A monorail hydraulic automatic identification clamping system and method and a storage medium thereof

Abstract

The present application relates to the technical field of machine vision recognition, in particular to a monorail crane hydraulic automatic recognition and clamping system and method and a storage medium thereof; on the basis of automatic recognition of the load and dynamic pressure regulation, an environment perception control module is additionally provided. The module monitors the track foreign matter and the mine tunnel condition in real time through vision, when the risk of emergency braking is identified, the emergency braking and the clamping force pre-tightening enhancement are triggered synchronously; when the risk of bumping is identified, the shaking is predicted and the clamping force dynamic adaptation instruction is generated. The dynamic pressure regulation module switches to the dynamic cooperative mode on the basis of static self-adaptation, actively offsets the inertial impact or conforms to the bumping vibration; the safety control of the monorail crane is extended from the clamping process to the whole process of running, the intelligent cooperation of load recognition, environment perception, walking control and clamping regulation is realized, and the safety of the equipment and the load under complex dynamic working conditions is significantly improved.

Description

Technical Field

[0001] This invention relates to the field of machine vision recognition technology, specifically to a hydraulic automatic recognition and clamping system, method, and storage medium for a monorail crane. Background Technology

[0002] In scenarios such as mine transportation, monorails face dynamic and unstructured harsh environments. Existing technologies mainly focus on the identification and clamping of the load itself, which is a static or quasi-static operation optimization, lacking the ability to perceive and respond to risks in the operating environment. In actual operation, monorails may encounter sudden situations such as foreign objects on the track or local collapses, requiring emergency braking. The huge inertial force generated by sudden braking will impact the clamping system, which may lead to clamping failure (load slippage) or overload (damage to the clamping mechanism or load). In addition, the bumps generated when passing through track joints or small foreign objects will also cause instantaneous fluctuations in clamping force, posing a safety hazard. Currently, there is no publicly available technical solution that can integrate environmental visual perception, travel safety decision-making, and millisecond-level dynamic collaborative adjustment of clamping force to form an integrated intelligent system that adaptively protects the load and equipment under all working conditions of movement, sudden braking, and bumps. In view of this, in order to overcome the above-mentioned technical problems, the present invention proposes a hydraulic automatic identification and clamping system, method and storage medium for monorail cranes. Summary of the Invention

[0003] To overcome the shortcomings of existing technologies, this invention proposes a hydraulic automatic identification and clamping system, method and storage medium for monorail cranes. By expanding the visual perception range, it can monitor the mine tunnel and track status in real time, and innovatively introduces an environmental perception control module. When anticipating or encountering working conditions such as sudden braking or bumps, it can dynamically adjust the clamping force in advance or synchronously, realizing intelligent coordination between the clamping system and the walking system, thereby ensuring load safety, equipment safety and operational safety in complex dynamic environments. The present invention discloses a hydraulic automatic identification and clamping system for a monorail crane. The system is mounted on the monorail crane and integrated into a central controller, comprising: The image acquisition module is used to simultaneously acquire images of the load and the track and mine environment in the direction of travel; The recognition module, connected to the image acquisition module, is used to recognize the load profile and calculate the optimal clamping point coordinates and the initial clamping reference pressure. The environmental perception and control module is connected to the image acquisition module and the walking drive controller. It is used to analyze environmental images to identify foreign objects on the track and risks in the mine. When a sudden braking risk is identified, it generates a synchronous sudden braking command and a clamping force pre-tightening enhancement command. When a bump risk is identified, it generates a dynamic adaptation command sequence for clamping force. A trajectory planning module, connected to the recognition module, is used to plan the motion trajectory to the optimal clamping point; The clamping control module is connected to the trajectory planning module, the dynamic pressure adjustment module, and the environmental perception control module. It is used to execute trajectory commands and integrate clamping force adjustment commands and coordination commands. The dynamic pressure adjustment module is connected to the clamping control module, the identification module and the environmental perception control module. It has a static adaptive mode and a dynamic cooperative mode. It is used to dynamically adjust the clamping force in response to the pre-tightening command or the dynamic adaptation command sequence. The monitoring module connects to other modules and is used for global monitoring and execution of security policies.

[0004] Preferably, the image acquisition module controls at least one set of cameras for load identification and at least one camera for environmental monitoring, and performs illumination compensation and distortion correction preprocessing on all images.

[0005] Preferably, the environmental perception and control module identifies the three-dimensional dimensions of foreign objects on the track and the deformation anomalies of the mine tunnel roof by analyzing environmental image sequences.

[0006] Preferably, when the environmental perception control module identifies a risk requiring emergency braking, it calculates the inertial impact force based on the current vehicle speed, estimated load mass, and deceleration model, and generates the clamping force pre-tightening enhancement command accordingly.

[0007] Preferably, when the environmental perception control module identifies a passable foreign object on the track, it predicts the bump curve based on the size of the foreign object, its speed, and a dynamic model, and generates the dynamic adaptation command sequence for the clamping force accordingly.

[0008] Preferably, in dynamic cooperative mode, the dynamic pressure regulation module performs high-bandwidth pressure closed-loop tracking control based on the target set by the pre-tightening enhancement command or dynamic adaptation command sequence.

[0009] Preferably, the clamping control module has an instruction priority arbitration logic to ensure that the instructions issued by the environmental perception control module have the highest execution priority.

[0010] Preferably, the environmental perception control module controls the timing of the execution of the clamping force pre-tightening enhancement command, so that it is executed synchronously with or slightly ahead of the emergency braking command.

[0011] Preferably, the environmental perception control module also identifies the material characteristics of foreign objects through image analysis, and corrects the bump prediction curve based on the material characteristics to generate a more accurate dynamic adaptation command sequence for clamping force.

[0012] A method for automatic hydraulic identification and clamping of a monorail crane, comprising the following steps: S1: Simultaneously acquire load images and images of the track environment ahead through the image acquisition module; S2: Through the identification module, analyze the load image and calculate the optimal clamping point and initial pressure; S3: Analyze environmental images and identify risks through the environmental perception control module; if an emergency braking risk is identified, execute the following steps; predict the impact force and generate a clamping force pretensioning command, and simultaneously send the emergency braking command and the pretensioning command; if a bump risk is identified, execute the following steps; predict the bump curve and generate a clamping force adaptation command sequence. S4: The clamping mechanism is controlled to complete positioning and clamping through the clamping trajectory planning and clamping control module; S5: Through the dynamic pressure regulation module, based on static adaptive regulation, it responds to and executes the cooperative control command in S3; S6: Through the monitoring module, it monitors the entire process and executes global security policies.

[0013] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a hydraulic automatic identification and clamping method for a monorail crane.

[0014] The beneficial effects of this invention are as follows: This invention extends the visual perception range from the load to the entire travel environment, enabling proactive identification of operational risks such as foreign objects on the track and deformation of the mine tunnel, and advancing the starting point of safety protection from contact with the load to the start of travel; it establishes a closed-loop coordination of environmental perception, travel control, and clamping adjustment; in emergency braking conditions, it achieves synchronous or slightly advanced execution of clamping force enhancement and braking action, using active hydraulic preload to counteract passive inertial impact, fundamentally solving the problem of load slippage or structural impact caused by emergency braking; This invention uses visual recognition to identify foreign objects and predict bumps, enabling the clamping system to prepare in advance, much like an active suspension. The clamping force is dynamically and smoothly adjusted based on the predicted vibration curve, preventing instability due to loosening caused by bumps and avoiding impact damage caused by rigid clamping, thus protecting the load and clamping mechanism. The dynamic pressure adjustment module has two modes: static adaptive and dynamic collaborative, which can be seamlessly switched. It simultaneously addresses the stability requirements of the load itself and the impact of external environmental disturbances, providing more comprehensive control and a higher level of intelligence. Attached Figure Description

[0015] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0016] Figure 1 This is a flowchart of the system in this invention; Figure 2 This is a flowchart of the method in this invention; Figure 3 This is a flowchart of the method in this invention; Figure 4This is a flowchart illustrating the handling of two typical risks in this invention: sudden braking and bumpy ride. Figure 5 This is a flowchart of the control mode switching of the dynamic pressure regulation module in this invention. Detailed Implementation

[0017] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0018] like Figure 1-5 As shown, the present invention discloses a hydraulic automatic identification and clamping system for a monorail crane. The system is installed on the monorail crane and integrated into a central controller, comprising: The image acquisition module is used to simultaneously acquire images of the load and the track and mine environment in the direction of travel; The recognition module, connected to the image acquisition module, is used to recognize the load profile and calculate the optimal clamping point coordinates and the initial clamping reference pressure. The environmental perception and control module is connected to the image acquisition module and the walking drive controller. It is used to analyze environmental images to identify foreign objects on the track and risks in the mine. When a sudden braking risk is identified, it generates a synchronous sudden braking command and a clamping force pre-tightening enhancement command. When a bump risk is identified, it generates a dynamic adaptation command sequence for clamping force. A trajectory planning module, connected to the recognition module, is used to plan the motion trajectory to the optimal clamping point; The clamping control module is connected to the trajectory planning module, the dynamic pressure adjustment module, and the environmental perception control module. It is used to execute trajectory commands and integrate clamping force adjustment commands and coordination commands. The dynamic pressure adjustment module is connected to the clamping control module, the identification module and the environmental perception control module. It has a static adaptive mode and a dynamic cooperative mode. It is used to dynamically adjust the clamping force in response to the pre-tightening command or the dynamic adaptation command sequence. The monitoring module connects to other modules and is used for global monitoring and execution of security policies.

[0019] In one embodiment of the present invention, the image acquisition module controls at least one set of cameras for load identification and at least one camera for environmental monitoring, and performs illumination compensation and distortion correction preprocessing on all images.

[0020] In one embodiment of the present invention, the environmental perception control module identifies the three-dimensional dimensions of foreign objects on the track and the deformation anomalies of the mine tunnel roof by analyzing environmental image sequences.

[0021] As one embodiment of the present invention, when the environmental perception control module identifies a risk requiring emergency braking, it calculates the inertial impact force based on the current vehicle speed, estimated load mass, and deceleration model, and generates the clamping force pre-tightening enhancement command accordingly.

[0022] Preferably, when the environmental perception control module identifies a passable foreign object on the track, it predicts the bump curve based on the size of the foreign object, its speed, and a dynamic model, and generates the dynamic adaptation command sequence for the clamping force accordingly.

[0023] As one embodiment of the present invention, the dynamic pressure regulation module, in dynamic cooperative mode, performs high-bandwidth pressure closed-loop tracking control based on the target set by the pre-tightening enhancement command or dynamic adaptation command sequence.

[0024] As one embodiment of the present invention, the clamping control module is equipped with instruction priority arbitration logic to ensure that the instructions issued by the environmental perception control module have the highest execution priority.

[0025] In one embodiment of the present invention, the environmental perception control module controls the timing of the execution of the clamping force pre-tightening enhancement command, so that it is executed synchronously with or slightly ahead of the emergency braking command.

[0026] As one embodiment of the present invention, the environmental perception control module also identifies the material characteristics of foreign objects through image analysis, and corrects the bump prediction curve based on the material characteristics to generate a more accurate dynamic adaptation command sequence for clamping force.

[0027] A method for automatic hydraulic identification and clamping of a monorail crane, comprising the following steps: S1: Simultaneously acquire load images and images of the track environment ahead through the image acquisition module; S2: Through the identification module, analyze the load image and calculate the optimal clamping point and initial pressure; S3: Analyze environmental images and identify risks through the environmental perception control module; if an emergency braking risk is identified, execute the following steps; predict the impact force and generate a clamping force pretensioning command, and simultaneously send the emergency braking command and the pretensioning command; if a bump risk is identified, execute the following steps; predict the bump curve and generate a clamping force adaptation command sequence. S4: The clamping mechanism is controlled to complete positioning and clamping through the clamping trajectory planning and clamping control module; S5: Through the dynamic pressure regulation module, based on static adaptive regulation, it responds to and executes the cooperative control command in S3; S6: Through the monitoring module, it monitors the entire process and executes global security policies.

[0028] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a hydraulic automatic identification and clamping method for a monorail crane.

[0029] Working principle: like Figure 1 As shown, this system is integrated into the central controller (such as a high-performance industrial computer) of the monorail crane in the form of a software module. This controller also communicates at high speed with the travel drive servo controller and the hydraulic valve island controller via industrial Ethernet (such as EtherCAT). In this invention, the image acquisition module manages two types of visual sensors in a unified manner. For the load recognition camera group, it sends a hardware synchronization trigger signal to ensure spatiotemporal alignment of multi-view images. For the environmental monitoring camera, it is set to continuous acquisition mode, with the frame rate matching the maximum travel speed of the monorail crane to ensure sufficient forward-looking distance and recognition accuracy. The module performs standardized preprocessing on all acquired images (such as illumination normalization, fog and dust attenuation compensation, and distortion correction) to form a high-quality image data stream. It constructs an all-round visual perception network covering the load, clamping point, track, and tunnel, providing unified and reliable raw data for subsequent recognition and collaborative control. The identification module accurately extracts the three-dimensional contour and calculates the clamping points from the preprocessed load image, providing the entire system with basic characteristic parameters of the work object (coordinates, reference pressure, estimated mass); these parameters are important inputs for calculating inertial impact force and assessing risk level in environmental collaborative control; The environmental perception and control module is divided into two parts: risk identification and command generation. Risk identification: The module continuously analyzes images transmitted from environmental monitoring cameras; for foreign objects on the track, the outline of the foreign object is identified through background subtraction and feature extraction, and its height and width are calculated using binocular vision or structured light ranging principles; for mine tunnel collapse, abnormal deformation such as roof subsidence and crack expansion is identified by comparing real-time images with pre-stored safe roadway models (or by analyzing the continuity of the roof outline and the integrity of the support structure); To address the risk of sudden braking: When a major hazard requiring immediate stopping is detected (such as a large-scale collapse ahead), the module estimates the mass m based on the current vehicle speed v, the load, and the system's preset maximum safe deceleration. Calculate the maximum inertial impact force that may be generated by emergency braking. Subsequently, two levels of instructions are immediately generated: the first level is an emergency braking instruction sent to the travel drive controller, which includes the target deceleration; the second level is a clamping force preload enhancement instruction sent to the dynamic pressure adjustment module, which includes a target pressure increment ΔP, based on... The clamping arm lever arm and friction coefficient are calculated to increase the clamping force to a safe level sufficient to offset its effects before the peak of the inertial force arrives.

[0030] To address the risk of bumps: When a passable foreign object is detected, the module, based on the object's height h, wheel diameter, suspension stiffness, and current vehicle speed v, queries a pre-set foreign object-vehicle speed-bump response database or a simplified dynamic model to predict an approximate curve (i.e., a bump curve) of the vertical acceleration of the vehicle body and clamping point over time when the wheel passes over the foreign object. Based on this curve, the module generates a dynamic adaptation command sequence for the clamping force. This sequence is a list of time-pressure target values, such as slightly increasing the pressure during the upward bump phase to prevent loosening, and appropriately reducing the pressure during the downward bump phase (the moment of weightlessness) to buffer the impact. This achieves a qualitative change from simply recognizing danger to a coordinated system response, giving the monorail a reflexive awareness of dynamic environmental risks and realizing proactive safety protection. The trajectory planning module is responsible for safe initial positioning. After the introduction of environmental perception, its planning process can take into account static obstacle information (such as identified fixed obstacles) provided by the environmental module, making the planning more comprehensive. The clamping control module receives instructions from three channels: trajectory instructions during the positioning phase, dynamic pressure adjustment instructions during the stabilization phase, and environmental coordination instructions under emergency conditions. The module has an internal instruction priority arbitration logic (typically: environmental coordination instructions > emergency safety instructions > dynamic adjustment instructions > positioning instructions). It is responsible for integrating these instructions and converting them into a unique, conflict-free control signal for the hydraulic servo valve. As the final execution point for all clamping-related instructions, it ensures the orderly and correct execution of control instructions under complex multi-tasking conditions. The dynamic pressure regulation module, in static adaptive mode, automatically activates when the pressure sensor detects that the jaws are in contact with the load and the pressure begins to rise. It first reads the initial clamping reference pressure provided by the identification module as the adjustment benchmark. During clamping, the module continuously reads the real-time values ​​from multiple pressure sensors installed in the jaws or the rodless chamber of the cylinder. If the pressure deviates from the target pressure range dynamically calculated based on load characteristics (such as the identified material type and estimated weight), the module immediately generates a pressure correction signal, fine-tuning the servo valve opening: increasing the opening to boost pressure when the pressure is too low, and decreasing the opening to relieve pressure when the pressure is too high. This is a continuous and rapid closed-loop feedback process, achieving adaptive and dynamic stability of the clamping force and compensating for load pressure. The system effectively mitigates the impact of factors such as compression and oil temperature changes, fundamentally solving the problem of inaccurate clamping force control and achieving an optimal balance between preventing slippage and avoiding pressure loss. In dynamic collaborative mode, when a pre-tightening enhancement command is received from the environmental sensing control module, the module immediately interrupts the current adjustment cycle, switches the target pressure setpoint to the current pressure + ΔP, and uses more aggressive control parameters (such as increasing the proportional gain) to rapidly increase the pressure to the new target. When a dynamic adaptation command sequence is received, the module uses this sequence as a target pressure curve that changes over time for high-bandwidth tracking control. This extends clamping force control from maintaining a steady state to tracking the dynamic process, enabling it to absorb external mechanical shocks and vibrations, making it a key execution link for protecting the load and the mechanism. In addition to monitoring the load clamping status and hydraulic parameters, the monitoring module also receives risk identification results and collaborative control command status from the environmental perception module in real time. For example, during emergency braking coordination, it checks whether the emergency braking command has been executed and whether the clamping force preload has reached the target within the expected time. If any link fails or the deviation exceeds the limit, the collaborative control is deemed to have failed, and a higher-level global safety strategy is immediately activated, such as triggering a system-level emergency stop and alarm. On top of the subsystem coordination, a global supervision and fallback safety layer is built, realizing defense in depth.

[0031] The clamping force pre-tightening enhancement command generated by the environmental perception control module is executed slightly earlier than or completely synchronously with the emergency braking command. Simultaneously with sending the emergency braking command to the travel drive controller (or with a slight adjustment of a few milliseconds based on communication delay), the environmental perception control module sends the pre-tightening command to the clamping control module. Since the hydraulic system requires a certain response time to build up pressure, and the mechanical brake's torque buildup also has a delay, this meticulous timing design aims to better match the increase in clamping force with the increase in inertial impact force in time, achieving the best counterbalancing effect. Through precise timing control, the collaborative protection effectiveness is maximized, avoiding the risk of instantaneous slippage caused by pressure buildup lag. Furthermore, when generating the dynamic adaptation command sequence for clamping force, the environmental perception and control module also corrects the bump prediction curve based on the material characteristics of the identified foreign object (determined by image texture analysis to be either rigid metal or loose coal). The module has pre-stored models of the transmission characteristics of different materials of foreign objects to the wheel. For example, rigid metal foreign objects will produce instantaneous sharp impacts, while loose coal will produce relatively gentle impacts. Based on the identified material, the module selects the appropriate model to fine-tune the amplitude and waveform of the bump curve, thereby generating more accurate clamping force adaptation commands. This further refines the pre-input of predictive control, making dynamic adaptation more accurate and reducing erroneous adjustments. The system also includes a host computer human-machine interface module that connects to all modules. It is used to display the fusion monitoring screen in real time (overlaying the load identification box, clamping point, environmental risk indicator, and track foreign object warning box on a unified interface), coordinate control status lights, compare the real-time clamping force curve with the target curve, and provide historical event playback and analysis functions. Specific application examples: Suppose a monorail crane equipped with this system is carrying a large hydraulic support and is traveling at a medium speed in a tunnel; Scenario 1: Sudden risk of roof collapse. The environmental monitoring camera detects continuous falling debris (signs of collapse) from the roof 20 meters ahead; the environmental perception control module immediately determines it as the highest level of risk and triggers the collaborative control process; it sends a maximum deceleration emergency braking command to the walking drive system; simultaneously, based on the current vehicle speed and the support mass, it calculates the required increase in clamping force and sends a pre-tightening enhancement command to the dynamic pressure adjustment module; the dynamic pressure adjustment module quickly increases the clamping force by 30%; subsequently, the vehicle body begins to brake suddenly, and the strong inertial force attempts to propel the support forward, but it is firmly locked by the pre-enhanced clamping force; the entire process is monitored by the status monitoring module, and after confirming that the clamping force is up to standard and there is no slippage, the system enters a safety holding state and alarms, awaiting manual handling of the emergency; Scenario 2: Passing through abandoned tools on the track; the environmental monitoring camera detects a wrench on the track ahead, calculates its height to be 5cm, and determines it to be a passable foreign object; based on the current vehicle speed, the module predicts that the wheel running over the wrench will produce a bump lasting about 0.3 seconds with two peaks; it generates a corresponding clamping force command sequence: a slight increase of 5% pressure just before contact, maintained at the first peak (impact), a transient decrease of 8% pressure at the trough (slight weightlessness), a further increase of 5% pressure at the second peak (rebound), and finally returns to normal; the hydraulic system precisely executes this sequence; as a result, the load experiences only slight, controllable vibration when passing through the foreign object, the clamping mechanism has no impact noise, the load has no slippage or damage, and passes smoothly.

[0032] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A hydraulic automatic identification and clamping system for a monorail crane, characterized in that, The system is mounted on a monorail and integrated into a central controller, and includes: The image acquisition module is used to simultaneously acquire images of the load and the track and mine environment in the direction of travel; The recognition module, connected to the image acquisition module, is used to recognize the load profile and calculate the optimal clamping point coordinates and the initial clamping reference pressure. The environmental perception and control module is connected to the image acquisition module and the walking drive controller. It is used to analyze environmental images to identify foreign objects on the track and risks in the mine. When a sudden braking risk is identified, it generates a synchronous sudden braking command and a clamping force pre-tightening enhancement command. When a bump risk is identified, it generates a dynamic adaptation command sequence for clamping force. A trajectory planning module, connected to the recognition module, is used to plan the motion trajectory to the optimal clamping point; The clamping control module is connected to the trajectory planning module, the dynamic pressure adjustment module, and the environmental perception control module. It is used to execute trajectory commands and integrate clamping force adjustment commands and coordination commands. The dynamic pressure adjustment module is connected to the clamping control module, the identification module and the environmental perception control module. It has a static adaptive mode and a dynamic cooperative mode. It is used to dynamically adjust the clamping force in response to the pre-tightening command or the dynamic adaptation command sequence. The monitoring module connects to other modules and is used for global monitoring and execution of security policies.

2. The hydraulic automatic identification and clamping system for a monorail crane according to claim 1, characterized in that, The image acquisition module controls at least one set of cameras for load identification and at least one camera for environmental monitoring, and performs illumination compensation and distortion correction preprocessing on all images.

3. The hydraulic automatic identification and clamping system for a monorail crane according to claim 1, characterized in that, The environmental perception and control module analyzes environmental image sequences to identify the three-dimensional dimensions of foreign objects on the track and abnormal deformation of the mine tunnel roof.

4. The hydraulic automatic identification and clamping system for a monorail crane according to claim 1, characterized in that, When the environmental perception and control module identifies a risk requiring emergency braking, it calculates the inertial impact force based on the current vehicle speed, estimated load mass, and deceleration model, and generates the clamping force pre-tightening enhancement command accordingly.

5. The hydraulic automatic identification and clamping system for a monorail crane according to claim 1, characterized in that, When the environmental perception and control module identifies a passable foreign object on the track, it predicts the bump curve based on the size of the foreign object, its speed, and the dynamic model, and generates the dynamic adaptation command sequence for the clamping force accordingly.

6. The hydraulic automatic identification and clamping system for a monorail crane according to claim 1, characterized in that, In dynamic cooperative mode, the dynamic pressure regulation module performs high-bandwidth pressure closed-loop tracking control based on the target set by the pre-tightening enhancement command or dynamic adaptation command sequence.

7. The hydraulic automatic identification and clamping system for a monorail crane according to claim 6, characterized in that, The clamping control module has an internal instruction priority arbitration logic to ensure that the instructions issued by the environmental perception control module have the highest execution priority.

8. The hydraulic automatic identification and clamping system for a monorail crane according to claim 4, characterized in that, The environmental perception control module controls the timing of the execution of the clamping force pre-tightening enhancement command, so that it is executed synchronously with or slightly ahead of the emergency braking command.

9. A hydraulic automatic identification and clamping system for a monorail crane according to claim 5, characterized in that, The environmental perception and control module also identifies the material characteristics of foreign objects through image analysis and corrects the bump prediction curve based on the material characteristics to generate a more accurate dynamic adaptation command sequence for clamping force.

10. A hydraulic automatic identification and clamping method for a monorail crane, characterized in that, The steps for a hydraulic automatic identification and clamping system for a monorail crane as described in any one of claims 1-9 are as follows: S1: Simultaneously acquire load images and images of the track environment ahead through the image acquisition module; S2: Through the identification module, analyze the load image and calculate the optimal clamping point and initial pressure; S3: Analyze environmental images and identify risks through the environmental perception control module; if an emergency braking risk is identified, execute the following steps; predict the impact force and generate a clamping force pretensioning command, and simultaneously send the emergency braking command and the pretensioning command; if a bump risk is identified, execute the following steps; predict the bump curve and generate a clamping force adaptation command sequence. S4: The clamping mechanism is controlled to complete positioning and clamping through the clamping trajectory planning and clamping control module; S5: Through the dynamic pressure regulation module, based on static adaptive regulation, it responds to and executes the cooperative control command in S3; S6: Through the monitoring module, it monitors the entire process and executes global security policies.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements a hydraulic automatic identification and clamping method for a monorail crane as described in any one of claims 1-9.

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