Portal crane rotation area protection method and device and storage medium

Abstract

The application discloses a portal crane rotation area protection method and device and a storage medium, and relates to the technical field of port hoisting machinery safety. The steps of the method comprise the following steps: determining a dangerous envelope region according to real-time pose data and structural size parameters of the portal crane; collecting personnel position information and determining a danger level according to the personnel position information and the dangerous envelope region; and executing a preset interlocking control strategy of the portal crane according to the danger level. According to the real-time pose data and the structural size parameters of the portal crane, the dangerous envelope region of the rotation region of the portal crane is dynamically obtained, the danger level is determined in combination with the personnel position information, and then the preset interlocking control strategy is actively executed, so that dynamic and active safety protection is realized.

Description

Technical Field

[0001] This application relates to the field of port crane safety technology, specifically to a method, equipment and storage medium for protecting the slewing area of ​​a gantry crane. Background Technology

[0002] Gantry cranes are loading and unloading equipment used in logistics hubs such as ports, docks, and freight yards. During operation, they simultaneously perform slewing, luffing, boom pitching, and lifting of spreaders. Their slewing area is a typical high-risk area for mixed human and machine operations. On-site inspection, maintenance, and loading / unloading personnel are prone to accidentally entering the slewing area of ​​the gantry crane, potentially leading to safety accidents. Current safety protection methods for the slewing area of ​​gantry cranes typically combine traditional physical protection with human intervention, namely, installing fixed safety fences, posting warning signs, and assigning dedicated personnel for on-site monitoring. This method has the following shortcomings in practical application: The operating radius of a gantry crane changes in real time with the boom's amplitude and pitch angle. Dangerous areas have dynamic characteristics, and fixed fences cannot match the real-time operating range, resulting in blind spots in protection. Manual monitoring is not only costly in terms of manpower, but also susceptible to factors such as obstructed vision, personnel fatigue, and distraction, leading to frequent oversights. Furthermore, intervention after a hazard is discovered manually is delayed, making proactive safety control impossible. Summary of the Invention

[0003] In view of the deficiencies in the existing technology, the technical problem to be solved by this application is: how to achieve active and dynamic safety protection in the slewing area of ​​a gantry crane.

[0004] To achieve the above objectives, in a first aspect, embodiments of this application provide a method for protecting the slewing zone of a gantry crane, the method comprising the following steps: Based on the real-time position and orientation data and structural dimensional parameters of the gantry crane, the danger envelope area is determined; Collect personnel location information and determine the hazard level based on the personnel location information and the hazard envelope area; The preset interlock control strategy for the gantry crane is executed according to the hazard level.

[0005] In conjunction with the first aspect, in one implementation, the hazard envelope region includes an effective envelope region and a safety margin region; wherein the process for determining the effective envelope region includes: Using the pre-calibrated slewing center of the gantry crane as the center of a circle, with the center of the circle as the origin of the coordinate system and the gantry crane track as the X-axis, establish a plane coordinate system parallel to the horizontal ground. The effective operating radius of the gantry crane is determined based on real-time pose data and structural dimension parameters. Determine the effective envelope area of ​​the gantry crane's current state based on the center of the circle and the effective operating radius.

[0006] In conjunction with the first aspect, in one implementation, the process for determining the safety margin region is as follows: after extending the effective envelope region outward at equal intervals according to a set distance, the safety margin region is obtained.

[0007] In conjunction with the first aspect, in one implementation, the method of determining the hazard level based on personnel location information and the hazard envelope area includes: When the location information of personnel is within the safety margin area and the duration of personnel stay exceeds the preset duration, it is determined to be an alarm danger level; When the personnel location information is within the effective envelope area, it is determined to be a locked danger level.

[0008] In conjunction with the first aspect, in one implementation, the process of executing the preset interlock control strategy of the gantry crane according to the hazard level includes: When the alarm level is determined to be dangerous, an audible and visual alarm is issued, and a pose constraint is generated based on the real-time pose data of the current gantry crane. The pose constraint aims to avoid the expansion of the effective envelope area. When the hazard level is determined to be locked, the gantry crane is locked.

[0009] In conjunction with the first aspect, in one implementation method, the method of collecting personnel location information includes: Collect video data of the slewing area of ​​the gantry crane; The video data is analyzed frame by frame to obtain the detection box of the person target in each frame image; Referring to the planar coordinate system, obtain the projection position information of the detection box of the personnel target in the planar coordinate system, which is used as the personnel position information.

[0010] In conjunction with the first aspect, in one implementation method, the method of collecting personnel location information further includes: Three positioning anchor points are set up in the slewing area of ​​the gantry crane, and the coordinates of the positioning anchor points are written into the plane coordinate system. After a person wears an ultra-wideband tag, when the positioning anchor point receives a pulse emitted by the ultra-wideband tag, it obtains the person's positioning information in the planar coordinate system, which is used as the person's location information.

[0011] In conjunction with the first aspect, in one implementation, after acquiring the projection position information and the positioning information, one of the projection position information and the positioning information is selected as the personnel position information according to a preset determination logic; wherein the preset determination logic includes: The image confidence score is obtained from each frame of the video data. It is then determined whether the image confidence score is greater than the first preset threshold. If so, the projection position information is used as the personnel position information. Otherwise, based on the coordinates of the three positioning anchor points, the positioning information coordinates, the arrival time of the pulse, and the actual intensity of the received pulse, the positioning confidence is obtained, and it is determined whether the positioning confidence is greater than the second preset threshold. If so, the positioning information is used as the personnel location information. Otherwise, issue an on-site verification instruction to notify staff to conduct an on-site verification.

[0012] Secondly, embodiments of this application provide a gantry crane slewing area protection device, the gantry crane slewing area protection device including a processor, a memory, and a gantry crane slewing area protection program stored in the memory and executable by the processor, wherein when the gantry crane slewing area protection program is executed by the processor, it implements the method provided in the first aspect.

[0013] Thirdly, embodiments of this application provide a computer-readable storage medium storing a gantry crane slewing area protection program, wherein when the gantry crane slewing area protection program is executed, it implements the method provided in the first aspect.

[0014] Compared with the prior art, the advantages of this application are: (1) Based on the real-time position and posture data and structural dimension parameters of the gantry crane, the danger envelope area of ​​the gantry crane's slewing area is dynamically obtained, and the danger level is determined in combination with personnel position information. Then, the preset interlock control strategy is actively executed to achieve dynamic and proactive safety protection.

[0015] (2) The effective operating radius is determined based on the real-time position and posture data and structural dimension parameters of the gantry crane. It is combined with the outer safety margin area to form a layered danger envelope area. This improves the accuracy of danger area judgment. At the same time, it performs differentiated interlock control based on personnel location information, which ensures absolute safety in high-risk scenarios and avoids production capacity loss caused by indiscriminate shutdown.

[0016] (3) Use ultra-wideband positioning and visual positioning to obtain personnel location information, and combine confidence comparison to select the best personnel location information. This can avoid the accuracy deviation of ultra-wideband positioning in the dense metal structure environment of the port, as well as the visual positioning error caused by environmental interference in bad weather. This provides a more accurate and reliable basis for obtaining personnel location information, thereby improving the effectiveness of active safety protection in the slewing area of ​​the gantry crane. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart of the slewing zone protection method for a gantry crane in this application embodiment; Figure 2 This is a schematic diagram of the hardware structure of the slewing zone protection device for a gantry crane involved in the embodiments of this application. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0021] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0022] In a first aspect, embodiments of this application provide a method for protecting the slewing area of ​​a gantry crane, referring to... Figure 1 The steps of this method include: Based on the real-time position and orientation data (slewing angle, boom amplitude, or boom pitch angle) and structural dimensional parameters of the gantry crane, determine the danger envelope area; Collect personnel location information and determine the hazard level based on the personnel location information and the hazard envelope area; The preset interlock control strategy for the gantry crane is executed according to the hazard level.

[0023] In this way, the danger envelope area of ​​the gantry crane's slewing area can be dynamically obtained based on the real-time position and posture data and structural dimension parameters of the gantry crane. Combined with personnel position information, the danger level can be determined, so as to actively execute the preset interlock control strategy and achieve dynamic and proactive safety protection.

[0024] In one embodiment, the process of determining the danger envelope region includes: Using the pre-calibrated slewing center of the gantry crane as the center of a circle, with the center of the circle as the origin of the coordinate system and the gantry crane track as the X-axis, establish a plane coordinate system parallel to the horizontal ground. The effective operating radius of the gantry crane is determined based on real-time pose data and structural dimension parameters. Based on the center of the circle and the effective operating radius, determine the effective envelope area of ​​the current state (i.e., the current pose data) of the gantry crane; After extending the effective envelope region outward at equal intervals according to a set distance (e.g., 10m), a safety margin region is obtained. The effective envelope region and the safety margin region obtained at this time are the danger envelope regions.

[0025] Based on this, methods for determining the hazard level according to personnel location information and the hazard envelope area include: When the location information of personnel is within the safety margin area and the duration of personnel stay exceeds the preset duration, it is determined to be an alarm danger level; When the personnel location information is within the effective envelope area, it is determined to be a locked danger level.

[0026] Furthermore, the process for implementing the preset interlock control strategy of the gantry crane according to the hazard level includes: When the alarm level is determined to be dangerous, an audible and visual alarm is issued, and a pose restriction condition is generated based on the real-time pose data of the gantry crane. This pose restriction condition aims to prevent the effective envelope area from expanding (e.g., limiting the pose to continue to expand outward); and when there is no personnel position information in the safety margin area, the pose restriction condition of the gantry crane is released. When the gantry crane is determined to be at a dangerous level, it is locked directly to prevent it from continuing to operate; and when there is no personnel location information in the effective envelope area, the gantry crane is unlocked.

[0027] This method determines the effective operating radius based on the real-time position and orientation data and structural dimensions of the gantry crane. Combined with the outer safety margin area, it forms a layered danger envelope area, which improves the accuracy of danger area identification. At the same time, it implements differentiated interlock control based on personnel location information, ensuring absolute safety in high-risk scenarios while avoiding production capacity losses caused by indiscriminate shutdowns.

[0028] In one embodiment, the method for collecting personnel location information includes: Three positioning anchor points (such as ultra-wide width positioning anchor points) are set up in the slewing area of ​​the gantry crane, and the coordinates of the positioning anchor points are written into the plane coordinate system. After personnel wear ultra-wideband tags (which can be embedded in work badges or safety helmets), when the positioning anchor point receives the pulse emitted by the ultra-wideband tag, it obtains the personnel's positioning information in the planar coordinate system, which serves as the personnel's location information.

[0029] The process for obtaining personnel's positioning information in a planar coordinate system includes: Connect the three positioning anchor points to a unified clock synchronization protocol (network time protocol or precise time protocol) for clock synchronization. After receiving the pulses emitted by the RFID tags at the three positioning anchor points, the arrival time of the pulses is recorded respectively; Based on the propagation speed of the pulse (take 3×10), 8 Based on the arrival time difference of the three anchor points (m / s) and the coordinates of the positioning information, the distance difference between the positioning information coordinates and the different positioning anchor points is determined. Based on the coordinates and distance differences of the three positioning anchor points, solve (this can be done by solving three sets of two-variable quadratic distance difference equations simultaneously) and obtain the positioning information coordinates.

[0030] This allows for the acquisition of personnel location information using ultra-wideband positioning.

[0031] Furthermore, after the three positioning anchor points receive pulses emitted by the RFID tag, the actual intensity of the received pulses is recorded, and the positioning confidence level is calculated; the positioning confidence level is obtained through the following methods: Based on the coordinates of the three positioning anchor points, the positioning information coordinates, the arrival time of the pulse, and the actual intensity of the received pulse, the geometric accuracy factor and signal transmission conditions are determined. After normalizing the geometric precision factor and the signal transmission condition respectively, a weighted sum is performed (the sum of the weight coefficients is 1). The positional confidence is obtained by subtracting the value of the weighted sum from 1.

[0032] The methods for obtaining the aforementioned geometric precision factor include: Calculate the straight-line distance from the employee to each of the three positioning anchor points using their coordinates and positioning information coordinates. Using any positioning anchor point as a reference, obtain the difference between the positioning information coordinates and the coordinates of the positioning anchor point, divide the difference by the corresponding straight-line distance, obtain the direction cosine, and construct a second-order positioning geometric matrix; Perform transpose multiplication and inversion operations on the geometric matrix, extract the diagonal elements of the inverse matrix, sum and take the square root to obtain the geometric precision factor value. This geometric precision factor value, after being normalized (linear extremum normalization can be used), can then be used in the calculation of location confidence.

[0033] The methods for determining the above signal transmission conditions include: Obtain the straight-line distance between the location information coordinates and the coordinates of the three location anchor points; Based on the pre-calibrated mapping relationship between different distances and pulse intensity under line-of-sight conditions, the pulse intensity at straight-line distance is determined as a reference intensity. Determine whether the actual intensity of the pulse received by the positioning anchor point is less than the reference intensity. If so, determine that the current signal transmission condition is a non-line-of-sight condition; otherwise, determine that the current signal transmission condition is a line-of-sight condition.

[0034] Furthermore, the signal transmission conditions are represented in binary form, with 0 representing line-of-sight conditions and 1 representing non-line-of-sight conditions.

[0035] In one embodiment, the method for collecting personnel location information includes: Collect video data of the slewing area of ​​the gantry crane; The video data is analyzed frame by frame to obtain the detection box of the person target in each frame image; Referring to the planar coordinate system, obtain the projection position information of the detection box of the personnel target in the planar coordinate system, which is used as the personnel position information.

[0036] This allows for the acquisition of personnel location information through visual positioning.

[0037] Furthermore, during the process of acquiring personnel location information, image confidence is obtained based on each frame of the image. The image confidence is obtained by weighted summation of the normalized score of the on-site illumination intensity and the normalized score of the image working condition.

[0038] To further explain, the above-mentioned normalized score of on-site illumination intensity was obtained as follows: The minimum and maximum illuminance of the area where the gantry crane is located are predefined, and a linear scoring function is established based on the minimum and maximum illuminance. The real-time illuminance of the area where the gantry crane is located (i.e., the site) is collected, and the real-time score of the real-time illuminance is determined according to the linear scoring function. After obtaining the scores corresponding to the minimum and maximum illuminance, the real-time scores are normalized (linear extreme value normalization can be used) to obtain the normalized score of the site illuminance. The above image condition normalization score is obtained as follows: The mean transmittance of each frame is calculated using the dark channel prior algorithm (to characterize the degree of fogging in the image, where the more severe the fogging, the lower the mean transmittance); the ratio of the mean transmittance to the mean transmittance of the pre-calibrated clear image is taken as the fogging normalization value. Each frame of the image is converted into a grayscale image. The Sobel operator is used to calculate the gradients in the horizontal and vertical directions of the grayscale image, and then the average gradient magnitude of the entire image is calculated (to characterize the clarity of image details; the smaller the average gradient magnitude, the blurrier the image). The ratio of the average gradient magnitude to the average gradient magnitude of the pre-calibrated clear image is taken as the clarity normalization value. The image condition normalization score is obtained by weighted summation of the fogging normalization value and the clarity normalization value.

[0039] In one embodiment, one of the projected position information and the positioning information is selected as the personnel position information according to a preset determination logic. The preset determination logic includes: Determine whether the image confidence level is greater than a first preset threshold. If so, use the projected position information as the personnel position information. Otherwise, determine whether the location confidence level is greater than the second preset threshold. If so, use the location information as the personnel location information. Otherwise, issue an on-site verification instruction to notify staff to conduct an on-site verification.

[0040] By using ultra-wideband positioning and visual positioning to obtain personnel location information, and combining confidence level comparison to select the best personnel location information, the accuracy deviation of ultra-wideband positioning in the dense metal structure environment of the port can be avoided, as well as the visual positioning error caused by environmental interference in adverse weather conditions. This provides a more accurate and reliable basis for obtaining personnel location information, thereby improving the effectiveness of active safety protection in the slewing area of ​​the gantry crane.

[0041] Furthermore, when the confidence levels of both ultra-wideband positioning and visual positioning fail to meet the standards, manual on-site verification is triggered to provide a backup solution and achieve comprehensive safety protection for the gantry crane.

[0042] Secondly, embodiments of this application provide a gantry crane slewing area protection device, which can be a personal computer (PC), laptop computer, server, or other device with data processing capabilities.

[0043] Reference Figure 2 , Figure 2 This is a schematic diagram of the hardware structure of the slewing area protection device for a gantry crane involved in an embodiment of this application. In this embodiment, the slewing area protection device for a gantry crane may include a processor, a memory, a communication interface, and a communication bus.

[0044] The communication bus can be of any type and is used to interconnect the processor, memory, and communication interface.

[0045] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces used for interconnecting components within the gantry crane's slewing zone protection equipment, as well as interfaces used for interconnecting the gantry crane's slewing zone protection equipment with other devices (such as other computing devices or user equipment). Physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; user equipment can be displays, keyboards, etc.

[0046] Memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0047] The processor can be a general-purpose processor, which can call the gantry crane slewing area protection program stored in the memory and execute the gantry crane slewing area protection method provided in the embodiments of this application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed when the gantry crane slewing area protection program is called can be referred to in the various embodiments of the gantry crane slewing area protection method of this application, and will not be repeated here.

[0048] Those skilled in the art will understand that Figure 2 The hardware structure shown does not constitute a limitation of this application and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0049] Thirdly, embodiments of this application also provide a computer-readable storage medium.

[0050] The computer-readable storage medium of this application stores a gantry crane slewing area protection program, wherein when the gantry crane slewing area protection program is executed by a processor, it implements the steps of the gantry crane slewing area protection method as described above.

[0051] The method implemented when the gantry crane slewing area protection procedure is executed can be referred to in the various embodiments of the gantry crane slewing area protection method of this application, and will not be repeated here.

[0052] It should be noted that the sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0053] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0054] In the description of the embodiments of this application, terms such as "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a concrete manner.

[0055] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0056] In some processes described in the embodiments of this application, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of this application, or they may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.

[0057] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of this application.

[0058] The above are merely specific embodiments of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application. Therefore, the protection scope of this application should be determined by the scope of the claims.

Claims

1. A method for protecting the slewing area of ​​a gantry crane, characterized in that, The steps of this method include: Based on the real-time position and orientation data and structural dimensional parameters of the gantry crane, the danger envelope area is determined; Collect personnel location information and determine the hazard level based on the personnel location information and the hazard envelope area; The preset interlock control strategy for the gantry crane is executed according to the hazard level.

2. The method for protecting the slewing area of ​​a gantry crane as described in claim 1, characterized in that, The danger envelope region includes an effective envelope region and a safety margin region; wherein the process for determining the effective envelope region includes: Using the pre-calibrated slewing center of the gantry crane as the center of a circle, with the center of the circle as the origin of the coordinate system and the gantry crane track as the X-axis, establish a plane coordinate system parallel to the horizontal ground. The effective operating radius of the gantry crane is determined based on real-time pose data and structural dimension parameters. Determine the effective envelope area of ​​the gantry crane's current state based on the center of the circle and the effective operating radius.

3. The method for protecting the slewing area of ​​a gantry crane as described in claim 2, characterized in that, The process for determining the safety margin region is as follows: after expanding the effective envelope region outward at equal intervals according to a set distance, the safety margin region is obtained.

4. The method for protecting the slewing area of ​​a gantry crane as described in claim 3, characterized in that, The methods for determining the danger level based on personnel location information and danger envelope area include: When the location information of personnel is within the safety margin area and the duration of personnel stay exceeds the preset duration, it is determined to be an alarm danger level; When the personnel location information is within the effective envelope area, it is determined to be a locked danger level.

5. The method for protecting the slewing area of ​​a gantry crane as described in claim 4, characterized in that, The process of implementing the preset interlock control strategy of the gantry crane according to the hazard level includes: When the alarm is deemed to be at a dangerous level, an audible and visual alarm is issued, and a pose constraint is generated based on the real-time pose data of the gantry crane. The pose constraint aims to prevent the effective envelope area from expanding. When the hazard level is determined to be locked, the gantry crane is locked.

6. The method for protecting the slewing area of ​​a gantry crane as described in claim 2, characterized in that, The methods for collecting personnel location information include: Collect video data of the slewing area of ​​the gantry crane; The video data is analyzed frame by frame to obtain the detection box of the person target in each frame image; Referring to the planar coordinate system, obtain the projection position information of the detection box of the personnel target in the planar coordinate system, which is used as the personnel position information.

7. The method for protecting the slewing area of ​​a gantry crane as described in claim 6, characterized in that, The methods for collecting personnel location information also include: Three positioning anchor points are set up in the slewing area of ​​the gantry crane, and the coordinates of the positioning anchor points are written into the plane coordinate system. After a person wears an ultra-wideband tag, when the positioning anchor point receives a pulse emitted by the ultra-wideband tag, it obtains the person's positioning information in the planar coordinate system, which is used as the person's location information.

8. The method for protecting the slewing area of ​​a gantry crane as described in claim 7, characterized in that, After obtaining the projection position information and the location information, one of the projection position information and the location information is selected as the personnel location information according to the preset judgment logic; The preset judgment logic includes: The image confidence score is obtained from each frame of the video data. It is then determined whether the image confidence score is greater than the first preset threshold. If so, the projection position information is used as the personnel position information. Otherwise, based on the coordinates of the three positioning anchor points, the positioning information coordinates, the arrival time of the pulse, and the actual intensity of the received pulse, the positioning confidence is obtained, and it is determined whether the positioning confidence is greater than the second preset threshold. If so, the positioning information is used as the personnel location information. Otherwise, issue an on-site verification instruction to notify staff to conduct an on-site verification.

9. A protective device for the slewing area of ​​a gantry crane, characterized in that, The gantry crane slewing area protection device includes a processor, a memory, and a gantry crane slewing area protection program stored in the memory and executable by the processor, wherein when the gantry crane slewing area protection program is executed by the processor, it implements the steps of the gantry crane slewing area protection method as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a gantry crane slewing area protection program, wherein when the gantry crane slewing area protection program is executed, it implements the steps of the gantry crane slewing area protection method as described in any one of claims 1 to 8.

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