected under the elastic force of the tensile disc stainless steel spring and wound on the cable reel. After the magnetic mobile trolley moves to the upper edge of the gate, it moves to the gantry crane grab beam by rotating the track change mechanism, and scans and monitors the situation above the gantry crane grab beam in real time. When the gate rises above the water, the sonar turns off; Abnormal warning processing: During the operation of the gate, when a potential obstacle is detected at a certain elevation or the gate slot structure is abnormal, the system will issue a warning signal. When the distance between the bottom of the gate and the elevation is less than 1 meter, a pop-up warning will appear on the human-computer interaction interface in the driver's cab to remind the driver to observe and judge; when the distance is less than 50 centimeters from the elevation, the system will pop up a window to ask the driver whether it is necessary to slow down and continue to remind the driver to pay attention.

[0015] The present invention has the following beneficial effects: 1. The present invention has a simple structure, mature technology, and is easy to manufacture and install.

[0016] 2. Through real-time monitoring and precise early warning, the present invention can effectively prevent mechanical jamming failures that may occur during gate operation, ensure the safe and stable operation of gantry cranes, and has important engineering application value.

[0017] 3. The hardware installation method of the present invention is flexible and versatile, and can be applied to gantry cranes of various types and specifications, and has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below with reference to the accompanying drawings and examples.

[0019] Figure 1 This is the overall structural diagram of the present invention.

[0020] Figure 2 For the present invention Figure 1 Partial structure diagram.

[0021] Figure 3 This is a schematic diagram of the gantry crane multi-beam three-dimensional sonar underwater early warning system of the present invention.

[0022] Figure 4 Schematic diagram of the underwater monitoring unit of the present invention.

[0023] Figure 5 It is a schematic diagram of the guide line and track of the present invention.

[0024] Figure 6 For the present invention Figure 5 Partial structure diagram.

[0025] In the figure: hydropower station water inlet 0, gate slot 01, gantry crane grab beam 02, gate 03, underwater monitoring and early warning system 1; Base 10, magnetic moving trolley 11, rotating track changing mechanism 12, parking track 13, cable storage unit 14, gate running track 15, safety baffle 16; Drive front body 11-1, underwater camera 11-2, multi-beam three-dimensional sonar imaging device 11-3, follow-up rear body 11-4, pin 11-5, permanent magnetic adsorption wheel 11-6; Waterproof motor 12-1, rotating track 12-2, driving gear 12-3, arc-shaped ring gear 12-4, arc-shaped seat 12-5; Cable reel 14-1, disc-type stainless steel spring 14-2. DETAILED DESCRIPTION

[0026] The present invention will be described in further detail below with reference to the accompanying drawings. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention, and are not to be construed as limiting the present invention.

[0027] Example 1: See also Figure 1-6 The gantry crane multi-beam three-dimensional sonar underwater early warning system includes an underwater monitoring and early warning system 1, which includes: an underwater monitoring unit, which is installed on the gantry crane grab beam 02 and enters the water with the gantry crane grab beam 02, thereby monitoring the underwater conditions around the gate 03; an operation guide unit, which is used to reference and control the operation route of the underwater monitoring unit, thereby enabling it to operate between the gantry crane grab beam 02 and the gate 03; a signal transmission unit, which is used to connect the underwater monitoring unit and transmit the underwater signal monitored by the underwater monitoring unit to the data processing unit; the data processing unit, which is installed in the gantry crane electrical room, is used to analyze the data monitored by the underwater monitoring unit and control its operation; a cable storage unit 14, which is installed on the gantry crane grab beam 02 and is used to tension and store the cable of the signal transmission unit during the operation of the underwater monitoring unit. By adopting the above-mentioned underwater early warning system, the underwater conditions during the operation of the gate are monitored with the help of the underwater monitoring unit, and the monitoring data is transmitted to the data processing unit. After processing by the data processing unit, accurate monitoring and safety warning of the underwater operation area of the gate are achieved, effectively preventing mechanical jamming problems that may occur during the operation of the gate.

[0028] Furthermore, the underwater monitoring unit includes a magnetic mobile trolley 11, which comprises a driving front body 11-1 and a follower rear body 11-4 articulated by a pin 11-5. The driving front body 11-1 and the follower rear body 11-4 are equipped with permanent magnetic wheels 11-6. The driving front body 11-1 is internally equipped with a drive mechanism for providing power and a tension monitoring sensor for monitoring cable tension. The driving front body 11-1 is also equipped with a positioning device for achieving precise positioning and position control. The magnetic mobile trolley 11 can carry the entire device and operate between the gantry crane grab beam 02 and the gate 03.

[0029] Furthermore, the magnetic mobile trolley can selectively move to the parking track 13 or the gate running track 15 under the action of the rotating track changing mechanism 12, wherein the rotating track changing mechanism 12 is installed on the base 10 on the gantry crane grab beam 02, the parking track 13 is installed on the base 10, the base 10 is installed on the gantry crane grab beam 02, and the gate running track 15 is installed on the gate 03 and arranged along its height direction.

[0030] Furthermore, the driving predecessor 11-1 is equipped with an underwater camera 11-2 and a multi-beam three-dimensional sonar imaging device 11-3; the underwater camera 11-2 is used to assist in obtaining optical image data of the gate operation area, and to identify the operation guide unit to guide the operation of the magnetic mobile vehicle; the multi-beam three-dimensional sonar imaging device 11-3 is used to obtain high-precision three-dimensional image data of the underwater operation area of gate 03.

[0031] Furthermore, a protective cover 11-5 is provided outside the lens of the underwater camera 11-2 and the multi-beam 3D sonar imaging device 11-3. The protective cover 11-5 is made of corrosion-resistant material and coated with an anti-biological adhesion coating on its outer surface, thereby ensuring the normal operation of the underwater camera 11-2 and the multi-beam 3D sonar imaging device 11-3.

[0032] Through the above structure, the multi-beam three-dimensional sonar imaging device and the underwater camera are installed on a magnetic mobile cart to form a movable underwater monitoring unit. All its electrical interfaces adopt radial and axial double waterproof sealing structures, and the metal parts are made of stainless steel to ensure long-term and stable operation in underwater environments.

[0033] Furthermore, the signal transmission unit is composed of a zero-buoyancy underwater cable, a cable connector and a signal relay device. One end of the zero-buoyancy underwater cable is connected to the signal port of the underwater monitoring unit, and the other end is connected to the signal relay device. The signal relay device is connected to the gantry crane grab beam accompanying cable port; wherein, the underwater monitoring data is transmitted to the data processing unit installed in the gantry crane electrical room via the zero-buoyancy underwater cable, the signal relay device, and the grab beam accompanying cable, thereby realizing communication between the two.

[0034] Furthermore, zero-buoyancy underwater cable: a stainless steel armor layer is set inside the cable, which has good tensile strength, torsion resistance and corrosion resistance.

[0035] Furthermore, the cable connector is made of stainless steel and has a radial and axial double waterproof sealing structure.

[0036] Furthermore, the signal relay device is used to achieve stable transmission of sonar signals, video signals, and magnetic mobile vehicle control signals.

[0037] Furthermore, the cable storage unit 14 includes a cable reel 14-1, which is used to wind and store zero-buoyancy underwater cables. The cable reel 14-1 has a built-in disc-type stainless steel spring 14-2, which has a constant tension control function for realizing automatic retraction and release of the cable, ensuring that the cable is always in a tensioned state; avoiding relaxation or excessive stretching.

[0038] Cable reel: Made of stainless steel, with good corrosion resistance.

[0039] When the magnetic movable trolley 11 moves downward, the cable is pulled, and the disc-type stainless steel spring 14-2 is stretched; when the magnetic movable trolley 11 moves upward, the disc-type stainless steel spring 14-2 recovers, pulling the cable upward and winding it on the cable reel; During the operation of the magnetic mobile trolley 11, the tension monitoring sensor monitors the cable tension in real time, and adjusts the operating speed of the magnetic mobile trolley 11 according to the feedback signal of the tension monitoring sensor to ensure that the cable is always in a constant tension state.

[0040] Furthermore, the operation guide unit is composed of a base 10, a rotating track changing mechanism 12, a parking track 13, a gate running track 15 and a safety baffle 16; the base 10 is used to provide a parking track for the underwater monitoring unit and a safe and reliable installation foundation for the rotating track changing mechanism 12, and is provided with a protective cover; the rotating track changing mechanism 12 and the parking track 13 are installed in cooperation on the base 10, and a changing track is provided at the top of the gate running track 15 for adapting to the track surface of the door rotating track changing mechanism 12 to achieve a smooth transition between the two tracks, and a safety baffle 16 is provided at the bottom of the gate running track 15.

[0041] The base 10 is made of stainless steel, and the track 15 is a customized product. A changing track is set on the top, which is mainly used to adapt to the track surface of the gantry crane grab beam to achieve a smooth transition between the two tracks. The main body material is corrosion-resistant stainless steel and is installed on the gate to meet the operation requirements of the magnetic mobile trolley from the grab beam to the gate.

[0042] Furthermore, the rotating track changing mechanism 12 includes a waterproof motor 12-1 fixed on the base 10, and the output shaft of the waterproof motor 12-1 is equipped with a driving gear 12-3, the driving gear 12-3 is engaged with the arc-shaped ring gear 12-4 for transmission, and the arc-shaped ring gear 12-4 is rotatably installed inside the arc-shaped seat 12-5, and the arc-shaped seat 12-5 is arranged inside the base 10, and a rotating track 12-2 is installed on the inner wall of the arc-shaped ring gear 12-4.

[0043] Furthermore, the data processing unit is composed of an industrial control computer and a human-computer interaction interface. The industrial control computer is used to realize sonar data processing, image recognition and early warning judgment; the human-computer interaction interface is used to display the underwater model of the gate slot, the general shape of foreign objects in the water, the height of the gate from the bottom of the gate slot, and related information of the gate slot width; By installing an industrial control computer and a human-machine interface at a suitable location in the gantry crane's cab and communicating with the gantry crane's electrical control system, a pop-up window will be displayed to remind the driver based on the set judgment conditions, and the gantry crane will be stopped when necessary.

[0044] Example 2: In another aspect, the present invention provides a method for operating a gantry crane multi-beam three-dimensional sonar underwater early warning system, comprising the following steps: Initial deployment phase: The gantry crane grab beam 02 is connected to the gate 03, and the magnetic mobile trolley 11 runs, adsorbed on the track, and moves from the gantry crane grab beam 02 to the bottom of the gate 03; The cable drives the cable reel 14-1 to rotate as the trolley moves, stretching the disc-type stainless steel spring 14-2 to keep the cable in a tensioned state; Gate operation monitoring: After the gate enters the water, the multi-beam 3D sonar continuously scans the gate operation area to obtain high-precision 3D images of the underwater environment. The underwater camera 11-2 assists in obtaining optical images to verify the sonar data. The data processing unit analyzes the sonar data to build a 3D model of the underwater environment. It also monitors the distance between the gate and the gate slot, as well as key parameters of the gate slot structural integrity, in real time. The gate drops to the bottom of the gate slot, and the system sends a command. The magnetic mobile trolley 11 moves toward the upper edge of the gate. The cable is collected under the elastic force of the tensile disc stainless steel spring 14-2 and wound on the cable reel. After the magnetic mobile trolley moves to the upper edge of the gate, it moves to the gantry crane grab beam 02 by rotating the track-changing mechanism 12, and scans and monitors the situation above the gantry crane grab beam 02 in real time. When the gate rises above the water, the sonar turns off; Abnormal warning processing: During the operation of the gate, when a potential obstacle is detected at a certain elevation or the gate slot structure is abnormal, the system will issue a warning signal. When the distance between the bottom of the gate and the elevation is less than 1 meter, a pop-up warning will appear on the human-computer interaction interface in the driver's cab to remind the driver to observe and judge; when the distance is less than 50 centimeters from the elevation, the system will pop up a window to ask the driver whether it is necessary to slow down and continue to remind the driver to pay attention.

[0045] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. The gantry crane multi-beam three-dimensional sonar underwater early warning system is characterized by: The underwater monitoring and early warning system (1) includes: An underwater monitoring unit is installed on the gantry crane grab beam (02) and enters underwater along with the gantry crane grab beam (02) to monitor the underwater conditions around the gate (03); An operation guide unit is used to reference and control the operation route of the underwater monitoring unit so that it can operate between the gantry crane grab beam (02) and the gate (03); A signal transmission unit, used to connect to the underwater monitoring unit and transmit the underwater signal monitored by the underwater monitoring unit to the data processing unit; The data processing unit is installed in the electrical room of the gantry crane and is used to analyze the data monitored by the underwater monitoring unit and control its operation; The cable storage unit (14) is installed on the gantry crane grab beam (02) and is used to tension and store the cable of the signal transmission unit during the operation of the underwater monitoring unit.

2. The gantry crane multi-beam three-dimensional sonar underwater warning system according to claim 1 is characterized in that: The underwater monitoring unit includes a magnetically attracted mobile trolley (11), which includes a driving front body (11-1) and a follower rear body (11-4) articulated by a pin shaft (11-5), the driving front body (11-1) and the follower rear body (11-4) having permanent magnetic adsorption wheels (11-6), a driving mechanism for providing power and a tension monitoring sensor for monitoring cable tension installed inside the driving front body (11-1), and a positioning device installed on the driving front body (11-1) for achieving precise positioning and position control.

3. The gantry crane multi-beam three-dimensional sonar underwater warning system according to claim 2 is characterized in that: The magnetically attracted mobile trolley can selectively move to a parking track (13) or a gate travel track (15) under the action of a rotating track-changing mechanism (12), wherein the rotating track-changing mechanism (12) is mounted on a base (10) on a gantry crane grab beam (02), the parking track (13) is mounted on the base (10), the base (10) is mounted on the gantry crane grab beam (02), and the gate travel track (15) is mounted on the gate (03) and arranged along its height direction.

4. The gantry crane multi-beam three-dimensional sonar underwater early warning system according to claim 3 is characterized in that: The driving front body (11-1) is cooperatively mounted with an underwater camera (11-2) and a multi-beam three-dimensional sonar imaging device (11-3); The underwater camera (11-2) is used to assist in acquiring optical image data of the gate operation area, and to identify the operation guide unit to guide the operation of the magnetic attraction type mobile trolley; The multi-beam three-dimensional sonar imaging device (11-3) is used to obtain high-precision three-dimensional image data of the underwater operating area of the gate (03); A protective cover (11-5) is provided outside the lenses of the underwater camera (11-2) and the multi-beam three-dimensional sonar imaging device (11-3); the protective cover (11-5) is made of corrosion-resistant material, and the outer surface of the protective cover (11-5) is coated with an anti-biological attachment coating.

5. The gantry crane multi-beam three-dimensional sonar underwater warning system according to claim 4 is characterized in that: The signal transmission unit is composed of a zero-buoyancy underwater cable, a cable connector and a signal relay device. One end of the zero-buoyancy underwater cable is connected to the signal port of the underwater monitoring unit, and the other end is connected to the signal relay device. The signal relay device is connected to the accompanying cable port of the gantry crane grab beam. Among them, underwater monitoring data is transmitted to the data processing unit installed in the gantry crane electrical room via zero-buoyancy underwater cables, signal relay devices, and grab beam accompanying cables, realizing communication between the two.

6. The gantry crane multi-beam three-dimensional sonar underwater early warning system according to claim 4 is characterized in that: The cable storage unit (14) comprises a cable reel (14-1), the cable reel (14-1) is used to wind and store the zero-buoyancy underwater cable, the cable reel (14-1) has a built-in disc-type stainless steel spring (14-2), and the disc-type stainless steel spring (14-2) has a constant tension control function, which is used to realize automatic retraction and release of the cable, ensuring that the cable is always in a tensioned state; When the magnetic movable trolley (11) moves downward, the cable is pulled, and the disc-type stainless steel spring (14-2) is stretched; when the magnetic movable trolley (11) moves upward, the disc-type stainless steel spring (14-2) recovers, pulling the cable upward to be stored and wound on the cable reel; During the operation of the magnetic movable trolley (11), the tension monitoring sensor monitors the cable tension in real time, and adjusts the operating speed of the magnetic movable trolley (11) according to the feedback signal of the tension monitoring sensor to ensure that the cable is always in a constant tension state.

7. The gantry crane multi-beam three-dimensional sonar underwater warning system according to claim 4 is characterized in that: The operation guide unit is composed of a base (10), a rotating track-changing mechanism (12), a parking track (13), a gate travel track (15) and a safety baffle (16); the base (10) is used to provide a parking track for the underwater monitoring unit and a safe and reliable installation foundation for the rotating track-changing mechanism (12), and is provided with a protective cover; the rotating track-changing mechanism (12) and the parking track (13) are cooperatively installed on the base (10), and a turning track is provided on the top of the gate travel track (15) for adapting to the track surface of the door rotating track-changing mechanism (12) to achieve a smooth transition between the two tracks, and a safety baffle (16) is provided at the bottom of the gate travel track (15).

8. The gantry crane multi-beam three-dimensional sonar underwater warning system according to claim 7 is characterized in that: The rotating track changing mechanism (12) comprises a waterproof motor (12-1) fixed on a base (10); an output shaft of the waterproof motor (12-1) is mounted with a driving gear (12-3); the driving gear (12-3) is meshed with an arc-shaped gear ring (12-4) for transmission; the arc-shaped gear ring (12-4) is rotatably mounted inside an arc-shaped seat (12-5); the arc-shaped seat (12-5) is arranged inside the base (10); and a rotating track (12-2) is mounted on the inner wall of the arc-shaped gear ring (12-4).

9. The gantry crane multi-beam three-dimensional sonar underwater warning system according to claim 8 is characterized in that: The data processing unit is composed of an industrial control computer and a human-computer interaction interface. The industrial control computer is used to realize sonar data processing, image recognition and early warning judgment; the human-computer interaction interface is used to display the underwater model of the gate slot, the general shape of foreign objects in the water, the height of the gate from the bottom of the gate slot, and the gate slot width information; By installing an industrial control computer and a human-machine interface at a suitable location in the gantry crane's cab and communicating with the gantry crane's electrical control system, a pop-up window will be displayed to remind the driver based on the set judgment conditions, and the gantry crane will be stopped when necessary.

10. The method for operating the gantry crane multi-beam three-dimensional sonar underwater warning system according to any one of claims 4 to 9, characterized in that: The following steps are involved: Initial deployment phase: The gantry crane grab beam (02) is connected to the gate (03), and the magnetic attraction type moving trolley (11) is operated and adsorbed on the track, and moves from the gantry crane grab beam (02) to the bottom of the gate (03); The cable drives the cable reel (14-1) to rotate as the trolley moves, stretching the disc-type stainless steel spring (14-2) to keep the cable in a tensioned state; Gate operation monitoring: After the gate enters the water, a multi-beam 3D sonar continuously scans the gate operation area to obtain high-precision 3D images of the underwater environment. An underwater camera (11-2) assists in obtaining optical images to verify the sonar data. A data processing unit analyzes the sonar data to build a 3D model of the underwater environment. Key parameters such as the distance between the gate and the gate slot and the integrity of the gate slot structure are monitored in real time. When the gate falls to the bottom of the gate slot, the system sends a command, and the magnetic movable trolley (11) moves toward the upper edge of the gate. The cable is collected under the elastic force of the tension disc stainless steel spring (14-2) and wound on the cable reel. After the magnetic movable trolley moves to the upper edge of the gate, it moves to the gantry crane grab beam (02) by rotating the track change mechanism (12), and scans and monitors the situation above the gantry crane grab beam (02) in real time. When the gate rises above the water, the sonar turns off; Abnormal warning processing: During the operation of the gate, when a potential obstacle is detected at a certain elevation or the gate slot structure is abnormal, the system will issue a warning signal. When the distance between the bottom of the gate and the elevation is less than 1 meter, a pop-up warning will appear on the human-computer interaction interface in the driver's cab to remind the driver to observe and judge; when the distance is less than 50 centimeters from the elevation, the system will pop up a window to ask the driver whether it is necessary to slow down and continue to remind the driver to pay attention.

Images