The invention provides a gantry crane lifting appliance for protection in the lowering process and a protection method thereof, and belongs to the technical field of port automation equipment, a steel wire rope is located between a gantry crane body and the lifting appliance, and the gantry crane body controls the steel wire rope to be wound and unwound through a PLC, so that lifting of the lifting appliance is achieved; the PLC judges whether the lifting appliance descends or not and judges the horizontal movement of the lifting appliance according to a result given by a descending protection algorithm; the plurality of laser radars are fixedly arranged on the lifting appliance lower frame, at least one laser radar is arranged on each side face of the lifting appliance lower frame, the laser radars in the long side direction of the plurality of laser radars conduct scanning in the running direction of a gantry crane cart, and the laser radars in the short side direction of the plurality of laser radars conduct scanning in the running direction of the gantry crane cart; wherein the plurality of laser radars of the lifting appliance lower frame are not limited to single-line, multi-line and area array laser radars. According to the invention, the lower part of the lifting appliance is scanned in real time through the single-line or multi-line or area array laser radar mounted on the lifting appliance lower frame to obtain point cloud data, and whether collision occurs in the lifting appliance lowering process is pre-judged in advance by utilizing a point cloud algorithm, so that an omnibearing real-time protection function in the lifting appliance lowering process is realized.
本发明提出了一种下放过程中进行防护的龙门吊吊具及其防护方法,属于港口自动化设备技术领域,钢丝绳位于龙门吊主体与吊具之间,龙门吊主体通过PLC控制器控制钢丝绳的收放,实现吊具的升降;PLC控制器根据下降防护算法给出的结果判断吊具是否下降及吊具的水平移动;若干激光雷达固定设置在吊具下架上,吊具下架每个侧面至少设置一个激光雷达,若干激光雷达中长边方向的激光雷达沿龙门吊大车运行方向进行扫描,短边方向的激光雷达沿着龙门吊小车运行方向进行扫描;其中,吊具下架的若干激光雷达不局限于单线、多线、面阵激光雷达。本发明通过吊具下架上安装的单线或多线或面阵激光雷达对吊具下方进行实时扫描获取点云数据,利用点云算法提前预判吊具下放过程中是否会发生碰撞,实现了吊具下放过程的全方位实时防护功能。
Gantry crane lifting appliance for protection in lowering process and protection method of gantry crane lifting appliance
一种下放过程进行防护的龙门吊吊具及其防护方法
2022-12-06
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |