Control and protection method for center-of-gravity unbalance loading of bridge crane

Abstract

The invention provides a control protection method for bridge crane gravity center unbalance loading, and belongs to the technical field of control. Two monitoring points are arranged on a left running path of a bridge crane; weight sensor data of each fulcrum and the crown block position are continuously collected in the operation state of the bridge crane; when the overall gravity center of the bridge crane crosses the first unbalance loading alarm point, the system triggers visual and audible alarm to prompt the unbalance loading state, and meanwhile, the current unbalance loading weight value is displayed on an operation interface; if the bridge crane is further deviated or overweight, the bridge crane is limited to only run rightwards; compared with an original mode depending on manual judgment, full-closed-loop unbalance load protection control from state recognition and speed controllable braking to reverse correction guiding is achieved. In the field test, the trolley repeatedly runs in the left stroke, the system can accurately identify potential unbalance, and the bridge crane is limited to continuously move leftwards when the displacement and quality double threshold values are exceeded, so that the overturning accident is effectively prevented.

Description

Technical Field

[0001] This invention belongs to the field of control technology, specifically relating to a control and protection method for the off-center load of a bridge crane. Background Technology

[0002] As mentioned in the prior art solution of patent publication number "CN114960467B", the problem of off-center loading of bridge cranes needs to be overcome. Specifically, in the prior art, if the center of gravity of a bridge crane (hereinafter referred to as bridge crane) shifts during hoisting and operation, especially when the center of gravity is generally shifted to the left, it may lead to instability or even overturning of the bridge crane. Common bridge crane control systems usually only use a single weight sensor to determine whether there is off-center loading and trigger an alarm or shutdown, but they lack combined analysis of displacement distance and weight changes, and the control strategy is relatively simple. In addition, existing systems often stop the machine directly in the early stage of off-center loading, without giving the operator an opportunity to adjust, affecting work efficiency, and may even cause secondary accidents due to sudden stop. Therefore, existing off-center loading protection technology lacks a refined and phased control method, especially when the direction of center of gravity shift is fixed, it has failed to establish an effective recovery guidance mechanism, making it difficult to balance safety and operability. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a control and protection method for bridge cranes with eccentric loads. This method solves the problems of insufficient graded control and adjustment guidance in existing bridge crane eccentric load protection systems when the center of gravity shifts to the left. By setting two displacement monitoring thresholds and combining them with weight sensor data, a dynamic gradient response mechanism is provided. This allows the system to issue alarms and weight indications in the early stages of eccentric load, giving the operator time to adjust. When the eccentric load approaches a dangerous threshold, the operating direction is restricted, and finally, the machine is forcibly stopped when entering a dangerous area. This improves the safety and operational flexibility of the bridge crane under eccentric load conditions.

[0004] The present invention employs the following technical solution.

[0005] A method for controlling and protecting the center of gravity of a bridge crane under eccentric load, comprising:

[0006] Step 1: Set two monitoring points on the left side of the bridge crane's running path: the first is the off-center load alarm point, and the second is the point to forcibly prohibit single-point operation;

[0007] Step 2: While the bridge crane is in operation, continuously collect weight sensor data at each support point and the position of the overhead crane;

[0008] Step 3: When the overall center of gravity of the bridge crane crosses the first off-center load alarm point, the system triggers visual and audible alarms to indicate the off-center load status, and displays the current off-center load weight value on the operation interface at the same time.

[0009] Step 4: If the off-center load does not exceed the set weight threshold, the bridge crane can continue to move to the left, but the system will continuously prompt the user on the operation interface; if there is further deviation or overloading, the bridge crane will be restricted to moving only to the right.

[0010] Step 5: When the overall center of gravity of the bridge crane crosses the second mandatory single-point prohibition point, the system directly cuts off the motor power of the bridge crane and the control authority to move to the left, allowing only right-direction operation, in order to guide the center of gravity back to the safe zone.

[0011] Furthermore, step 1 specifically includes:

[0012] Two key displacement monitoring points are set on the front support, middle support, and front and rear overhead crane track structures of the bridge crane, which serve as the off-center load alarm point and the forced stop point, respectively. The off-center load alarm point is located in the left side of the bridge crane's travel and corresponds to a preset off-center load critical displacement value. When detected at this point, the early warning mechanism is activated. The forced stop point is located near the end of the left side of the bridge crane's travel and corresponds to the maximum safe off-center load limit that the bridge crane structure can withstand.

[0013] Furthermore, step 2 specifically includes:

[0014] Pressure sensors are installed at each of the main support points of the bridge crane and the overhead crane mechanism. The pressure sensors are used to sample the pressure load distribution of each support point and the overhead crane mechanism in real time and transmit it to the system. They are also combined with motor encoders or displacement sensors to sample the movement position of the bridge crane structure on the track and transmit it to the system. The system calculates the positional offset of the overall gravity distribution center relative to the bridge crane structure through information fusion algorithm and determines whether it has moved to the left to the preset alarm threshold or forced threshold position.

[0015] Furthermore, in step 2, the information fusion algorithm is a convolutional neural network algorithm.

[0016] Furthermore, in step 2, the data sampling frequency of the pressure sensor and the displacement sensor is controlled within 10ms.

[0017] Furthermore, in step 2, the pressure sensor, motor encoder, or displacement sensor are all connected to the system.

[0018] Furthermore, step 3 specifically includes:

[0019] When the displacement sensor data shows that a certain component of the bridge crane has moved to the first set point on the left, the system program calls the alarm module to issue an audible and visual alarm through the bridge crane control system to remind the operator that there is a risk of the center of gravity tilting to the left. At the same time, the data display module is called on the operation interface to dynamically present the current pressure data fed back by the weight sensors of each support point according to the structural position distribution, and calculates the center of gravity off-center load, center of gravity offset ratio and specific center of gravity offset direction.

[0020] Furthermore, in step 3, the dynamic interface configuration method for fulcrum load data is first applied, namely:

[0021] High-resolution, high-frequency weight sensors are distributed at four key support positions of the bridge crane: the front support, the middle support, the front trolley, and the rear trolley. To achieve dynamic display of load data, the system incorporates a LoRa / WiFi-6 protocol stack, which periodically reads data packets from each sensor via a time synchronization signal. Each data packet contains the sensor ID and the sensor's coordinate values. Unit load With timestamp The control system displays data status in real time and visually, improving the efficiency of sensing load imbalance.

[0022] Next, a structured visualization of the load distribution at the fulcrum is achieved, namely:

[0023] The control system divides the layout of the four support points into a two-dimensional mechanical topology interface, and dynamically displays them in the form of three-dimensional bar charts and heat maps, combining their respective coordinates and load data. The bars represent the current pressure of the support points, and the heat map overlays color mapping based on the pressure distribution differences to achieve intuitive feedback on the load distribution.

[0024] Then, the algorithm for calculating the center of gravity offset and center of gravity coordinates is executed, namely:

[0025] Using a rigid body mechanical center calculation model, the following two types of formulas are used for real-time numerical processing: one is the absolute coordinates of the center of gravity. :

[0026] 𝑋,

[0027] Second, the center of gravity off-center load Calculation formula:

[0028]

[0029] in, The theoretical center of gravity for the bridge crane under level load;

[0030] Then, the logic for determining the center of gravity offset ratio and offset direction is executed, namely:

[0031] After obtaining the center of gravity eccentric load Then, the system calculates the corresponding safe zone radius of the center of gravity based on the current structural dimensions of the bridge crane. And calculate the centroid offset ratio. :

[0032] 𝑅, by calculating the relative center of gravity of the offset paragraph ,Right now

[0033] Determining the direction of the center of gravity shift involves using the vector angle formula to obtain the direction of the center of gravity shift. :

[0034] 𝜃

[0035] like It was determined to be a left-side off-center load.

[0036] Furthermore, step 4 specifically includes:

[0037] Intelligent dynamic control strategy for operation direction:

[0038] When the bridge crane component reaches the first off-center load point and the total off-center load does not exceed the limit, the operator is allowed to continue controlling the bridge crane to travel on the left side. If the total weight exceeds the specified allowable off-center load value, the system will immediately lock the bridge crane's left-side travel output signal, allowing only the right-side drive signal to pass.

[0039] Furthermore, step 5 specifically includes:

[0040] When a component of the bridge crane crosses the second set displacement point on the left, it indicates that the center of gravity has reached the vicinity of the maximum acceptable safety limit. At this time, the system will trigger a forced locking mechanism, cut off the power voltage supply to all directional travel motors through the relay protection module, and leave only the control authority for the right drive direction signal. The unlocking process is controlled by an independent hardware safety channel, and the travel authority is released after the center of gravity of the bridge crane moves back to the internal logic range of the first set point.

[0041] Furthermore, the control and protection methods for the eccentric loading of the bridge crane's center of gravity also include:

[0042] The system has a built-in off-center load event database module to record all past off-center load events that reached the alarm level or higher, including time, load at each support point, center of gravity offset, operational response, and correction results. Based on this data, the system can optimize the alarm threshold curve and push the optimal operational guidance strategy to the operator's human-machine interface based on operational feedback. Simultaneously, the system reserves a remote interface to transmit off-center load data to the enterprise equipment management platform for maintenance, training, or structural stability simulation modeling.

[0043] The beneficial effects of the present invention are as follows, compared with the prior art:

[0044] This invention sets two monitoring points on the left side of the bridge crane's operating path: the first is an off-center load alarm point, and the second is a forced prohibition point for single-point operation. During bridge crane operation, weight sensor data from each support point and the crane position are continuously collected. When the bridge crane's overall center of gravity crosses the first off-center load alarm point, the system triggers visual and audible alarms to indicate the off-center load status, and simultaneously displays the current off-center load weight value on the operating interface. If the off-center load weight value does not exceed the set weight threshold, the bridge crane can continue to move to the left, but the system continuously prompts the user on the operating interface. If further deviation or overloading occurs, the bridge crane will be restricted to moving only to the right. When the bridge crane's overall center of gravity crosses the second forced prohibition point for single-point operation, the system directly cuts off the bridge crane's motor power and control permission to move to the left, allowing only rightward operation to guide the center of gravity back to the safe zone. Compared with the original method relying on manual judgment, this invention achieves a fully closed-loop off-center load protection control from status recognition and speed controllable braking to reverse correction guidance. During on-site testing, the trolley repeatedly ran in the left-side travel phase, and the system was able to accurately identify potential imbalances and restrict the bridge crane from continuing to move to the left when both displacement and mass thresholds were exceeded, effectively preventing overturning accidents. Attached Figure Description

[0045] Figure 1 This is a flowchart of the control and protection method for the center of gravity offset of the bridge crane in this invention. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of this invention. The embodiments described in this application are merely some embodiments of this invention, and not all embodiments. Based on the spirit of this invention, other embodiments obtained by those skilled in the art without creative effort are all within the protection scope of this invention.

[0047] like Figure 1 As shown, a method for controlling and protecting the center of gravity of a bridge crane under eccentric load includes:

[0048] Step 1: Set two monitoring points on the left side of the bridge crane's running path: the first is the off-center load alarm point, and the second is the point to forcibly prohibit single-point operation;

[0049] Step 2: While the bridge crane is in operation, continuously collect weight sensor data at each support point and the position of the overhead crane;

[0050] Step 3: When the overall center of gravity of the bridge crane crosses the first off-center load alarm point, the system triggers visual and audible alarms to indicate the off-center load status, and displays the current off-center load weight value on the operation interface at the same time.

[0051] Step 4: If the off-center load does not exceed the set weight threshold, the bridge crane can continue to move to the left, but the system will continuously prompt the user on the operation interface; if there is further deviation or overloading, the bridge crane will be restricted to moving only to the right.

[0052] Step 5: When the overall center of gravity of the bridge crane crosses the second mandatory single-point prohibition operating point, the system directly cuts off the motor power of the bridge crane and the control authority for leftward movement, allowing only rightward operation, in order to guide the center of gravity back to the safe zone. The system of this invention can be an industrial control computer.

[0053] With the above scheme, the system can issue an early warning when the bridge crane is initially biased to the left, and gradually apply operational restrictions according to the degree of bias, and finally forcibly control the running direction when it is close to a dangerous state, thereby reducing the operational risks caused by bias and improving the overall operational safety of the equipment.

[0054] In a preferred but non-limiting embodiment of the present invention, step 1 specifically includes:

[0055] Hierarchical design for off-center load condition judgment:

[0056] Two key displacement monitoring points are set at the front support, middle support, and front and rear overhead crane track structures of the bridge crane, serving as the off-center load alarm point and the forced stop point, respectively. The off-center load alarm point is located at an earlier position in the left-side travel of the bridge crane, corresponding to a preset critical off-center load displacement value. When detected at this point, the early warning mechanism is activated. The forced stop point is located near the end of the left-side travel of the bridge crane, corresponding to the maximum safe off-center load limit that the bridge crane structure can withstand. These two points establish a dual protection mechanism from both displacement and weight dimensions, enabling the system to adopt different control response strategies under different off-center load levels.

[0057] In a preferred but non-limiting embodiment of the present invention, step 2 specifically includes:

[0058] Real-time center of gravity shift monitoring and sensor data fusion:

[0059] High-precision tension / compression sensors are installed at each of the main support points of the bridge crane and the overhead crane mechanism. These sensors are used to sample the pressure load distribution at each support point and the overhead crane mechanism in real time and transmit the data to the system. They are also combined with motor encoders or high-precision displacement sensors to sample the movement position of the bridge crane structure on the track and transmit the data to the system. The system uses an information fusion algorithm to calculate the positional offset of the overall gravity distribution center relative to the bridge crane structure and to determine whether it has shifted to the left to the preset alarm threshold or forced threshold position.

[0060] In a preferred but non-limiting embodiment of the present invention, in step 2, the information fusion algorithm is a convolutional neural network algorithm.

[0061] In a preferred but non-limiting embodiment of the present invention, in step 2, the data sampling frequency of the pressure sensor and the displacement sensor is controlled within 10ms to ensure the real-time performance and accuracy of the off-center load condition identification.

[0062] In a preferred but non-limiting embodiment of the present invention, in step 2, a high-precision tension / compression sensor, a motor encoder, or a high-precision displacement sensor are all connected to the system.

[0063] In a preferred but non-limiting embodiment of the present invention, step 3 specifically includes:

[0064] Activate the off-center load alarm and visual feedback mechanism:

[0065] When the displacement sensor data shows that a component of the bridge crane has moved to the first set point on the left, the system program calls the alarm module to issue an audible and visual alarm through the bridge crane control system (which can be an audible and visual alarm), reminding the operator of the risk of leftward tilting of the center of gravity. Simultaneously, the data display module on the operating interface dynamically presents the current pressure data fed back by the weight sensors at each support point according to the structural position distribution, and calculates the center of gravity offset, the center of gravity offset ratio, and the specific direction of the center of gravity offset. With the system's support, the operator can intuitively judge the current off-center load and quickly take corrective actions.

[0066] In a preferred but non-limiting embodiment of the present invention, in step 3, the dynamic interface configuration method for fulcrum load data is first applied, namely:

[0067] High-resolution, high-frequency weight sensors are distributed at four key support positions of the bridge crane: the front support, the middle support, the front trolley, and the rear trolley. To achieve dynamic display of load data, the system incorporates a LoRa / WiFi-6 protocol stack, which periodically reads data packets from each sensor via a time synchronization signal. Each data packet contains the sensor ID and the sensor's coordinate values. Unit load With timestamp The control system displays data status in real time and visually, improving the efficiency of sensing load imbalance.

[0068] Next, a structured visualization of the load distribution at the fulcrum is achieved, namely:

[0069] The control system divides the layout of the four support points into a two-dimensional mechanical topology interface. Combining their respective coordinates and load data, it dynamically displays the data in the form of three-dimensional bar charts and heat maps. The bars represent the current pressure at each support point, while the heat map uses color mapping based on pressure distribution differences (high pressure areas are marked in red, low pressure areas in blue), providing intuitive feedback on load distribution. This presentation module uses OpenGL ES 3.1 for non-blocking rendering and retains historical data for comparison, greatly enhancing the understanding of the crane's load status and assisting operators in making judgments under complex working conditions.

[0070] Then, the algorithm for calculating the center of gravity offset and center of gravity coordinates is executed, namely:

[0071] Using a rigid body mechanical center calculation model, the following two types of formulas are used for real-time numerical processing: one is the absolute coordinates of the center of gravity. :

[0072] 𝑋,

[0073] Second, the center of gravity off-center load Calculation formula:

[0074]

[0075] in, The theoretical center of gravity of the bridge crane under level load is determined by the above algorithm. The system obtains the current load moment and offset vector through the algorithm and records the corresponding trend of the data in polar coordinates.

[0076] Then, the logic for determining the center of gravity offset ratio and offset direction is executed, namely:

[0077] After obtaining the center of gravity eccentric load Then, the system calculates the corresponding safe zone radius of the center of gravity based on the current structural dimensions of the bridge crane. (The radius of the center of gravity safety zone can be set according to specific requirements for this calculation) (size), and calculate the centroid offset ratio. :

[0078] 𝑅, by calculating the relative center of gravity of the offset paragraph ,Right now

[0079] Determining the direction of the center of gravity shift involves using the vector angle formula to obtain the direction of the center of gravity shift. :

[0080] 𝜃

[0081] It can be determined whether the off-center loading behavior is biased towards the left, right, front, or rear. If the system determines that the load is off-center to the left, it will trigger the corresponding response strategy.

[0082] In a preferred but non-limiting embodiment of the present invention, step 4 specifically includes:

[0083] Intelligent dynamic control strategy for operation direction:

[0084] When the bridge crane component reaches the first off-center load point and the total off-center load does not exceed the limit (i.e., the pressure at each support point does not exceed the set threshold), the operator is allowed to continue controlling the bridge crane to travel on the left. However, the system must use a trajectory prediction algorithm to warn that continued deviation may lead to instability. If the total weight exceeds the specified allowable off-center load value, the system will immediately lock the left-side travel output signal of the bridge crane, allowing only the right-side drive signal to pass. This hierarchical control ensures that the response time is controlled within 100ms.

[0085] In a preferred but non-limiting embodiment of the present invention, step 5 specifically includes:

[0086] Force the implementation of locking and reverse recovery policies:

[0087] When a component of the bridge crane crosses the second preset displacement point on the left, it indicates that the center of gravity has reached near the maximum acceptable safety limit. At this point, the system will trigger a forced locking mechanism, cutting off the power voltage supply to all directional travel motors via the relay protection module, leaving only the control authority for the rightward drive direction. The unlocking process is controlled by an independent hardware safety channel, releasing the travel authority after the bridge crane's center of gravity returns to the logical range within the first preset point. This control action requires the system to determine the motor's stationary state and execute it through a safety redundancy interlocking circuit to ensure the physical safety and control stability of the bridge crane's motion lock.

[0088] In a preferred but non-limiting embodiment of the present invention, the method for controlling and protecting the center of gravity of a bridge crane with eccentric loading further includes:

[0089] Data recording and operation feedback optimization mechanism:

[0090] The system has a built-in off-center load event database module to record all past off-center load events that reached the alarm level or higher, including time, load at each support point, center of gravity offset, operational response, and correction results. Based on this data, the system can optimize the alarm threshold curve and push the optimal operational guidance strategy to the operator's human-machine interface based on operational feedback. Simultaneously, the system reserves a remote interface to transmit off-center load data to the enterprise equipment management platform for maintenance, training, or structural stability simulation modeling.

[0091] The beneficial effects of the present invention are as follows, compared with the prior art:

[0092] This invention sets two monitoring points on the left side of the bridge crane's operating path: the first is an off-center load alarm point, and the second is a forced prohibition point for single-point operation. During bridge crane operation, weight sensor data from each support point and the crane position are continuously collected. When the bridge crane's overall center of gravity crosses the first off-center load alarm point, the system triggers visual and audible alarms to indicate the off-center load status, and simultaneously displays the current off-center load weight value on the operating interface. If the off-center load weight value does not exceed the set weight threshold, the bridge crane can continue to move to the left, but the system continuously prompts the user on the operating interface. If further deviation or overloading occurs, the bridge crane will be restricted to moving only to the right. When the bridge crane's overall center of gravity crosses the second forced prohibition point for single-point operation, the system directly cuts off the bridge crane's motor power and control permission to move to the left, allowing only rightward operation to guide the center of gravity back to the safe zone. Compared with the original method relying on manual judgment, this invention achieves a fully closed-loop off-center load protection control from status recognition and speed controllable braking to reverse correction guidance. During on-site testing, the trolley repeatedly ran in the left-side travel phase, and the system was able to accurately identify potential imbalances and restrict the bridge crane from continuing to move to the left when both displacement and mass thresholds were exceeded, effectively preventing overturning accidents.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention without departing from the spirit and scope of the present invention. Any modifications or equivalent substitutions should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for controlling and protecting the center of gravity of a bridge crane under eccentric load, characterized in that, include: Step 1: Set two monitoring points on the left side of the bridge crane's running path: the first is the off-center load alarm point, and the second is the point to forcibly prohibit single-point operation; Step 2: While the bridge crane is in operation, continuously collect weight sensor data at each support point and the position of the overhead crane; Step 3: When the overall center of gravity of the bridge crane crosses the first off-center load alarm point, the system triggers visual and audible alarms to indicate the off-center load status, and displays the current off-center load weight value on the operation interface at the same time. Step 4: If the off-center load does not exceed the set weight threshold, the bridge crane can continue to move to the left, but the system will continuously prompt the user on the operation interface; if there is further deviation or overloading, the bridge crane will be restricted to moving only to the right. Step 5: When the overall center of gravity of the bridge crane crosses the second mandatory single-point prohibition point, the system directly cuts off the motor power of the bridge crane and the control authority to move to the left, allowing only right-direction operation, in order to guide the center of gravity back to the safe zone.

2. The method for controlling and protecting the eccentric load of the bridge crane's center of gravity according to claim 1, characterized in that, Step 1 specifically includes: Two key displacement monitoring points are set on the front support, middle support, and front and rear overhead crane track structures of the bridge crane, which serve as the off-center load alarm point and the forced stop point, respectively. The off-center load alarm point is located in the left side of the bridge crane's travel and corresponds to a preset off-center load critical displacement value. When detected at this point, the early warning mechanism is activated. The forced stop point is located near the end of the left side of the bridge crane's travel and corresponds to the maximum safe off-center load limit that the bridge crane structure can withstand.

3. The method for controlling and protecting the eccentric load of the bridge crane's center of gravity according to claim 2, characterized in that, Step 2 specifically includes: Pressure sensors are installed at each of the main support points of the bridge crane and the overhead crane mechanism. The pressure sensors are used to sample the pressure load distribution of each support point and the overhead crane mechanism in real time and transmit it to the system. They are also combined with motor encoders or displacement sensors to sample the movement position of the bridge crane structure on the track and transmit it to the system. The system calculates the positional offset of the overall gravity distribution center relative to the bridge crane structure through information fusion algorithm and determines whether it has shifted to the left to the preset alarm threshold or forced threshold position. In step 2, the information fusion algorithm is a convolutional neural network algorithm.

4. The method for controlling and protecting the eccentric load of the bridge crane's center of gravity according to claim 3, characterized in that, In step 2, the data sampling frequency of the pressure sensor and displacement sensor is controlled within 10ms.

5. The method for controlling and protecting the eccentric load of the bridge crane's center of gravity according to claim 4, characterized in that, In step 2, the pressure sensor, motor encoder, or displacement sensor are all connected to the system.

6. The method for controlling and protecting the eccentric load of the bridge crane's center of gravity according to claim 5, characterized in that, Step 3 specifically includes: When the displacement sensor data shows that a certain component of the bridge crane has moved to the first set point on the left, the system program calls the alarm module to issue an audible and visual alarm through the bridge crane control system to remind the operator that there is a risk of the center of gravity tilting to the left. At the same time, the data display module is called on the operation interface to dynamically present the current pressure data fed back by the weight sensors of each support point according to the structural position distribution, and calculates the center of gravity off-center load, center of gravity offset ratio and specific center of gravity offset direction.

7. The method for controlling and protecting the eccentric load of the bridge crane according to claim 6, characterized in that, In step 3, the dynamic interface configuration method for fulcrum load data is first applied, namely: High-resolution, high-frequency weight sensors are distributed at four key support positions of the bridge crane: the front support, the middle support, the front trolley, and the rear trolley. To achieve dynamic display of load data, the system incorporates a LoRa / WiFi-6 protocol stack, which periodically reads data packets from each sensor via a time synchronization signal. Each data packet contains the sensor ID and the sensor's coordinate values. Unit load With timestamp The control system displays data status in real time and visually, improving the efficiency of sensing load imbalance. Next, a structured visualization of the load distribution at the fulcrum is achieved, namely: The control system divides the layout of the four support points into a two-dimensional mechanical topology interface, and dynamically displays them in the form of three-dimensional bar charts and heat maps, combining their respective coordinates and load data. The bars represent the current pressure of the support points, and the heat map overlays color mapping based on the pressure distribution differences to achieve intuitive feedback on the load distribution. Then, the algorithm for calculating the center of gravity offset and center of gravity coordinates is executed, namely: Using a rigid body mechanical center calculation model, the following two types of formulas are used for real-time numerical processing: one is the absolute coordinates of the center of gravity. : 𝑋, Second, the center of gravity off-center load Calculation formula: in, The theoretical center of gravity for the bridge crane under level load; Then, the logic for determining the center of gravity offset ratio and offset direction is executed, namely: After obtaining the center of gravity eccentric load Then, the system calculates the corresponding safe zone radius of the center of gravity based on the current structural dimensions of the bridge crane. And calculate the centroid offset ratio. : 𝑅, by calculating the relative center of gravity of the offset paragraph ,Right now Determining the direction of the center of gravity shift involves using the vector angle formula to obtain the direction of the center of gravity shift. : 𝜃 like It was determined to be a left-side off-center load.

8. The method for controlling and protecting the eccentric load of the bridge crane according to claim 7, characterized in that, Step 4 specifically includes: Intelligent dynamic control strategy for operation direction: When the bridge crane component reaches the first off-center load point and the total off-center load does not exceed the limit, the operator is allowed to continue controlling the bridge crane to travel on the left side. If the total weight exceeds the specified allowable off-center load value, the system will immediately lock the bridge crane's left-side travel output signal, allowing only the right-side drive signal to pass.

9. The method for controlling and protecting the eccentric load of the bridge crane's center of gravity according to claim 8, characterized in that, Step 5 specifically includes: When a component of the bridge crane crosses the second set displacement point on the left, it indicates that the center of gravity has reached the vicinity of the maximum acceptable safety limit. At this time, the system will trigger a forced locking mechanism, cut off the power voltage supply to all directional travel motors through the relay protection module, and leave only the control authority for the right drive direction signal. The unlocking process is controlled by an independent hardware safety channel, and the travel authority is released after the center of gravity of the bridge crane moves back to the internal logic range of the first set point.

10. The method for controlling and protecting the eccentric load of the bridge crane according to claim 9, characterized in that, The control and protection methods for the eccentric loading of the bridge crane's center of gravity also include: The system has a built-in off-center load event database module to record all past off-center load events that reached the alarm level or higher, including time, load at each support point, center of gravity offset, operational response, and correction results. Based on this data, the system can optimize the alarm threshold curve and push the optimal operational guidance strategy to the operator's human-machine interface based on operational feedback. Simultaneously, the system reserves a remote interface to transmit off-center load data to the enterprise equipment management platform for maintenance, training, or structural stability simulation modeling.

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