CN117208764A - Portal crane operation monitoring method, system and application thereof - Google Patents
Portal crane operation monitoring method, system and application thereof Download PDFInfo
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Abstract
The invention discloses a gantry crane operation monitoring method, a system and application thereof, the technical scheme is characterized in that task instructions of a gantry crane are analyzed to obtain expected working parameter information and expected movement track information of the gantry crane, on the basis, the working parameters and positions of the gantry crane are further monitored during formal working, and then the gantry crane is compared with the expected working parameter information and the expected movement track information to acquire whether the gantry crane is obviously abnormal during operation, so that early warning feedback is realized, an expected movement track area of the gantry crane is monitored in an image mode, whether object movement interference is possibly detected and eliminated during operation of the gantry crane is ensured for reliable operation of the gantry crane, abnormal sounds during gantry crane are monitored in an audio monitoring mode, and high-frequency abnormal sounds are fed back for early warning.
Description
Technical Field
The invention relates to the technical field of crane monitoring, in particular to a gantry crane operation monitoring method, a gantry crane operation monitoring system and application thereof.
Background
The gantry crane is used as one of the crane devices widely applied, in the cargo transportation of the port and dock, the gantry crane bears important transferring work, however, due to the fact that the working environment of the dock is changeable, the gantry crane always faces bad weather factors such as rainwater, strong wind and the like, and in the working process, expected control parameters of the gantry crane are fluctuated due to factors such as rainwater, strong wind and the like, for example, the expected time and travel of braking and acceleration are affected to a certain extent, although some documents in the prior art disclose the parameters in the working process of the gantry crane, and then whether to output early warning is judged according to the threshold value of the operating parameters, so that the abnormal work of the gantry crane is monitored, but the scheme only monitors the surface parameters, the abnormal work of the gantry crane is prevented by further multiplexing data in the monitoring process or combining multiple data, and the problem that the gantry crane is large in volume and heavy in weight is also caused by the transferred object is not caused, if the abnormal work of the gantry crane is prevented in advance or early warning is not carried out in time, the problem that the abnormal work of the gantry crane is easy, and the abnormal work of the equipment and the personnel in the place is very great safety hazard is brought to the real time, so that the abnormal work is reliably and has practical significance to the abnormal work.
Disclosure of Invention
Therefore, the invention aims to provide a gantry crane operation monitoring method, a gantry crane operation monitoring system and application thereof, wherein the gantry crane operation monitoring method is reliable and flexible to implement, high in feedback efficiency and good in reference.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
the utility model provides a gantry crane operation monitoring method, all be equipped with the positioning unit that is used for fixing a position its place on gantry crane's the portal frame both sides, load dolly and the lifting hook subassembly, the both sides that correspond the portal frame on the working field of gantry crane are equipped with the track, the both sides lower extreme of portal frame is connected with the track through translation drive assembly respectively, and is moved on the track by translation drive assembly drive portal frame, operation monitoring method includes:
acquiring a task instruction, acquiring target position information and to-be-transferred object information of the gantry crane according to the task instruction, and generating expected working parameter information and expected movement track information according to the target position information and the to-be-transferred object information;
responding to a working starting signal of the gantry crane, and monitoring working parameters of the gantry crane in real time to generate working parameter monitoring information;
acquiring position information of two sides of a portal frame of a portal crane, a load trolley and a lifting hook assembly in real time, and generating position monitoring information;
and acquiring working parameter monitoring information and/or position monitoring information, comparing the working parameter monitoring information and/or position monitoring information with expected working parameter information and/or expected movement track information, and outputting early warning information and/or operation intervention information according to a comparison result.
As a possible implementation manner, the information of the object to be transferred in this embodiment further includes specification, weight, position information when the object to be transferred is not lifted and target position information to be transferred;
the target position information of the gantry crane comprises first target position information and second target position information, wherein the first target position information is position information when an object to be transferred is not lifted by the lifting hook assembly, and the second target position information is target position information to be transferred after the object to be transferred is lifted.
As a preferred implementation option, preferably, the solution further includes:
acquiring wind speed and/or rainfall information of a working site where the gantry crane is positioned in real time, and generating meteorological monitoring information;
and adjusting the limiting threshold value of the working parameters of the gantry crane according to the weather monitoring information and the preset conditions and/or intervening the working parameters of the gantry crane.
As a preferred implementation choice, preferably, the working parameters in this scheme are the moving speed and moving acceleration of the load trolley, the lifting speed and lifting load of the lifting hook assembly, and the moving speed and moving acceleration of the translation driving assembly.
As a preferred implementation option, the manner in which the present solution intervenes on the operational parameters of the gantry crane includes reducing the movement speed, movement acceleration or braking of the trolley, the translational drive assembly to a stop, reducing the lifting speed of the hook assembly or stopping the lifting.
As a preferred implementation option, preferably, the solution further includes:
according to the expected movement track information, acquiring images of a preset area of a working site where the gantry crane is located, enabling images of the expected working track area of the gantry crane in the working site where the gantry crane is located to be in a monitoring state, and generating image monitoring data;
acquiring image monitoring data, positioning elements in the image monitoring data to generate positioning information, then matching the positioning information with expected movement track information corresponding to the gantry crane to acquire whether elements interfering with the expected movement track information exist in the image monitoring data, and generating early warning information when the elements interfering with the expected movement track information exist.
As a preferred implementation option, preferably, when the early warning information is generated, the method also identifies the element interfering with the expected movement track information to obtain whether the element is a living or non-living element,
when the active element is a living element, playing sound and light early warning information on a portal crane working site, and simultaneously generating data early warning information and feeding the data early warning information back to a background management server;
when the non-living element is the non-living element, data early warning information is generated and fed back to the background management server, meanwhile, the background management server sends the position information of the non-living element to the field supervision terminal, and field maintenance personnel acquire the position of the non-living element and execute the elimination work through the field supervision terminal.
As a preferred implementation choice, preferably, the method locates elements in the image monitoring data through a trained locating neural network to generate locating information;
and identifying an element interfering with the expected movement track information through the trained detection neural network to acquire whether the element is a living or non-living element.
As a preferred implementation option, preferably, the solution further includes:
acquiring audio information of a translation driving assembly, a load trolley and a preset area of a lifting hook assembly of the gantry crane in real time, and respectively generating audio monitoring information;
correlating the position monitoring information corresponding to the two sides of the portal frame, the load trolley and the lifting hook component with the audio monitoring information;
judging a threshold value of the audio monitoring information, and generating an abnormal sound mark when the audio monitoring information is larger than the threshold value, wherein the abnormal sound mark is associated with a time node generated by the position monitoring information and the audio monitoring information correspondingly;
counting abnormal sound marks marked on the audio monitoring information within a preset time period respectively, generating abnormal sound early warning when the number of the abnormal sound marks within the preset time period is larger than the preset number, extracting data from the corresponding position monitoring information according to the abnormal sound marks, and outputting the abnormal sound early warning together with the abnormal sound early warning.
Based on the above, the invention also provides a gantry crane operation monitoring system, which comprises:
the positioning units are arranged on two sides of a portal frame of the portal crane, the load trolley and the lifting hook component;
the task analysis unit is used for acquiring task instructions, acquiring target position information and information of an object to be transported of the gantry crane according to the task instructions, and generating expected working parameter information and expected movement track information according to the target position information and the information of the object to be transported;
the working monitoring unit is used for responding to a working starting signal of the gantry crane, monitoring working parameters of the gantry crane in real time and generating working parameter monitoring information;
the position monitoring unit is used for acquiring the position information of the two sides of the portal frame of the portal crane, the load trolley and the lifting hook component in real time and generating position monitoring information;
the information processing unit is used for acquiring the working parameter monitoring information and/or the position monitoring information, comparing the working parameter monitoring information and/or the position monitoring information with the expected working parameter information and/or the expected movement track information, and outputting early warning information and/or operation intervention information according to a comparison result.
Based on the above, the invention also provides a port container crane operation monitoring method, which is applied to the gantry crane operation monitoring method.
By adopting the technical scheme, compared with the prior art, the invention has the beneficial effects that: according to the scheme, task instructions of the gantry crane are analyzed to obtain expected working parameter information and expected movement track information of the gantry crane, on the basis, working parameters and positions of the gantry crane are monitored when the gantry crane formally works, and then the working parameters and the positions of the gantry crane are compared with the expected working parameter information and the expected movement track information, so that whether the gantry crane has obvious abnormality in operation or not is known, and early warning feedback is achieved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic illustration of one example of a gantry crane as referred to in the present disclosure;
FIG. 2 is a schematic illustration of a simplified process flow for carrying out the method of the present invention;
FIG. 3 is a second schematic flow chart of a simplified implementation of the method of the present invention;
FIG. 4 is a schematic diagram of elements interfering with the information of the expected moving track in the image monitoring data of the method according to the present invention;
fig. 5 is a schematic diagram of connection of unit modules of the system according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is specifically noted that the following examples are only for illustrating the present invention, but do not limit the scope of the present invention. Likewise, the following examples are only some, but not all, of the examples of the present invention, and all other examples, which a person of ordinary skill in the art would obtain without making any inventive effort, are within the scope of the present invention.
As shown in fig. 1, in the operation monitoring method of the gantry crane according to the embodiment, positioning units 6 for positioning the positions of the gantry crane are respectively arranged on two sides of the gantry 1 of the gantry crane, the load trolley 2 and the lifting hook component 3, rails 5 are arranged on two sides of a working field of the gantry crane corresponding to the gantry 1, the lower ends of two sides of the gantry 1 are respectively connected with the rails 5 through translation driving components 4, the gantry 1 is driven to move on the rails 5 by the translation driving components 4, and the positioning units 6 are also arranged on the translation driving components, and in combination with the embodiment shown in fig. 2, the operation monitoring method comprises the following steps:
s01, acquiring a task instruction, acquiring target position information and information of an object to be transported of the gantry crane according to the task instruction, and generating expected working parameter information and expected movement track information according to the target position information and the information of the object to be transported;
s02, responding to a working starting signal of the gantry crane, and monitoring working parameters of the gantry crane in real time to generate working parameter monitoring information;
s03, acquiring position information of two sides of a portal frame of the portal crane, the load trolley and the lifting hook component in real time, and generating position monitoring information;
s04, acquiring working parameter monitoring information and/or position monitoring information, comparing the working parameter monitoring information and/or position monitoring information with expected working parameter information and/or expected movement track information, and outputting early warning information and/or operation intervention information according to a comparison result.
The information of the object to be transferred comprises the specification, the weight and the position information of the object to be transferred when the object to be transferred is not lifted and the target position information to be transferred;
in addition, the target position information of the gantry crane comprises first target position information and second target position information, wherein the first target position information is position information when an object to be transferred is not lifted by the lifting hook assembly, and the second target position information is target position information to which the object to be transferred needs to be transferred after being lifted.
According to the technical scheme, the target position information and the to-be-transported object information contained in the task instruction are combined with the current position of the gantry crane to obtain the expected working parameter information and the expected movement track information of the gantry crane in advance, and then the working parameter monitoring information and the position monitoring information in the running process of the subsequent gantry crane are respectively compared with the corresponding expected working parameter information and/or the corresponding expected movement track information by taking the expected working parameter information and the position monitoring information as references, so that whether the gantry crane is abnormal in the running process or not is known, and the working early warning is realized.
In addition, the wind speed and rainfall on the working site can also have adverse effects on the working condition of the gantry crane, and as a preferred implementation choice, the scheme further comprises:
a01, acquiring wind speed and/or rainfall information of a working site where the gantry crane is positioned in real time, and generating meteorological monitoring information;
a02, adjusting the limiting threshold value of the working parameter of the gantry crane and/or intervening the working parameter of the gantry crane according to the weather monitoring information and the preset condition.
Wherein, the steps A01 and A02 are monitoring steps which can be independently operated after the step S02; as a preferred implementation choice, preferably, the working parameters of the scheme are the moving speed and the moving acceleration of the load trolley, the lifting speed and the lifting load of the lifting hook component, and the moving speed and the moving acceleration of the translation driving component; meanwhile, the mode of the scheme for intervening the working parameters of the gantry crane comprises the steps of reducing the moving speed, the moving acceleration or the brake of the trolley and the translational driving assembly to stop, and reducing the lifting speed or stopping lifting of the lifting hook assembly.
As shown in fig. 4, since a gantry crane may have some obstacles on the moving track of the gantry crane when operating at a port and a dock, as a preferred implementation option, the scheme preferably further includes:
b01, acquiring images of a preset area of a working site where the gantry crane is located according to expected movement track information, enabling images of the expected working track area of the gantry crane in the working site where the gantry crane is located to be in a monitoring state, and generating image monitoring data;
and B02, acquiring image monitoring data, positioning elements in the image monitoring data to generate positioning information, then matching the positioning information with expected movement track information corresponding to the gantry crane to acquire whether elements interfering with the expected movement track information exist in the image monitoring data, and generating early warning information when the elements interfering with the expected movement track information exist.
Wherein, as a better implementation choice, preferably, when the scheme generates the early warning information, the element interfering with the expected movement track information is also identified to obtain whether the element is a living or non-living element,
when the active element is a living element, playing sound and light early warning information on a portal crane working site, and simultaneously generating data early warning information and feeding the data early warning information back to a background management server;
when the non-living element is the non-living element, data early warning information is generated and fed back to the background management server, meanwhile, the background management server sends the position information of the non-living element to the field supervision terminal, and field maintenance personnel acquire the position of the non-living element and execute the elimination work through the field supervision terminal.
In the aspect of element positioning and identification, as a better implementation choice, preferably, the method locates elements in the image monitoring data through a trained positioning neural network to generate positioning information; and identifying an element interfering with the expected movement track information through the trained detection neural network to acquire whether the element is a living or non-living element.
The technical scheme is ingenious, the image monitoring is carried out on the region in the running track of the gantry crane, and elements in the image are further positioned and identified, so that obstacles interfering the running of the gantry crane can be timely detected, positioned and eliminated, and the running of the gantry crane is safer and more reliable.
For some anomalies that are difficult to directly detect on the surface, they usually appear in the form of abnormal sounds, and as a preferred implementation option, the solution further includes:
c01, acquiring audio information of a translation driving assembly, a load trolley and a preset area of a lifting hook assembly of the gantry crane in real time, and respectively generating audio monitoring information;
c02, correlating the position monitoring information corresponding to the two sides of the portal frame, the load trolley and the lifting hook component with the audio monitoring information;
c03, judging a threshold value of the audio monitoring information, and generating an abnormal sound mark when the audio monitoring information is larger than the threshold value, wherein the abnormal sound mark is associated with a time node generated by the position monitoring information and the audio monitoring information correspondingly;
and C04, counting abnormal sound marks marked on the audio monitoring information within a preset time period respectively, generating abnormal sound early warning when the number of the abnormal sound marks within the preset time period is larger than the preset number, extracting data from the corresponding position monitoring information according to the abnormal sound marks, and outputting the abnormal sound early warning and the abnormal sound early warning.
Based on the above, the gantry crane operation monitoring method mentioned in this embodiment can be used for monitoring the operation of a port container crane.
As shown in fig. 5, based on the foregoing, the embodiment further provides a gantry crane operation monitoring system, which includes:
the positioning units are arranged on two sides of a portal frame of the portal crane, the load trolley and the lifting hook component;
the task analysis unit is used for acquiring task instructions, acquiring target position information and information of an object to be transported of the gantry crane according to the task instructions, and generating expected working parameter information and expected movement track information according to the target position information and the information of the object to be transported;
the working monitoring unit is used for responding to a working starting signal of the gantry crane, monitoring working parameters of the gantry crane in real time and generating working parameter monitoring information;
the position monitoring unit is used for acquiring the position information of the two sides of the portal frame of the portal crane, the load trolley and the lifting hook component in real time and generating position monitoring information;
the information processing unit is used for acquiring the working parameter monitoring information and/or the position monitoring information, comparing the working parameter monitoring information and/or the position monitoring information with the expected working parameter information and/or the expected movement track information, and outputting early warning information and/or operation intervention information according to a comparison result.
In addition, each functional unit in each embodiment of the present invention may be integrated in one processing unit, each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to execute all or part of the steps of the methods of the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing description is only a partial embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent devices or equivalent processes using the descriptions and the drawings of the present invention or directly or indirectly applied to other related technical fields are included in the scope of the present invention.
Claims (10)
1. The utility model provides a gantry crane operation monitoring method, all be equipped with the positioning unit that is used for fixing a position its place on gantry crane's the portal frame both sides, load dolly and the lifting hook subassembly, the both sides of corresponding portal frame on the working field of gantry crane are equipped with the track, the both sides lower extreme of portal frame is connected with the track through translation drive assembly respectively, and is moved on the track by translation drive assembly drive portal frame, its characterized in that, operation monitoring method includes:
acquiring a task instruction, acquiring target position information and to-be-transferred object information of the gantry crane according to the task instruction, and generating expected working parameter information and expected movement track information according to the target position information and the to-be-transferred object information;
responding to a working starting signal of the gantry crane, and monitoring working parameters of the gantry crane in real time to generate working parameter monitoring information;
acquiring position information of two sides of a portal frame of a portal crane, a load trolley and a lifting hook assembly in real time, and generating position monitoring information;
and acquiring working parameter monitoring information and/or position monitoring information, comparing the working parameter monitoring information and/or position monitoring information with expected working parameter information and/or expected movement track information, and outputting early warning information and/or operation intervention information according to a comparison result.
2. The gantry crane operation monitoring method according to claim 1, wherein the to-be-transported object information includes specification, weight, position information when the to-be-transported object is not lifted, and target position information to be transported;
the target position information of the gantry crane comprises first target position information and second target position information, wherein the first target position information is position information when an object to be transferred is not lifted by the lifting hook assembly, and the second target position information is target position information to be transferred after the object to be transferred is lifted.
3. The gantry crane operation monitoring method of claim 1, further comprising:
acquiring wind speed and/or rainfall information of a working site where the gantry crane is positioned in real time, and generating meteorological monitoring information;
and adjusting the limiting threshold value of the working parameters of the gantry crane according to the weather monitoring information and the preset conditions and/or intervening the working parameters of the gantry crane.
4. The gantry crane operation monitoring method according to claim 3, wherein the working parameters are the moving speed and the moving acceleration of the trolley, the lifting speed and the lifting load of the lifting hook assembly, and the moving speed and the moving acceleration of the translation driving assembly;
ways to intervene on the operational parameters of the gantry crane include reducing the movement speed, movement acceleration or braking of the trolley, translational drive assembly to a stop, reducing the lifting speed of the hook assembly or stopping the lifting.
5. The gantry crane operation monitoring method of claim 1, further comprising:
according to the expected movement track information, acquiring images of a preset area of a working site where the gantry crane is located, enabling images of the expected working track area of the gantry crane in the working site where the gantry crane is located to be in a monitoring state, and generating image monitoring data;
acquiring image monitoring data, positioning elements in the image monitoring data to generate positioning information, then matching the positioning information with expected movement track information corresponding to the gantry crane to acquire whether elements interfering with the expected movement track information exist in the image monitoring data, and generating early warning information when the elements interfering with the expected movement track information exist.
6. The gantry crane operation monitoring method of claim 5, wherein the early warning information is generated by identifying an element interfering with the expected movement track information to obtain whether the element is a living or non-living element,
when the active element is a living element, playing sound and light early warning information on a portal crane working site, and simultaneously generating data early warning information and feeding the data early warning information back to a background management server;
when the non-living element is the non-living element, data early warning information is generated and fed back to the background management server, meanwhile, the background management server sends the position information of the non-living element to the field supervision terminal, and field maintenance personnel acquire the position of the non-living element and execute the elimination work through the field supervision terminal.
7. The gantry crane operation monitoring method according to claim 6, wherein the elements in the image monitoring data are positioned through a trained positioning neural network to generate positioning information;
and identifying an element interfering with the expected movement track information through the trained detection neural network to acquire whether the element is a living or non-living element.
8. The gantry crane operation monitoring method of claim 1, further comprising:
acquiring audio information of a translation driving assembly, a load trolley and a preset area of a lifting hook assembly of the gantry crane in real time, and respectively generating audio monitoring information;
correlating the position monitoring information corresponding to the two sides of the portal frame, the load trolley and the lifting hook component with the audio monitoring information;
judging a threshold value of the audio monitoring information, and generating an abnormal sound mark when the audio monitoring information is larger than the threshold value, wherein the abnormal sound mark is associated with a time node generated by the position monitoring information and the audio monitoring information correspondingly;
counting abnormal sound marks marked on the audio monitoring information within a preset time period respectively, generating abnormal sound early warning when the number of the abnormal sound marks within the preset time period is larger than the preset number, extracting data from the corresponding position monitoring information according to the abnormal sound marks, and outputting the abnormal sound early warning together with the abnormal sound early warning.
9. Portal crane operation monitoring system, its characterized in that, it includes:
the positioning units are arranged on two sides of a portal frame of the portal crane, the load trolley and the lifting hook component;
the task analysis unit is used for acquiring task instructions, acquiring target position information and information of an object to be transported of the gantry crane according to the task instructions, and generating expected working parameter information and expected movement track information according to the target position information and the information of the object to be transported;
the working monitoring unit is used for responding to a working starting signal of the gantry crane, monitoring working parameters of the gantry crane in real time and generating working parameter monitoring information;
the position monitoring unit is used for acquiring the position information of the two sides of the portal frame of the portal crane, the load trolley and the lifting hook component in real time and generating position monitoring information;
the information processing unit is used for acquiring the working parameter monitoring information and/or the position monitoring information, comparing the working parameter monitoring information and/or the position monitoring information with the expected working parameter information and/or the expected movement track information, and outputting early warning information and/or operation intervention information according to a comparison result.
10. A method for monitoring the operation of a port container crane, characterized in that the method is applied to the operation monitoring method of a gantry crane according to one of claims 1 to 8.
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| CN202311379422.XA CN117208764A (en) | 2023-10-23 | 2023-10-23 | Portal crane operation monitoring method, system and application thereof |
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| CN202311379422.XA CN117208764A (en) | 2023-10-23 | 2023-10-23 | Portal crane operation monitoring method, system and application thereof |
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