Crown block operation monitoring method and system

Abstract

The invention provides a crown block operation monitoring method and system, relates to the technical field of remote monitoring of crown blocks, is applied to ground monitoring equipment, and specifically comprises the following steps: acquiring crown block position information of a target crown block from crown block control equipment; target information of target operation executed by the target crown block is determined according to the crown block position information, the target operation comprises ladle hanging operation and / or ladle removing operation, the ladle hanging operation is operation of hanging a plate hook of the target crown block into a trunnion of a target steel ladle, and the ladle removing operation is operation of removing the plate hook from the trunnion; the target information is sent to the crown block control equipment, so that the crown block control equipment controls the target crown block to enter a target range to execute the target operation; when it is determined that the target crown block enters the target range, first identification information and second identification information are obtained, the first identification information is obtained by monitoring the target crown block through a two-dimensional identification technology, and the second identification information is obtained by monitoring the target crown block through a three-dimensional identification technology; and monitoring whether the target crown block successfully executes the target operation or not according to the first identification information and the second identification information.

Description

Technical Field

[0001] The present invention relates to the technical field of remote monitoring of overhead cranes, and in particular to a method and system for monitoring overhead crane operations. Background Art

[0002] With the rapid development of the steel industry, the number of overhead cranes has continued to increase, with denser deployments and more frequent use. They play a crucial role in the steelmaking process. However, due to the numerous safety hazards associated with overhead crane operation, their safety has garnered significant attention. In the steel industry, after molten steel has been processed in the refining furnace and its temperature and composition meet the casting requirements, an overhead crane is used to lift the ladle and place it on the continuous casting ladle turret for casting. The entire molten metal handling process relies on overhead cranes for transporting the molten metal.

[0003] Because the overhead crane operator's cab is located high above the ground, and the steelmaking workshop's dusty and poorly lit working environment makes it difficult for the operator to accurately control the position of the crane and hook, this process is handled by having ground-based dispatchers perform manual scheduling. However, after working long hours, ground-based dispatchers inevitably become fatigued or make misjudgments due to obstructions. This can cause the overhead crane operator to begin lifting the ladle before the hook is fully engaged, causing it to fall off, resulting in low production efficiency and a shortened production cycle. Summary of the Invention

[0004] The embodiments of the present invention provide a method and system for monitoring an overhead crane operation, which are used to solve the problem in the related art that manual monitoring of overhead crane operation results in low efficiency and affects the production cycle.

[0005] In a first aspect, an embodiment of the present invention provides a method for monitoring overhead crane operations, which is applied to ground monitoring equipment. The method includes:

[0006] Obtaining crane position information of a target crane from a crane control device;

[0007] Determining target information for a target operation to be performed by the target crane according to the crane position information, wherein the target operation includes a ladle hanging operation and / or a ladle removal operation, wherein the ladle hanging operation is an operation in which a plate hook of the target crane is hung on an trunnion of a target ladle, and the ladle removal operation is an operation in which the plate hook is removed from the trunnion;

[0008] Sending the target information to the overhead travelling crane control device so that the overhead travelling crane control device controls the target overhead travelling crane to enter a target range and perform the target operation;

[0009] When it is determined that the target overhead travelling vehicle enters the target range, first identification information and second identification information are obtained, wherein the first identification information is obtained by monitoring the target overhead travelling vehicle using a two-dimensional identification technology, and the second identification information is obtained by monitoring the target overhead travelling vehicle using a three-dimensional identification technology;

[0010] Based on the first identification information and the second identification information, it is monitored whether the target overhead travelling crane successfully performs the target operation.

[0011] Optionally, the overhead crane position information includes at least the trolley position of the target overhead crane and the trolley position of the target overhead crane; the target information includes at least the target position of the target overhead crane for performing the target operation and the target plate hook height of the target overhead crane for performing the target operation, the target plate hook height being the height of the trunnion relative to the ground;

[0012] In the process of monitoring whether the target overhead travelling crane successfully performs the target operation based on the first identification information and the second identification information, the method includes:

[0013] Determining whether the large vehicle positioning and the small vehicle positioning are both located at target positions within the target range according to the first identification information;

[0014] When it is determined that the target overhead travelling crane is located at the target position, a first recognition result is obtained according to the first recognition information, the first recognition result including a distance between the plate hook and the trunnion obtained by a two-dimensional recognition technology;

[0015] obtaining a second recognition result according to the second recognition information, wherein the second recognition result is a distance between the plate hook and the trunnion obtained by three-dimensional recognition technology;

[0016] Based on the first recognition result and the second recognition result, it is monitored whether the target overhead travelling crane successfully performs the target operation.

[0017] Optionally, in the process of monitoring whether the target overhead travelling crane successfully performs the target operation according to the first recognition result and the second recognition result, the method includes:

[0018] If the first recognition result indicates that the target overhead crane has successfully performed the target operation, and the second recognition result is consistent with the first recognition result, it is determined that the target overhead crane has successfully performed the target operation;

[0019] If the first recognition result indicates that the target overhead crane has failed to perform the target operation, and the second recognition result is consistent with the first recognition result, it is determined that the target overhead crane has failed to perform the target operation, and a task failure instruction is sent to the overhead crane control device.

[0020] Optionally, if the first recognition result indicates that the target overhead travelling crane successfully performs the target operation, and the second recognition result is inconsistent with the first recognition result, a first alarm message is generated.

[0021] Optionally, the overhead crane position information further includes the weight of the first hook of the target overhead crane;

[0022] After determining that the target overhead travelling crane successfully performs the target operation, the method further includes:

[0023] Obtaining the weight of the second hook of the target overhead crane from the overhead crane control device;

[0024] determining whether a difference between the weight of the first plate hook and the weight of the second plate hook is equal to the weight of the target ladle;

[0025] If the difference is equal to the weight of the target ladle, a task success instruction is sent to the overhead crane control device.

[0026] Optionally, in the process of monitoring whether the target overhead travelling crane successfully performs the target operation according to the first recognition result and the second recognition result, the method further includes:

[0027] Determining a plate hook height of the target overhead traveling vehicle according to the first recognition result and the second recognition result;

[0028] If the height of the plate hook is lower than the preset height value, a second alarm message is generated;

[0029] The second alarm information is sent to the overhead traveling crane control device.

[0030] Optionally, the method further includes:

[0031] At least one of the overhead traveling vehicle position information, the target information, the first identification information, and the second identification information is displayed and stored.

[0032] In a second aspect, an embodiment of the present invention provides a method for monitoring an overhead crane operation, which is applied to an overhead crane control device. The method includes:

[0033] Sending crane position information to ground monitoring equipment;

[0034] receiving target information obtained from the ground monitoring equipment based on the overhead crane position information, the target information including a target position of the target overhead crane for performing the target operation and / or a target plate hook height of the target overhead crane for performing the target operation, the target operation including a ladle hanging operation and / or a ladle detaching operation, the ladle hanging operation being an operation in which the plate hook of the target overhead crane is hung on the trunnion of the target ladle, and the ladle detaching operation being an operation in which the plate hook is detached from the trunnion;

[0035] According to the target information, the target overhead crane is controlled to move to the target position, and the plate hook of the target overhead crane is controlled to move to the target plate hook height.

[0036] Optionally, in the process of controlling the target overhead crane to move to the target position and controlling the plate hook of the target overhead crane to move to a target plate hook height, the method includes:

[0037] Receive a task success or task failure instruction;

[0038] and / or

[0039] Receive the second alarm information.

[0040] In a third aspect, an embodiment of the present invention provides a system for monitoring overhead crane operations, the system comprising:

[0041] The ground monitoring device is used to obtain the crane position information of the target crane from the crane control device; determine the target information of the target crane to perform the target operation according to the crane position information, the target operation including the bag hanging operation and / or the bag removing operation, the bag hanging operation is the operation of the plate hook of the target crane hanging into the ear shaft of the target ladle, and the bag removing operation is the operation of the plate hook being removed from the ear shaft; send the target information to the crane control device so that the crane control device controls the target crane to enter the target range to perform the target operation; when it is determined that the target crane enters the target range, obtain first identification information and second identification information, the first identification information is obtained by monitoring the target crane through two-dimensional identification technology, and the second identification information is obtained by monitoring the target crane through three-dimensional identification technology; monitor whether the target crane successfully performs the target operation according to the first identification information and the second identification information;

[0042] The overhead crane control device is used to send overhead crane position information to the ground monitoring device; receive target information obtained from the ground monitoring device based on the overhead crane position information, the target information including the target position of the target overhead crane for performing the target operation and / or the target plate hook height of the target overhead crane for performing the target operation, the target operation including the bag hanging operation and / or the bag removing operation, the bag hanging operation being the operation of the plate hook of the target overhead crane being hung on the trunnion of the target ladle, and the bag removing operation being the operation of the plate hook being removed from the trunnion; according to the target position, control the target overhead crane to move to the target position, and control the plate hook of the target overhead crane to move to the target plate hook height;

[0043] The target overhead crane is used to perform the target operation under the control of the overhead crane control device.

[0044] According to the monitoring method of the overhead crane operation applied to the ground monitoring equipment provided by the embodiment of the present invention, specifically, the overhead crane position information of the target overhead crane is obtained from the overhead crane control device; the target information of the target overhead crane to perform the target operation is determined according to the overhead crane position information, the target operation including the bag hanging operation and / or the bag removing operation, the bag hanging operation is the operation of the plate hook of the target overhead crane being hung into the ear shaft of the target ladle, and the bag removing operation is the operation of the plate hook being removed from the ear shaft; the target information is sent to the overhead crane control device, so that the overhead crane control device controls the target overhead crane to enter the target range to perform the target operation; when it is determined that the target overhead crane enters the target range, first identification information and second identification information are obtained, the first identification information is obtained by monitoring the target overhead crane through two-dimensional identification technology, and the second identification information is obtained by monitoring the target overhead crane through three-dimensional identification technology; according to the first identification information and the second identification information, it is monitored whether the target overhead crane successfully performs the target operation. In this way, when the target overhead crane enters the target range, the operation of the target overhead crane is monitored using the first and second identification information, eliminating the need for manual monitoring. This, to a certain extent, addresses the related issue of manual monitoring of overhead crane operations, which results in low efficiency and impacts production cycles. Furthermore, in this embodiment of the present invention, not only is automated monitoring of overhead crane operations achieved, but monitoring can also be combined with two-dimensional and three-dimensional recognition technologies, improving the accuracy of the monitoring operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0046] Figure 1 The following illustrates a process of a method for monitoring overhead crane operation provided by an embodiment of the present invention;

[0047] Figure 2 The figure shows the process of another method for monitoring overhead crane operation provided by an embodiment of the present invention;

[0048] Figure 3 The present invention shows a structural concept of a monitoring system for overhead crane operation provided by an embodiment of the present invention;

[0049] Figure 4 The present invention illustrates a method for monitoring overhead crane operations according to an embodiment of the present invention.

[0050] Figure 5 The present invention provides a video surveillance device.

[0051] Figure 6 The diagram shows another structural concept of a video surveillance device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0052] As described in the background, with the rapid development of the steel industry, the number of overhead cranes has continued to increase, with their deployment becoming more dense and their use becoming more frequent. They play a crucial role in the steelmaking process. Due to the numerous safety hazards associated with overhead crane operation, their safety has received significant attention. In the steel industry, after molten steel has been processed in the refining furnace and its temperature and composition meet the casting requirements, an overhead crane is used to lift the ladle and place it on the continuous casting ladle turret for casting. The entire molten metal handling process relies on overhead cranes for transporting the molten steel.

[0053] Because the overhead crane operator's cab is located high above the ground, and the steelmaking workshop's dusty and poorly lit working environment makes it difficult for the operator to accurately control the position of the crane and hook, this process is handled by having ground-based dispatchers perform manual scheduling. However, after working long hours, ground-based dispatchers inevitably become fatigued or make misjudgments due to obstructions. This can cause the overhead crane operator to begin lifting the ladle before the hook is fully engaged, causing it to fall off, resulting in low production efficiency and a shortened production cycle.

[0054] According to the monitoring method of the overhead crane operation applied to the ground monitoring equipment provided by the embodiment of the present invention, specifically, the overhead crane position information of the target overhead crane is obtained from the overhead crane control device; the target information of the target overhead crane to perform the target operation is determined according to the overhead crane position information, the target operation including the bag hanging operation and / or the bag removing operation, the bag hanging operation is the operation of the plate hook of the target overhead crane being hung into the ear shaft of the target ladle, and the bag removing operation is the operation of the plate hook being removed from the ear shaft; the target information is sent to the overhead crane control device, so that the overhead crane control device controls the target overhead crane to enter the target range to perform the target operation; when it is determined that the target overhead crane enters the target range, first identification information and second identification information are obtained, the first identification information is obtained by monitoring the target overhead crane through two-dimensional identification technology, and the second identification information is obtained by monitoring the target overhead crane through three-dimensional identification technology; according to the first identification information and the second identification information, it is monitored whether the target overhead crane successfully performs the target operation. In this way, when the target overhead crane enters the target range, the operation of the target overhead crane is monitored using the first and second identification information, eliminating the need for manual monitoring. This, to a certain extent, addresses the related issue of manual monitoring of overhead crane operations, which results in low efficiency and impacts production cycles. Furthermore, in this embodiment of the present invention, not only is automated monitoring of overhead crane operations achieved, but monitoring can also be combined with two-dimensional and three-dimensional recognition technologies, improving the accuracy of the monitoring operation.

[0055] In the related art, the crane operator in the steelmaking liquid metal area directs the crane driver on site to perform the ladle hanging and unhanging operations, checks potential problems with the ladle, and avoids danger during the lifting process. If the crane operator works close to the ladle for a long time, the crane equipment will malfunction, the command error or the crane driver's improper operation will cause the ladle to overturn or fall off, which will seriously cause casualties. At the same time, the crane operator is exposed to dust and noise hazards on site. The monitoring method of the crane operation provided by the embodiment of the present invention can also improve the working environment of the crane operator in the steelmaking liquid metal area and reduce the work intensity of the crane operator. The crane operator can remotely command the crane to hang and unhang the ladle (i.e., the target operation) in the main control room on the ground through the ground control equipment. The work efficiency of the crane operator is improved, while the accuracy of the crane operation is guaranteed, and the lifting accidents are avoided.

[0056] The following describes in detail the technical solution of the present invention and how the technical solution of the present invention solves the above-mentioned technical problems using specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. The following embodiments of the present invention are described in conjunction with the accompanying drawings.

[0057] Figure 1 The flowchart of a method for monitoring overhead crane operation provided by an embodiment of the present invention is shown. Figure 1The monitoring method of overhead crane operation shown in FIG can be applied to ground monitoring equipment. Figure 1 As shown, the method for monitoring overhead crane operation provided by the embodiment of the present invention includes steps 110 to 150.

[0058] It should be understood that the ground monitoring equipment provided by the embodiment of the present invention can be a single electronic device, or multiple electronic devices working together to execute. The electronic device can be a server, including an independent physical server, a server cluster composed of multiple servers, and a cloud server capable of cloud computing. For example, the ground monitoring equipment can be a server installed with two-dimensional recognition software, three-dimensional recognition software, and production management software. The ground monitoring equipment can also include a server installed with two-dimensional recognition software and three-dimensional recognition software, and a server installed with production management software to form a server cluster, wherein the two-dimensional recognition software is used to provide two-dimensional recognition technology, the three-dimensional recognition software is used to provide three-dimensional recognition technology, and the production management software is used to process any data provided by the embodiment of the present invention (including but not limited to the overhead crane position information involved below).

[0059] Step 110: Obtain the crane position information of the target crane from the crane control device.

[0060] In an embodiment of the present invention, the overhead crane control device may be a programmable controller (PLC) of a target overhead crane, and may obtain the crane position information of the target overhead crane via sensors installed on the target overhead crane. The target overhead crane may be any overhead crane on the production line. The crane position information may represent the position of the target overhead crane. For example, the crane position information may include the position of the target crane's trolley and the position of the target crane's trolley. The trolley position may be the center point of the target crane's trolley component, which may be positioned using Gray line positioning; the trolley position may be the center point of the target crane's trolley component, which may be positioned using laser ranging. The crane position information may represent the position of the target crane using an overhead crane coordinate system, wherein the overhead crane coordinate system may be manually preset using sensors installed on the target overhead crane. For example, the center angle of the floor within the production workshop is set as the origin, the east-west direction is the X-axis, and the north-south direction is the Y-axis, and the crane position information is recorded in units of 1 meter.

[0061] In an embodiment of the present invention, the hook serves as an actuator on the target overhead crane for performing bag hanging and unhanging operations. The crane position information may also include the hook height of the target overhead crane and the first hook weight of the target overhead crane. Within the crane coordinate system, the hook height of the target overhead crane can be located and recorded using an encoder, with the direction from the center angle of the ground to the center angle of the ceiling being the Z axis. The first hook weight is the weight of the hook before the target overhead crane performs the target operation and can be recorded by an overload limiter installed on the target overhead crane.

[0062] In an embodiment of the present invention, when there are multiple target overhead cranes in a production workshop, in order to manage the crane position information of the multiple target overhead cranes, the crane position information may also include a unique identifier of the target overhead crane, such as the target overhead crane serial number, so that the ground monitoring device can distinguish and manage the multiple crane position information when receiving the crane position information. After the ground monitoring device receives the crane position information of the target overhead crane, step 120 may be executed.

[0063] Step 120, determining target information for the target crane to perform a target operation based on the crane position information, wherein the target operation includes a ladle hanging operation and / or a ladle detaching operation, wherein the ladle hanging operation is an operation in which the plate hook of the target crane is hung on the ear shaft of the target ladle, and the ladle detaching operation is an operation in which the plate hook is detached from the ear shaft.

[0064] In an embodiment of the present invention, the ground monitoring equipment can obtain the target operation by manual input through external input. The target ladle can be a ladle to be operated. In addition, it can also be an iron ladle or other materials to be operated on other production lines. The embodiment of the present invention does not impose specific restrictions on this. The ear shaft can be a circular ring design set on both sides of the target ladle, which is used for the target overhead crane to perform the ladle hanging operation or the ladle unloading operation. The ladle hanging operation can be that the plate hook of the target overhead crane is hung into the ear shaft of the target ladle. After the plate hook is hung into the ear shaft, the target overhead crane can operate the target ladle. After the operation of the target ladle is completed, the plate hook of the target overhead crane can be removed from the ear shaft to complete the ladle unloading operation.

[0065] In an embodiment of the present invention, to complete a target operation, target information includes at least a target position for the target crane to perform the target operation and a target hook height for the target crane to perform the target operation. The target hook height is the height of the trunnion relative to the ground. The target position is used by the target crane to determine the target operation, and the target hook height is used to move the hook to the same or similar height as the trunnion (the threshold range can be customized) to facilitate execution of the target operation. When the ground monitoring equipment obtains the crane position information, it also obtains the definition of the crane coordinate system. The target position and target hook height can be obtained by the ground monitoring equipment based on the production workshop image, the crane coordinate system, and the target operation content. The production workshop image can be captured by a camera located on the ground or in the air in the production workshop. For example, a deep learning-based two-dimensional image processing method can be used to identify the production workshop image, determine the crane coordinate system, and further determine the position of the target ladle within the crane coordinate system, thereby determining the target position. The target position can include the target position corresponding to the target crane's trolley and the target position corresponding to the target crane's trolley. In addition, the three-dimensional point cloud recognition method based on deep learning can be used to identify the production workshop image, determine the crane coordinate system, and further determine the height of the ear axis of the target ladle in the crane coordinate system, thereby determining the target plate hook height.

[0066] In the embodiment of the present invention, when there are N target overhead cranes, where N is a positive integer, each target overhead crane can determine corresponding target information and name multiple sets of target information for easy distinction or management. After obtaining the target information, the ground monitoring device can execute step 130.

[0067] Step 130: Send the target information to the overhead travelling crane control device, so that the overhead travelling crane control device controls the target overhead travelling crane to enter a target range and perform the target operation.

[0068] In an embodiment of the present invention, the target range may be a range of any shape that includes the target position. For example, the target range may be a circular range with the target position as the center and a radius of any length. After the ground monitoring device sends the target information to the overhead traveling crane control device, the overhead traveling crane control device may control the target overhead traveling crane to move to the target range, so that the ground monitoring device executes step 140.

[0069] Step 140 , when it is determined that the target overhead travelling vehicle has entered the target range, first identification information and second identification information are acquired, wherein the first identification information is acquired by monitoring the target overhead travelling vehicle using a two-dimensional identification technology, and the second identification information is acquired by monitoring the target overhead travelling vehicle using a three-dimensional identification technology.

[0070] In an embodiment of the present invention, a camera installed in a production workshop can monitor and analyze the movement direction and location of a target overhead crane in real time. Upon confirming that the target overhead crane has entered the target range, first identification information and second identification information can be sent to ground monitoring equipment. The first identification information is obtained by monitoring the target overhead crane using two-dimensional recognition technology, while the second identification information is obtained by monitoring the target overhead crane using three-dimensional recognition technology.

[0071] In an embodiment of the present invention, the first identification information can be obtained by monitoring a production workshop image including a target overhead crane using a two-dimensional image processing method based on deep learning. The first identification information can analyze the trolley position of the target overhead crane and / or the trolley position of the target overhead crane, thereby dynamically updating the movement information of the target overhead crane in real time. The first identification information may include not only the movement information of the target overhead crane, but also a ladle video, for example, a video of the left and right ear axes of the ladle and a panoramic video of the ladle. In addition, the first identification information may also include a hooking video or a hooking video when the target overhead crane performs the target operation. The embodiment of the present invention does not specifically limit the content of the first identification information.

[0072] In an embodiment of the present invention, the second identification information can be obtained by monitoring a production workshop image including the target overhead crane using a deep learning-based three-dimensional point cloud processing method. The second identification information may include the distance between the plate hook and the trunnion analyzed using 3D point cloud technology, and may also include movement information of the target overhead crane. Furthermore, this embodiment of the present invention can also provide multi-position switching, switching the second identification information at different locations based on the movement of the target overhead crane. This embodiment of the present invention does not specifically limit the content of the second identification information. After obtaining the first and second identification information, the ground monitoring equipment may execute step 150.

[0073] Step 150: Monitoring whether the target overhead travelling crane successfully performs the target operation based on the first identification information and the second identification information.

[0074] In an embodiment of the present invention, within the target range, during the process of the target overhead crane moving from the current position to the target position, the current position of the target overhead crane can be determined based on the first identification information and the second identification information. When the current position of the target overhead crane is close to the target position, the ground monitoring device can send a direction arrow to the overhead crane control device so that the overhead crane control device controls the movement of the target overhead crane according to the direction arrow. For example, when the current position of the target overhead crane is east of the target position, the ground monitoring device can send a westward arrow to the overhead crane control device. When the position of the target overhead crane coincides with the target position, the target position can be highlighted by changing the color to indicate that the current position of the target overhead crane is the target position, and the target operation can be performed.

[0075] In an embodiment of the present invention, when determining that the target overhead crane is at the target position, a first recognition result can be obtained based on the first recognition information, and a second recognition result can be obtained based on the second recognition information, wherein the first recognition result includes the distance between the plate hook and the trunnion obtained by two-dimensional recognition technology, and the second recognition result is the distance between the plate hook and the trunnion obtained by three-dimensional recognition technology. Based on the first and second recognition results, it is then monitored whether the target overhead crane has successfully performed the target operation.

[0076] Specifically, in an embodiment of the present invention, when the target operation is a bag hanging operation, the distance between the plate hook and the ear shaft is obtained based on the first recognition result. When the relative distance between the plate hook and the ear shaft gradually decreases, it can be considered that the target overhead crane is performing the bag hanging operation, and thus the status of the target overhead crane performing the bag hanging task can be monitored based on the relative distance between the plate hook and the ear shaft. Correspondingly, the distance between the plate hook and the ear shaft can also be monitored through the second recognition result, thereby achieving the monitoring of the status of the target overhead crane performing the bag hanging operation. When the distance between the plate hook and the ear shaft is less than the preset bag hanging distance, it is considered that the target overhead crane has successfully performed the bag hanging operation. If the first recognition result indicates that the target overhead crane has successfully performed the bag hanging operation, and the second recognition result is consistent with the first recognition result, it can be determined that the target overhead crane has successfully performed the bag hanging operation.

[0077] In an embodiment of the present invention, when the target operation is a bag hanging operation, if the distance between the plate hook and the trunnion is not less than the preset bag hanging distance according to the first recognition result, it can be considered that the target overhead crane has failed to perform the bag hanging operation. If the first recognition result indicates that the target overhead crane has failed to perform the bag hanging operation, and the second recognition result is consistent with the first recognition result, it is determined that the target overhead crane has failed to perform the bag hanging operation, and a task failure instruction is sent to the overhead crane control device.

[0078] In an embodiment of the present invention, when the target operation is a bag-removing operation, the distance between the plate hook and the ear shaft is obtained according to the first recognition result. When the relative distance between the plate hook and the ear shaft gradually increases, it can be considered that the target overhead crane is performing the bag-removing operation, thereby monitoring the status of the target overhead crane performing the bag-removing task based on the relative distance between the plate hook and the ear shaft. Correspondingly, the distance between the plate hook and the ear shaft can also be monitored through the second recognition result, thereby realizing the monitoring of the status of the target overhead crane performing the bag-removing operation. When the distance between the plate hook and the ear shaft is greater than the preset bag-removing distance, it is considered that the target overhead crane has successfully performed the bag-removing operation. If the first recognition result indicates that the target overhead crane has successfully performed the bag-removing operation, and the second recognition result is consistent with the first recognition result, it can be determined that the target overhead crane has successfully performed the bag-removing operation.

[0079] In an embodiment of the present invention, when the target operation is a bag removal operation, if the distance between the plate hook and the trunnion is not greater than a preset bag removal distance according to the first recognition result, it can be considered that the target overhead crane has failed to perform the bag removal operation. If the first recognition result indicates that the target overhead crane has failed to perform the bag removal operation, and the second recognition result is consistent with the first recognition result, it is determined that the target overhead crane has failed to perform the bag removal operation, and a task failure instruction is sent to the overhead crane control device.

[0080] In an embodiment of the present invention, if the first recognition result is inconsistent with the second recognition result, for example, if the first recognition result indicates that the target overhead crane successfully performed the target task, and the second recognition result is inconsistent with the first recognition result, a first alarm message may be generated. The first alarm message indicates that it is not confirmed whether the target overhead crane successfully performed the target task, and the operator (i.e., the crane operator) performs the next step of confirmation based on the first alarm message.

[0081] In an embodiment of the present invention, the first recognition result may also be a trend of changes in the distance between the plate hook and the trunnion within a preset time period within the first recognition information. Correspondingly, the second recognition result may also be a trend of changes in the distance between the plate hook and the trunnion within a preset time period within the second recognition information. The preset time period may be counted from when the plate hook reaches the target plate hook height. For example, when the target operation is a bag hanging operation, based on the first recognition result, if the trend of changes in the distance between the plate hook and the trunnion is gradually decreasing, it is considered that the target overhead crane has successfully performed the bag hanging operation. When the target operation is a bag removal operation, based on the first recognition result, if the trend of changes in the distance between the plate hook and the trunnion is gradually increasing, it is considered that the target overhead crane has successfully performed the bag removal operation.

[0082] In an embodiment of the present invention, to achieve higher accuracy in monitoring overhead crane operations, after determining that the target overhead crane has successfully performed the target operation based on the first and second recognition results, a second determination of whether the target operation was successfully performed can be made based on the weight change of the target overhead crane's hook before and after performing the target task. Specifically, the ground monitoring equipment can also obtain the second hook weight of the target overhead crane from the overhead crane control device, where the second hook weight is the hook weight of the target overhead crane after successfully performing the target operation. A determination is then made as to whether the difference between the first and second hook weights is equal to the weight of the target ladle; if the difference is equal to the weight of the target ladle, a task success indication is sent to the overhead crane control device.

[0083] In an embodiment of the present invention, if the difference between the weight of the first plate hook and the weight of the second plate hook is close to the weight of the target ladle, it is deemed that the difference is equal to the weight of the target ladle.

[0084] In this way, when the target overhead crane enters the target range, the operation of the target overhead crane is monitored using the first and second identification information, eliminating the need for manual monitoring. This, to a certain extent, addresses the related issue of manual monitoring of overhead crane operations, which results in low efficiency and impacts production cycles. Furthermore, in this embodiment of the present invention, not only is automated monitoring of overhead crane operations achieved, but monitoring can also be combined with two-dimensional and three-dimensional recognition technologies, improving the accuracy of the monitoring operation.

[0085] In an embodiment of the present invention, operations cannot be performed within 5 minutes after the target overhead crane has a squatting hook problem, which affects the operating efficiency. Therefore, the ground monitoring equipment can also provide an anti-squatting hook function. In the process of monitoring whether the target overhead crane successfully performs the target operation based on the first recognition result and the second recognition result, the plate hook height of the target overhead crane can also be determined based on the first recognition result and the second recognition result. If the plate hook height is lower than the preset height value, a second alarm message is generated, and the second alarm message is sent to the overhead crane control device. The second alarm message indicates that the target overhead crane plate hook must not continue to descend. The preset height value can be the lowest height of the plate hook descent, for example, it can be the lowest position of the molten steel car where the target ladle is located, so as to achieve the anti-squatting hook function.

[0086] In an embodiment of the present invention, the ground monitoring equipment can also provide a height alarm function. After the target overhead crane completes the target operation, the target overhead crane can be lifted and moved. The ground monitoring equipment obtains the hook height of the overhead crane through the overhead crane control device. If the hook height after the target operation is performed is greater than the preset travel height value, the target overhead crane can operate normally. If the hook height after the target operation is performed is not greater than the preset travel height value, a third alarm message can be generated to inform the driver that the travel height is insufficient and there is a safety hazard, or the ground monitoring equipment can be linked to the overhead crane control device to stop the crane.

[0087] In an embodiment of the present invention, the ground monitoring device may further display and store at least one of the overhead crane position information, the target information, the first identification information, and the second identification information. The ground monitoring device may record information via a relational database.

[0088] In an embodiment of the present invention, in order to enable the ground monitoring equipment to better display the data information mentioned in the embodiment of the present invention, a video monitoring device may also be included in the ground monitoring room where the ground monitoring equipment is located. The video monitoring equipment includes a TV wall composed of multiple LCD screens of different sizes, which can display various data information separately, as well as real-time production pictures from different angles. The video monitoring equipment is used to display the camera pictures and hook recognition results (first recognition results and / or second recognition results) set at each workstation on the ground. The TV wall adopts a liquid crystal splicing unit and a splicing controller. The hook recognition result is displayed at the middle fixed position, and the remaining positions are used to display the production pictures or workstation videos of key positions (including but not limited to the target position).

[0089] Figure 2 The flowchart of a method for monitoring overhead crane operation provided by an embodiment of the present invention is shown. Figure 1 The monitoring method of the overhead crane operation shown in FIG. can be applied to the overhead crane control device. Figure 2 As shown, the method for monitoring overhead crane operation provided by the embodiment of the present invention includes steps 210 to 230.

[0090] Step 210: Send the position information of the overhead crane to the ground monitoring equipment.

[0091] In an embodiment of the present invention, the overhead crane control device may transmit overhead crane position information to the ground monitoring device in response to a request from the ground monitoring device to execute a task. The overhead crane position information may be collected by the overhead crane control device via components disposed on the target overhead crane, for which reference may be made to the above description. After receiving the overhead crane position information, the ground monitoring device may execute step 120 to determine the target information, so that the overhead crane control device may execute step 220 to receive the target information.

[0092] Step 220, receiving target information obtained from the ground monitoring equipment based on the overhead crane position information, the target information includes the target position of the target overhead crane to perform the target operation and / or the target plate hook height of the target overhead crane to perform the target operation, the target operation includes a bag hanging operation and / or a bag removing operation, the bag hanging operation is an operation of hanging the plate hook of the target overhead crane into the ear shaft of the target ladle, and the bag removing operation is an operation of removing the plate hook from the ear shaft.

[0093] Step 230 : Control the target overhead travelling vehicle to move to the target position according to the target information, and control the hook of the target overhead travelling vehicle to move to a target hook height.

[0094] In an embodiment of the present invention, during the process in which the overhead crane control device executes step 230, controls the target overhead crane to move to the target position, and controls the hook of the target overhead crane to move to the target hook height, the overhead crane control device can also receive and display a task success instruction or a task failure instruction; and / or receive and display a second alarm message.

[0095] In an embodiment of the present invention, in order to ensure that the target overhead crane performs the target task, during the process of the target overhead crane performing the target task, not only can the ground monitoring equipment interact with the overhead crane control equipment, but also the ground operator (referring to the crane operator) and the overhead crane operator (overhead crane driver) can manually transmit messages.

[0096] Figure 3 The structural concept of a monitoring system for overhead crane operation provided by an embodiment of the present invention is shown. Figure 3 As shown, the overhead crane operation monitoring system provided by the embodiment of the present invention includes a ground monitoring device 310 , an overhead crane control device 320 and a target overhead crane 330 .

[0097] The ground monitoring device 310 is used to obtain the crane position information of the target crane from the crane control device; determine the target information of the target crane to perform the target operation based on the crane position information, the target operation including the bag hanging operation and / or the bag removing operation, the bag hanging operation is the operation of the plate hook of the target crane hanging on the trunnion of the target ladle, and the bag removing operation is the operation of the plate hook being removed from the trunnion; send the target information to the crane control device so that the crane control device controls the target crane to enter the target range to perform the target operation; when it is determined that the target crane enters the target range, obtain first identification information and second identification information, the first identification information is obtained by monitoring the target crane through two-dimensional identification technology, and the second identification information is obtained by monitoring the target crane through three-dimensional identification technology; monitor whether the target crane successfully performs the target operation based on the first identification information and the second identification information;

[0098] The overhead crane control device 320 is used to send overhead crane position information to the ground monitoring device; receive target information obtained from the ground monitoring device based on the overhead crane position information, the target information including the target position of the target overhead crane for performing the target operation and / or the target hook height of the target overhead crane for performing the target operation, the target operation including the bag hanging operation and / or the bag removing operation, the bag hanging operation being the operation of the hook of the target overhead crane being hung on the trunnion of the target ladle, and the bag removing operation being the operation of the hook being removed from the trunnion; according to the target position, control the target overhead crane to move to the target position, and control the hook of the target overhead crane to move to the target hook height;

[0099] The target overhead crane 330 is configured to perform the target operation under the control of the overhead crane control device.

[0100] In order to better understand the method for monitoring the operation of an overhead crane provided by an embodiment of the present invention, an example is now given. Figure 4 The concept of the method for monitoring the operation of an overhead crane provided by an embodiment of the present invention is shown. Figure 4 The monitoring method of overhead crane operation shown can be used as follows Figure 3 The monitoring system for overhead crane operation is shown in FIG. Figure 4 As shown, the method for monitoring the operation of an overhead crane provided in an embodiment of the present invention includes the following steps. In an embodiment of the present invention, Figure 4 The 2D hook recognition system shown is two-dimensional recognition software, and the 3D hook recognition system is three-dimensional recognition software.

[0101] The ground control equipment receives overhead crane position information, which may include at least the crane position of the target crane, the trolley position of the target crane, the hook height of the target crane, and the weight of the first hook of the target crane. The target position is determined by the machine vision hook recognition software using the crane coordinate system contained in the crane position information and the position of the target ladle during the ladle hooking and unhooking operations in the refining and receiving bays. The crane position of the target crane can be determined using Gray busbar positioning, the trolley position of the target crane is generally determined using laser ranging, the hook height of the target crane can be determined using encoder positioning, and the weight of the first hook of the target crane can be determined using an overload limiter.

[0102] In the embodiment of the present invention, the communication among the overhead crane control device, the ground control device and the video monitoring device (the video wall mentioned above) is achieved by means of a wired network or a wireless network.

[0103] In this embodiment of the present invention, when the overhead crane passes the target location, the 2D machine vision hook recognition system is automatically activated. During the hooking and unhooking operation (target operation), the distance between the hook and the trunnion is recognized by image recognition to determine whether the hooking and unhooking is successful. After the overhead crane completes the hooking and unhooking operation, the hook recognition system also determines whether the weight of the overhead crane hook has changed to ensure that the hooking and unhooking was completed correctly.

[0104] In an embodiment of the present invention, not only can the two-dimensional recognition software on the ground monitoring equipment determine the confirmation of the hooking and unhooking operation, but it can also be confirmed indoors by the operator in the ground monitoring room. After the ground operator confirms the result of the hooking and unhooking, the result can be synchronously updated to the crane driver's cab end (i.e., the operating room where the crane control equipment is installed) through the intercom. The driver's cab end needs to play a voice to confirm the hooking or unhooking. In addition, the ground operator can also remotely command the crane to hook and unhook through the dynamically switched video monitoring system and the auxiliary hook recognition system. The video and hook recognition results are pushed to the crane client to remind the crane driver to confirm.

[0105] In an embodiment of the present invention, when the crane operator determines whether the target overhead crane has successfully performed the target task, the ground client image obtained by the 2D machine vision hook recognition system can also be pushed to the TV wall to display the result of the hook recognition.

[0106] In an embodiment of the present invention, the 3D radar hook recognition system can process the relative distance between the plate hook of the target crane and the ear axis of the target ladle through 3D point cloud recognition technology to realize remote hook and unhook confirmation (i.e., determine whether the target operation is successfully performed). At the same time, the ground client screen obtained by the 3D radar hook recognition system can also be pushed to the TV wall to display the results of the hook recognition. Including but not limited to the above methods. After the 3D radar hook recognition system recognizes that the target crane has completed the target operation, it also depends on whether the crane plate hook weighing changes to ensure that the hook and unhook are completed correctly.

[0107] In an embodiment of the present invention, a ground-based operator can also remotely direct the overhead crane to hook and unhook using the recognition results of the 2D machine vision hook recognition system and the 3D radar hook recognition system. The 3D radar hook recognition result (second recognition result) can be synchronized with the 2D machine vision hook recognition system and uniformly voice-announced by the 2D machine vision hook recognition system's overhead crane client. From the ground control room, the operator can remotely direct the overhead crane driver to hook and unhook the package using video and the hook recognition results. The driver, through intercom, can receive the same commanding effect as the operator on-site, and perform hook and unhook operations.

[0108] In order to better understand the video surveillance device provided by the embodiment of the present invention, an example is now given. Figure 5 The structural concept of a video surveillance device provided by an embodiment of the present invention is shown. Figure 5As shown, the video surveillance equipment provided by an embodiment of the present invention includes multiple TVs for displaying workstation cameras and hook recognition results. The video wall utilizes LCD splicing units, and the splicing controller utilizes a splicing controller. The center fixed position displays hook recognition results, while the remaining positions can be used to display videos of key workstations (production footage). The video wall can be constructed using a 3x9 layout of 27 TVs, with the large-screen display provided by the splicing controller. Six screens in the center of the video wall are arranged in a 2x3 layout, supporting 4K-8K resolutions, and the splicing controller supports 4K-8K resolutions, enabling dynamic display of the 2D machine vision hook recognition system. If there are N target overhead cranes, a 1xN screen in a 2x3 layout can also be used in the center of the video wall to enable dynamic display of the 3D machine vision hook recognition system. N indicates the number of target overhead cranes. The remaining screens on the video wall can be consistent with the actual layout of the overhead cranes in the steelmaking area. The east and west sides display tilting footage, while the center displays key converter footage, as well as videos of the slag pouring and continuous casting areas.

[0109] Figure 6 The structural concept of a video surveillance device provided by an embodiment of the present invention is shown. Figure 6 The video surveillance device shown is a screen in the video wall mentioned above. Figure 6 As shown, in Figure 6The center left position displays real-time overhead crane positioning and weight data. When the target overhead crane approaches the target location, the target location name and the location information of the trolley and carriage at the target location can be dynamically displayed. Displaying the location on the screen includes, but is not limited to, the methods described above. When the crane is within the target range that includes the target location, typically 2 meters, the ground monitoring device can automatically access 2D video resources for remote crane operation. When the crane leaves the target location, the video resource can automatically annotate the video with a caption indicating that the crane is not currently at the workstation, indicating a mismatch between the video and the crane position, prompting the crane operator to confirm. When the target crane's current position approaches the target location, the target location will change color in real time on the video monitoring device to alert the crane operator and operator, allowing them to place their seat. When the target crane's current position approaches the target location, directional arrows can be used to guide the crane operator toward alignment. If the crane's position is too far east of the target location, the operator will be prompted to steer west. Conversely, the operator will be prompted to align the crane with the target location in real time. The 2D machine vision hook recognition system's ground client also displays real-time, dynamic hooking video based on the workstation. Video capture locations include the east and west trunnions, as well as a panoramic view of the workstation. When the target overhead crane is performing its target operation, subtitles will appear indicating "Hooking / Unhooking" or "Hooking Completed / Unhooking Completed." When the system prompts "Hooking Completed / Unhooking Completed," the crane operator can confirm hooking / unhooking. Only one of the hooking / unhooking confirmation modes will be displayed for the current operation. When the subtitles indicate "Hooking Confirmed," the unhooking confirmation function is disabled, and vice versa.

[0110] In this embodiment of the present invention, the single-screen display mode of the 2D machine vision hook recognition system on the ground monitoring device is similar to the 2D machine vision hook recognition system on the overhead crane control device. The difference is that the overhead crane system uses audio to prompt the operation process. When the ground operator confirms the hooking is completed by pressing a button, the driver will receive a voice prompt, indicating that the hooking is confirmed / unhooking is confirmed.

[0111] In this embodiment of the present invention, the ground client of the 2D machine vision hook recognition system on the ground monitoring equipment can also dynamically display the spans in two split screens. The spans include the refining span and the molten steel receiving span. If more spans are involved, a larger video wall will be used for display.

[0112] In an embodiment of the present invention, the ground client of the 2D machine vision hook recognition system on the ground monitoring equipment can also realize six-split screen, in which the middle screen displays all the auxiliary functions of the hook recognition system, including but not limited to: confirmation history, target workstation information, height setting, cross-car position information and other functions.

[0113] In an embodiment of the present invention, the ground monitoring equipment can realize remote hooking and unhooking confirmation by using redundant hook recognition technology, 2D image recognition and / or 3D point cloud recognition technology to jointly identify the relative distance between the plate hook of the target crane and the ear axis of the target ladle. The ground crane operator remotely commands the crane to hang and unhook through the dynamically switched video monitoring system and the auxiliary hook recognition system, and pushes the video and hook recognition results to the crane operator for confirmation. A video monitoring system is also established in the monitoring room to display the workstation camera and hook recognition results. The TV wall adopts an LCD splicing unit and a splicing controller. The hook recognition result is displayed at a fixed position in the middle, and the remaining positions are used to display videos of key position workstations, so that the crane operator can remotely command the crane to hang and unhook indoors. The working environment of the crane operator is improved, and the work efficiency of the crane operator is improved. Furthermore, the efficiency and accuracy of the target crane in performing the target operation are guaranteed.

[0114] In an exemplary embodiment, the processor may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above methods.

[0115] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions, such as a memory including instructions, is also provided. The instructions are executable by a processor of an apparatus to perform the above-described method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, or an optical data storage device. When the instructions in the non-transitory computer-readable storage medium are executed by a processor of an electronic device, the processor is enabled to perform the method described above.

[0116] An embodiment of the present invention further provides a computer program product, including a computer program, which performs the method shown above when executed by a processor.

[0117] While the above description does not provide detailed technical details regarding the patterning of each layer, those skilled in the art will appreciate that various technical means can be employed to form layers, regions, and the like in desired shapes. Furthermore, those skilled in the art may devise methods that differ from those described above to achieve the same structure. Furthermore, while each embodiment has been described separately, this does not mean that the measures in each embodiment cannot be advantageously combined.

[0118] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0119] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A method for monitoring overhead crane operation, characterized in that: Applied to ground monitoring equipment, the method includes: Obtaining crane position information of a target crane from a crane control device; Determining target information for a target operation to be performed by the target crane according to the crane position information, wherein the target operation includes a ladle hanging operation and / or a ladle removal operation, wherein the ladle hanging operation is an operation in which a plate hook of the target crane is hung on an trunnion of a target ladle, and the ladle removal operation is an operation in which the plate hook is removed from the trunnion; Sending the target information to the overhead travelling crane control device so that the overhead travelling crane control device controls the target overhead travelling crane to enter a target range and perform the target operation; When it is determined that the target overhead travelling vehicle enters the target range, first identification information and second identification information are obtained, wherein the first identification information is obtained by monitoring the target overhead travelling vehicle using a two-dimensional identification technology, and the second identification information is obtained by monitoring the target overhead travelling vehicle using a three-dimensional identification technology; Based on the first identification information and the second identification information, it is monitored whether the target overhead travelling crane successfully performs the target operation.

2. The method for monitoring overhead crane operation according to claim 1, characterized in that: The crane position information includes at least the trolley position of the target crane and the trolley position of the target crane; the target information includes at least the target position of the target crane for performing the target operation and the target hook height of the target crane for performing the target operation, wherein the target hook height is the height of the trunnion relative to the ground; In the process of monitoring whether the target overhead travelling crane successfully performs the target operation based on the first identification information and the second identification information, the method includes: Determining whether the large vehicle positioning and the small vehicle positioning are both located at target positions within the target range according to the first identification information; When it is determined that the target overhead travelling crane is located at the target position, a first recognition result is obtained according to the first recognition information, the first recognition result including a distance between the plate hook and the trunnion obtained by a two-dimensional recognition technology; obtaining a second recognition result according to the second recognition information, wherein the second recognition result is a distance between the plate hook and the trunnion obtained by three-dimensional recognition technology; Based on the first recognition result and the second recognition result, it is monitored whether the target overhead travelling crane successfully performs the target operation.

3. The method for monitoring overhead crane operation according to claim 2, characterized in that: In the process of monitoring whether the target overhead travelling crane successfully performs the target operation according to the first recognition result and the second recognition result, the method includes: If the first recognition result indicates that the target overhead crane has successfully performed the target operation, and the second recognition result is consistent with the first recognition result, it is determined that the target overhead crane has successfully performed the target operation; If the first recognition result indicates that the target overhead crane has failed to perform the target operation, and the second recognition result is consistent with the first recognition result, it is determined that the target overhead crane has failed to perform the target operation, and a task failure instruction is sent to the overhead crane control device.

4. The method for monitoring overhead crane operation according to claim 3, characterized in that: If the first recognition result indicates that the target overhead travelling crane successfully performs the target operation, and the second recognition result is inconsistent with the first recognition result, a first alarm message is generated.

5. The method for monitoring overhead crane operation according to claim 3, characterized in that: The overhead crane position information also includes the weight of the first hook of the target overhead crane; After determining that the target overhead travelling crane successfully performs the target operation, the method further includes: Obtaining the weight of the second hook of the target overhead crane from the overhead crane control device; determining whether a difference between the weight of the first plate hook and the weight of the second plate hook is equal to the weight of the target ladle; If the difference is equal to the weight of the target ladle, a task success instruction is sent to the overhead crane control device.

6. The method for monitoring overhead crane operation according to claim 2, characterized in that: In the process of monitoring whether the target overhead travelling crane successfully performs the target operation according to the first recognition result and the second recognition result, the method further includes: Determining a plate hook height of the target overhead traveling vehicle according to the first recognition result and the second recognition result; If the height of the plate hook is lower than the preset height value, a second alarm message is generated; The second alarm information is sent to the overhead traveling crane control device.

7. The method for monitoring overhead crane operation according to claim 1, characterized in that: The method further comprises: At least one of the overhead traveling vehicle position information, the target information, the first identification information, and the second identification information is displayed and stored.

8. A method for monitoring overhead crane operation, characterized in that: Applied to an overhead crane control device, the method includes: Sending crane position information to ground monitoring equipment; receiving target information obtained from the ground monitoring equipment based on the overhead crane position information, the target information including a target position of the target overhead crane for performing the target operation and / or a target plate hook height of the target overhead crane for performing the target operation, the target operation including a ladle hanging operation and / or a ladle detaching operation, the ladle hanging operation being an operation in which the plate hook of the target overhead crane is hung on the trunnion of the target ladle, and the ladle detaching operation being an operation in which the plate hook is detached from the trunnion; According to the target information, the target overhead crane is controlled to move to the target position, and the plate hook of the target overhead crane is controlled to move to the target plate hook height.

9. The method for monitoring overhead crane operation according to claim 8, characterized in that: In the process of controlling the target overhead crane to move to the target position and controlling the plate hook of the target overhead crane to move to the target plate hook height, the method includes: Receive a task success or task failure instruction; and / or Receive the second alarm information.

10. A monitoring system for overhead crane operation, characterized in that: The system comprises: The ground monitoring device is used to obtain the crane position information of the target crane from the crane control device; determine the target information of the target crane to perform the target operation according to the crane position information, the target operation including the bag hanging operation and / or the bag removing operation, the bag hanging operation is the operation of the plate hook of the target crane hanging into the ear shaft of the target ladle, and the bag removing operation is the operation of the plate hook being removed from the ear shaft; send the target information to the crane control device so that the crane control device controls the target crane to enter the target range to perform the target operation; when it is determined that the target crane enters the target range, obtain first identification information and second identification information, the first identification information is obtained by monitoring the target crane through two-dimensional identification technology, and the second identification information is obtained by monitoring the target crane through three-dimensional identification technology; monitor whether the target crane successfully performs the target operation according to the first identification information and the second identification information; The overhead crane control device is used to send overhead crane position information to the ground monitoring device; receive target information obtained from the ground monitoring device based on the overhead crane position information, the target information including the target position of the target overhead crane for performing the target operation and / or the target plate hook height of the target overhead crane for performing the target operation, the target operation including the bag hanging operation and / or the bag removing operation, the bag hanging operation being the operation of the plate hook of the target overhead crane being hung on the trunnion of the target ladle, and the bag removing operation being the operation of the plate hook being removed from the trunnion; according to the target information, control the target overhead crane to move to the target position, and control the plate hook of the target overhead crane to move to the target plate hook height; The target overhead crane is used to perform the target operation under the control of the overhead crane control device.

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