The invention relates to a lifting appliance lifting anomaly detection method, a crane control system and a container crane, the lifting appliance lifting anomaly detection method is applied to the crane control system, the system comprises a plurality of scanning devices uniformly distributed on at least one group of diagonal positions of a lifting appliance, and the scanning devices are used for scanning a target area; the method comprises the steps that if the lifting height of a lifting appliance meets a first threshold value, point cloud data of a target area are obtained through a scanning device; the actual lifting height of the container is determined through the point cloud data; the difference value between the lifting height of the lifting appliance and the actual lifting height is calculated, and whether the difference value is larger than a preset threshold value or not is judged; if the difference value is larger than the preset threshold value, it is determined that lifting of the lifting appliance is abnormal; otherwise, it is determined that lifting of the lifting appliance is not abnormal. Therefore, whether the container is completely separated from the F-TR lock or not can be accurately judged, and the safety of the crane when the container is separated from the F-TR lock is improved.
本申请涉及一种吊具起升异常检测方法、起重机控制系统及集装箱起重机,吊具起升异常检测方法应用于起重机控制系统,该系统包括多个均匀分布在吊具的至少一组对角位置的扫描装置,扫描装置用于对目标区域进行扫描;该方法包括:若吊具起升高度满足第一阈值,则通过扫描装置获取目标区域的点云数据;通过点云数据确定集装箱的实际起升高度;计算吊具起升高度与实际起升高度之间的差值,并判断差值是否大于预设阈值;若存在差值大于预设阈值,则确定吊具起升存在异常;反之,则确定吊具起升不存在异常。如此,可以准确判断出集装箱是否完全脱离了F‑TR锁,提升了起重机在执行集装箱脱离F‑TR锁时的安全性。
Lifting appliance lifting anomaly detection method, crane control system and container crane
吊具起升异常检测方法、起重机控制系统及集装箱起重机
2023-10-13
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
Lifting appliance lifting method, lifting appliance and crane
European Patent Office | 2022
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