CN112346444B

CN112346444B - Cone control method, device and system for intelligent construction site and computer equipment

Info

Publication number: CN112346444B
Application number: CN201910658254.5A
Authority: CN
Inventors: 刘洲; 龚强
Original assignee: Changsha Intelligent Driving Research Institute Co Ltd
Current assignee: Changsha Intelligent Driving Research Institute Co Ltd
Priority date: 2019-07-21
Filing date: 2019-07-21
Publication date: 2023-06-13
Anticipated expiration: 2039-07-21
Also published as: CN112346444A

Abstract

The application relates to a cone control method, a cone control device, a cone control system, computer equipment and a cone control storage medium for an intelligent construction site. The method comprises the following steps: when a planning path corresponding to a construction site moving object is obtained, cone barrel distribution information of a construction site system is obtained; dividing the planning paths according to cone distribution information to obtain planning sub-paths, and determining indication cones corresponding to the planning sub-paths respectively; generating cone indication control information of the indication cone according to the planned sub-path and the indication cone; and issuing a cone indication control message to the indication cone, wherein the cone indication control message is used for controlling the indication cone to carry out movement indication on the construction site moving object. By adopting the method, the control efficiency of the middle cone barrel of the intelligent construction site can be improved.

Description

Cone control method, device and system for intelligent construction site and computer equipment

Technical Field

The application relates to the technical field of computers, in particular to a cone control method, a cone control device, a cone control system, computer equipment and a storage medium for an intelligent construction site.

Background

With the development of computer technology, the internet+ is increasingly widely used in various industries of life and work, such as finance, smart city, communication, traffic, smart construction sites, and the like. The intelligent building site is a concrete implementation of the Internet + concept on the building site, and is a deep combination of the Internet + and the traditional building site management and control. In an intelligent worksite, the worksite is complex, and when movable objects in a worksite system, such as worksite operators, worksite vehicles and the like, move in the worksite, more potential safety hazards exist, so that the safety needs to be improved.

At present, can provide route indication for movable object through laying the awl bucket in the building site system, however traditional mode of laying by artifical awl bucket, awl bucket laying process is loaded down with trivial details, and the manpower is invested greatly, and is inefficiency to the control of awl bucket, can't satisfy the requirement of wisdom building site instantaneity.

Disclosure of Invention

In view of the foregoing, it is desirable to provide a method, apparatus, system, computer device, and storage medium for controlling a smart worksite that can improve the efficiency of controlling the tapered bucket in the smart worksite.

A method for controlling a cone of an intelligent worksite, the method comprising:

when a planning path corresponding to a construction site moving object is obtained, cone barrel distribution information of a construction site system is obtained;

dividing the planning paths according to cone distribution information to obtain planning sub-paths, and determining indication cones corresponding to the planning sub-paths respectively;

generating cone indication control information of the indication cone according to the planned sub-path and the indication cone;

and issuing a cone indication control message to the indication cone, wherein the cone indication control message is used for controlling the indication cone to carry out movement indication on the construction site moving object.

In one embodiment, before obtaining the cone bucket distribution information of the worksite system when obtaining the planned path corresponding to the moving object of the worksite, the method further includes:

When a path planning request message corresponding to the construction site moving object is obtained, determining a moving destination of the construction site moving object according to the path planning request message;

determining the current position of a moving object at a construction site;

acquiring a current movable map of a construction site, and dividing the current map of the construction site according to the acquired dangerous area identification result of the construction site;

and planning a path according to the current position, the moving destination and the current movable map of the construction site to obtain a planned path of the movable object of the construction site.

In one embodiment, before acquiring the current movable map of the worksite, the method further comprises:

acquiring a construction site dangerous area identification result and movable conditions corresponding to a construction site movable object;

determining an immovable area in the current building site map according to the building site dangerous area identification result and movable conditions;

and obtaining the movable map of the current construction site according to other areas except the immovable area in the map of the current construction site.

In one embodiment, before acquiring the cone distribution information of the construction site system, the method further comprises:

acquiring construction site operation distribution information preset by a construction site system;

Determining a cone barrel distribution area of the indicating cone barrel and the number of cone barrels in the cone barrel distribution area according to the construction site operation distribution information and the current construction site movable map;

and obtaining cone distribution information according to the cone distribution area and the cone number in the cone distribution area.

In one embodiment, dividing the planned path according to the cone-bucket distribution information to obtain planned sub-paths, and determining the indication cone-bucket corresponding to each of the planned sub-paths includes:

determining that a path which is passed by the planned path passes through the cone distribution area in the cone distribution area according to the planned path and cone distribution information;

dividing a planned path according to the paths passing through the cone distribution areas to obtain planned sub-paths in the planned path, wherein the planned sub-paths are indicated by the paths passing through the cone distribution areas;

determining the number of required indicating cone barrels according to the length of the planned sub-path;

and selecting the indicating cone barrels from the path passing cone barrel distribution areas according to the number of the indicating cone barrels.

In one embodiment, generating the cone indication control message indicating the cone according to the planned sub-path and the indication cone comprises:

determining indication destinations corresponding to the indication cones according to the planned sub-paths and the number of the indication cones;

Generating a cone moving path of the indicating cone according to the current position information of the indicating cone, the indicating destination and the current construction site movable map;

determining indication signal data corresponding to the indication cone barrel according to the planned sub-path and the indication destination;

and generating cone indication control information according to the cone movement path and the indication signal data.

In one embodiment, the indication signal data includes a display color, a blinking frequency, and a display image; according to the planned sub-path and the indication destination, determining the indication signal data corresponding to the indication cone comprises:

inquiring a preset cone indicating signal table;

determining path indication characteristics of the indication cone barrel according to the planned sub-path and the indication destination;

and inquiring to obtain display colors, flicker frequencies and display images corresponding to the path indication features from the cone indication signal table.

In one embodiment, after issuing the cone indication control message to the indication cone, the method further comprises:

when the indication cone is detected to finish moving indication, cone reset information is generated according to cone indication control information;

and sending cone barrel reset information to the indicating cone barrel, wherein the cone barrel reset information is used for controlling the indicating cone barrel to reset.

A cone control device for an intelligent worksite, the device comprising:

the cone barrel distribution acquisition module is used for acquiring cone barrel distribution information of the construction site system when a planning path corresponding to the construction site moving object is acquired;

the indicating cone determining module is used for dividing the planned path according to cone distribution information to obtain planned sub-paths and determining indicating cones corresponding to the planned sub-paths respectively;

the cone control message module is used for generating cone indication control messages of the indication cone according to the planned sub-paths and the indication cone;

and the cone bucket control processing module is used for issuing cone bucket indication control information to the indication cone bucket, wherein the cone bucket indication control information is used for controlling the indication cone bucket to carry out movement indication on a construction site moving object.

A cone control system for an intelligent construction site, the system comprising an indicating cone and a cone control device as described above; the indicating cone is in communication connection with a cone control processing module in the cone control device.

A computer device comprising a memory storing a computer program and a processor which when executing the computer program performs the steps of:

A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:

According to the intelligent construction site cone control method, device, system, computer equipment and storage medium, the corresponding indicating cone is determined according to the planning path corresponding to the construction site moving object and cone distribution information of the construction site system, cone indication control information indicating the cone is generated, the indicating cone is controlled to move and indicate the construction site moving object through the cone indication control information, and high-efficiency control of the indicating cone is achieved. In the control of the cone, the cone indication control information is directly obtained according to the planning path corresponding to the moving object of the construction site and cone distribution information of the construction site system to control the corresponding indication cone without needing to put a large amount of manpower for manual paving, so that the cone control process is simplified, and the control efficiency of the cone is improved.

Drawings

FIG. 1 is an application environment diagram of a cone control method of a smart worksite in one embodiment;

FIG. 2 is a flow chart of a method for controlling a cone of a smart worksite according to one embodiment;

FIG. 3 is a block diagram illustrating a schematic structure of a cone in one embodiment;

FIG. 4 is a schematic view of the embodiment of FIG. 3 showing the configuration of the cone;

FIG. 5 is a flow diagram of determining an indicating cone in one embodiment;

FIG. 6 is a block diagram of a cone control device for intelligent sites in one embodiment;

FIG. 7 is a block diagram of a cone control system for intelligent worksites in one embodiment;

fig. 8 is an internal structural diagram of a computer device in one embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

The intelligent construction site cone barrel control method can be applied to a construction site system application environment shown in fig. 1. The construction site object comprises a construction site fixed object and a construction site movable object, and the construction site fixed object comprises a tower crane, a building and the like; the field mobile objects include a cone 102, a field vehicle, a field operator, etc., and each of the field objects may communicate with the server 104 via a network, such as a 5G (5 th-Generation) network, based on a carried object terminal (not shown). Specifically, when the server 104 detects that the site moving object needs to be subjected to path planning, the server 104 further obtains cone distribution information of a site system after obtaining a planned path, divides the planned path according to the cone distribution information to obtain planned sub-paths, determines cones 102 corresponding to the planned sub-paths respectively, generates cone indication control information of the cones 102 according to the planned sub-paths and the cones 102, and controls the cones 102 to move the site moving object according to the cone indication control information, thereby realizing efficient control of the cones 102. The object terminal may be, but not limited to, various personal computers, notebook computers, smartphones, tablet computers, and portable wearable devices, and the server 104 may be implemented by a stand-alone server or a server cluster formed by a plurality of servers.

In one embodiment, as shown in fig. 2, a method for controlling a cone of an intelligent construction site is provided, and the method is applied to the server in fig. 1 for illustration, and includes the following steps:

step S201: and when the planning path corresponding to the moving object of the construction site is obtained, cone barrel distribution information of the construction site system is obtained.

The construction site moving object is a construction site object capable of moving in a construction site system, and specifically includes, but is not limited to, construction site vehicles such as cargo vehicles, control vehicles, engineering machinery and the like, as well as cones and construction site operators and the like. Typically, a worksite mobile object in a worksite system requests a server to perform path planning for the worksite mobile object by sending a path planning request message to the server, which may include, but is not limited to, a movement destination, i.e., a destination that the worksite mobile object needs to reach. When the server 104 determines that the site moving object in the site system needs to be moved, the server 104 may generate route planning trigger data corresponding to the site moving object and perform route planning processing. In concrete implementation, for the working personnel on the construction site, a communication device and a positioning device can be arranged on the safety helmet; for the cone barrel, a communication device, a sensing device, a positioning device and the like can be integrally arranged in a main body of the cone barrel, and the sensing device can be an ultrasonic radar for target detection; for the building site vehicle, can set up on-vehicle basic station, integrated perception equipment, like camera and radar, the radar type can be according to the vehicle type setting, and on-vehicle basic station also integrates positioner and communication device to can communicate with the server.

In this embodiment, the cone is used for the construction site system to mainly play a role in identification indication, and can be used as an indication cone for indication of movement when a construction site moving object moves; in addition, the cone may also be subjected to other marking operations, such as marking hazardous areas in the worksite system at fixed locations. The cone barrel distribution information is the distribution data of each cone barrel in the construction site system, and can specifically comprise the distribution area of the cone barrels, the number of the cone barrels in each distribution area and the like. When the method is specifically implemented, the cone barrels can be arranged according to the construction site operation distribution condition of the construction site system, the construction site system can be specifically divided according to the regional planning and the construction site construction state, for example, the construction site, the storage site and the like, the cone barrels are intensively arranged in a certain range of each division region, and the number of the cone barrels in each division region can be further determined according to the busyness degree. In a specific application, the cone is also used for identifying dangerous areas, namely, the cone is arranged for identification indication in the area where the moving object of the construction site is not allowed to move.

In one embodiment, as shown in fig. 3, the indicating cone is a schematic structural diagram, and the indicating cone includes a light indicating device 301, a direction indicating device 303, a supporting body device 305, a moving device 307, a positioning device (not shown), a communication device (not shown), and a sensing device, and a control device 309 connected to the light indicating device 301, the direction indicating device 303, the supporting body device 305, the positioning device, the communication device, and the sensing device, respectively; the moving device 307 includes a power mechanism, a traveling mechanism, and a shock absorbing mechanism that are sequentially connected, the power mechanism is further connected with the control device 309, the traveling mechanism is further connected with the support body device 305, and the shock absorbing mechanism is further connected with the support body device 305. The control device 309 receives the cone indication control message sent by the server, and obtains a light indication signal, a direction indication signal and a movement signal according to the cone indication control message; the light indication device 301 displays light signals according to the light indication signals sent by the control device 309, the direction indication device 303 displays direction signals according to the direction indication signals sent by the control device 309, the supporting main body device 305 carries the light indication device 301, the direction indication device 303, the control device 309, the sensing device, the power mechanism and the damping mechanism, in addition, the supporting main body device 305 can also carry energy sources and energy storage devices such as energy storage batteries, solar panels and other energy supply devices, the power mechanism drives the travelling mechanism to move according to the movement signals sent by the control device 309, the positioning device is used for positioning a cone, and the communication device is used for communicating with the outside.

As shown in fig. 4, a schematic structural view of the cone in the embodiment shown in fig. 3 is shown, wherein the supporting body device 305 is in a cone shape, and includes a cavity therein and is disposed at the top end of the moving device 307; the sensing device is integrally arranged outside the supporting main body device 305; the top end of the support main body device 305 is provided with a direction indicating device 303, and the top end of the direction indicating device 303 is provided with a light indicating device 301. The control device 309, the positioning device and the communication device are disposed in the cavity of the support body device 305, specifically in a geometric center position of the cavity of the support body device 305, which is not labeled in fig. 4.

Step S203: and dividing the planning paths according to cone distribution information to obtain planning sub-paths, and determining indication cones corresponding to the planning sub-paths respectively.

Considering that a planned path corresponding to a construction site moving object possibly passes through a plurality of cone distribution areas, the indicating cone in the cone distribution areas needs to be mobilized for moving indication, so that the situation that the moving path of the indicating cone is overlong is avoided, and cone control efficiency is reduced. Specifically, after cone distribution information is obtained, planning paths corresponding to the construction site moving objects are divided based on the cone distribution information, for example, the planning paths can be divided according to the planning path range covered by each cone distribution area in the cone distribution information, and each planning sub-path is obtained. The planning sub-paths are obtained by segmenting the planning paths, and all the planning sub-paths are connected in sequence, so that the planning paths which completely correspond to the moving objects of the construction site can be obtained. After each planning sub-path is determined, the corresponding indicating cone can be further determined according to cone distribution information. In the concrete implementation, the cone distribution area to be allocated can be determined according to the range of the planned sub-path, and then the number of the indicating cones to be called can be determined according to the path length of the planned sub-path, so that each indicating cone for carrying out movement indication on the moving object of the construction site can be obtained.

Step S205: and generating cone indication control information of the indication cone according to the planned sub-path and the indication cone.

After the planned sub-path and the indicating cone are obtained, the indicating cone is controlled to carry out movement indication on the moving object of the construction site on the corresponding planned sub-path, and the indicating cone is controlled to carry out movement indication through cone indication control information. Specifically, according to the obtained planned sub-path and the indicating cone, cone indication control information of the indicating cone is generated, and the cone indication control information is used for controlling the indicating cone to indicate the movement of the moving object of the construction site. In particular implementations, the cone indication control message may include, but is not limited to, an indication destination including an indication cone, a cone movement path, and indication signal data, etc., where the indication signal data may include, but is not limited to, an indication color, a flashing frequency, a display image, etc.

Step S207: and issuing a cone indication control message to the indication cone, wherein the cone indication control message is used for controlling the indication cone to carry out movement indication on the construction site moving object.

After the cone indication control message is obtained, the cone indication control message is issued to the corresponding indication cone so as to control the indication cone to carry out movement indication on the construction site moving object. Specifically, after the server generates the cone indication control message of the indication cone according to the planned sub-path and the indication cone, the cone indication control message is issued to the corresponding indication cone through a network, such as a 5G network, and after the communication device of the indication cone receives the cone indication control message, the processor device of the indication cone controls the indication cone to move according to the cone indication control message, and after the indication cone reaches the indication destination, the moving object of the construction site is indicated to move.

According to the intelligent construction site cone barrel control method, the corresponding indicating cone barrel is determined according to the planning path corresponding to the construction site moving object and cone barrel distribution information of the construction site system, cone barrel indication control information indicating the cone barrel is generated, the cone barrel is controlled to move and indicate the construction site moving object through the cone barrel indication control information, and efficient control of the indicating cone barrel is achieved. In the control of the cone, the cone indication control information is directly obtained according to the planning path corresponding to the moving object of the construction site and cone distribution information of the construction site system to control the corresponding indication cone without needing to put a large amount of manpower for manual paving, so that the cone control process is simplified, and the control efficiency of the cone is improved.

In one embodiment, before obtaining the cone bucket distribution information of the worksite system when obtaining the planned path corresponding to the moving object of the worksite, the method further includes: when a path planning request message corresponding to the construction site moving object is obtained, determining a moving destination of the construction site moving object according to the path planning request message; determining the current position of a moving object at a construction site; acquiring a current movable map of a construction site, and dividing the current map of the construction site according to the acquired dangerous area identification result of the construction site; and planning a path according to the current position, the moving destination and the current movable map of the construction site to obtain a planned path of the movable object of the construction site.

In this embodiment, a mobile object on a worksite in a worksite system sends a path planning request message to a server to request the server to perform path planning for the mobile object on the worksite, or when it is determined that the mobile object on the worksite in the worksite system needs to move, the server generates path planning trigger data corresponding to the mobile object on the worksite, so that the server is triggered to perform path planning processing, and when the server performs path planning processing, the server performs area division on a current worksite map according to a dangerous area identification result in the worksite system, so as to perform path planning on the current movable map on the worksite in a safe area, and filters an area with potential safety hazards in the worksite system, thereby improving the safety of the path planning of the mobile object on the worksite.

Specifically, when the path planning process is triggered, the moving destination of the moving object of the construction site is determined according to the path planning request message. The path planning request message is communication data which is sent to the server by the construction site moving object and is used for requesting to carry out path planning, or path planning trigger data which is generated by the server and corresponds to the construction site moving object when the construction site moving object in the construction site system is determined to need to move; the path planning request message may include, but is not limited to, a destination including a movement destination, i.e., a destination that the worksite moving object needs to reach. In this embodiment, the movement destination may be various forms of position data such as latitude and longitude information and destination coordinates. When the server obtains the path planning request message corresponding to the construction site moving object, the server triggers the path planning process, and determines the moving destination of the construction site moving object according to the path planning request message, and specifically, the moving destination can be directly determined from the path planning request message.

When the path planning processing is performed on the construction site moving object, the current position of the construction site moving object needs to be determined. In particular implementations, a current location of the worksite moving object may be determined from a current worksite map of the worksite system. The current building site map is a building site map which is constructed at the current moment, and specifically can be a plurality of types of building site maps such as a two-dimensional map and a three-dimensional map of the building site. The construction site map can intuitively reflect the information of the construction site system so that an operator can timely make corresponding operation instructions. When the current position of the worksite moving object is determined from the obtained current worksite map, the corresponding worksite map moving object of the worksite moving object can be determined from the current worksite map, and the worksite map moving object is a corresponding target of the worksite moving object in the worksite system in the worksite map, namely, the worksite moving object in the worksite system is characterized by the worksite map moving object in the worksite map. In the concrete implementation, the construction site map moving object corresponding to the construction site moving object is generated according to a certain scale based on the moving object data, and the relevant information, such as the position, the occupied area and the like, of the construction site moving object in the construction site system can be intuitively represented by adding the construction site map moving object to the construction site map. In addition, the worksite map moving object may carry map object attribute information for describing the corresponding worksite map moving object. After the construction site map moving object corresponding to the construction site moving object in the current construction site map is determined, the current position of the construction site moving object can be determined according to the map object attribute information carried by the construction site map moving object. Further, the current position of the site moving object may also be sent to the server by the site moving object, that is, the current position may be determined by a positioning device carried by the site moving object, and sent to the server through a network.

And acquiring a current movable map of the construction site, and dividing the current map of the construction site according to the acquired dangerous area identification result of the construction site. The current movable map of the construction site is a region suitable for moving a construction site moving object in a construction site system at the current moment, and the construction site dangerous region identification result is obtained according to detection of the construction site system, and specifically can include, but is not limited to, a collapse dangerous region determined according to a soil water content detection result, a working dangerous region determined according to a construction site working region, a falling object dangerous region determined according to a falling object detection result and the like. In this embodiment, the current worksite movable map is obtained by performing area division on the current worksite map according to the obtained worksite dangerous area identification result, specifically, after the worksite dangerous area identification result is obtained, the current worksite map may be subjected to area division according to the worksite dangerous area identification result, specifically, the map dangerous area identified and detected in the worksite dangerous area identification result may be divided, and the map dangerous area characterizes that the area has potential safety hazards, such as high water content and possible collapse, or is in the working area range of the engineering machinery, high in potential safety hazards, or is in the driving path of the worksite vehicle, and so on. After the map dangerous area is divided from the current construction site map, the current construction site movable map is obtained, namely the map which can be safely moved by the construction site movable object at the current moment, namely the safe movable area which can be subjected to path planning processing by the construction site movable object.

In the specific application, the current movable map of the construction site can be obtained by dividing the region by the server dynamically according to the obtained dangerous region identification result of the construction site, and the movable map of the construction site is directly inquired and called when the movable object of the construction site needs to carry out path planning; after the path planning request message of the site moving object is obtained, a current site moving map corresponding to the site moving object may be generated for the moving conditions of the site moving object, for example, the path width condition, the path height condition, and the like.

After the current movable map of the construction site, which can ensure the path planning processing of the construction site moving object, is obtained, the path planning is carried out by combining the current position and the moving destination of the construction site moving object, so that the planning path of the construction site moving object is obtained, and the planning path is the path planning result, namely the path of the construction site moving object. In specific implementation, the path planning algorithm may use a BFS (briadth-First Search) algorithm, a PRM (Probabilistic Road Maps, random road map) algorithm, an RRT (Rapidly exploring Random Tree, fast-expansion random tree) algorithm, a Dijkstra algorithm, a Bellman-Ford algorithm, or an SPFA (Shortest Path Faster Algorithm, shortest path fast algorithm), or the like. When the method is applied specifically, the path planning algorithm can superimpose the time dimension so that the planning paths of all the construction site moving objects in the construction site system at the same moment are not crossed; the path planning priority can be set according to the object type and the job type of each site moving object so as to ensure that the path planning request of the site moving object with high priority is processed preferentially; furthermore, path planning can be performed by combining cone sensing data sent by a preset indicating cone in the construction site system, so that the construction site moving object can be prevented from being blocked better when moving.

In addition, after the planned path of the site moving object is obtained, the planned path is issued to the site moving object, for example, the planned path can be issued to a terminal corresponding to the site moving object through a 5G network, so that the site moving object moves to a moving destination according to the planned path. For example, for an autonomous work vehicle, the work vehicle may be controlled to move according to a planned path by a vehicle controller, an autopilot module, or an ADAS (Advanced Driving Assistant System, advanced driving assistance system) module of the work vehicle; for a manually driven or parallel driven construction site vehicle or a construction site operator, the planned path can be utilized to carry out mobile navigation on the construction site moving object, so that the quick and safe movement of the construction site moving object in a construction site system is realized. It can be understood that the peak theoretical transmission speed of 5G can reach tens of Gb per second, and data generated in real time by tens of hundreds of high-definition cameras and high-precision sensors on an intelligent site can be dealt with, so that real-time updating of a map can be ensured; moreover, due to the ubiquitous network characteristic of the 5G, the communication objects at all positions of the intelligent construction site can be ensured to be connected with the 5G network at any time; in addition, the 5G has low power consumption and low time delay, can ensure that a communication object can be kept in a network state at any time for a long time, and can ensure related instructions, such as planning path data of an automatic driving vehicle, cone indication control information and the like, to be timely transmitted to be executed.

In one embodiment, before acquiring the current movable map of the worksite, the method further comprises: acquiring a construction site dangerous area identification result and movable conditions corresponding to a construction site movable object; determining an immovable area in the current building site map according to the building site dangerous area identification result and movable conditions; and obtaining the movable map of the current construction site according to other areas except the immovable area in the map of the current construction site.

In this embodiment, in combination with the movable condition of the worksite moving object and the worksite dangerous area recognition result, the current worksite movable map corresponding to the worksite moving object is determined. The movable conditions corresponding to the construction site moving objects relate to the object types and the job types of the construction site moving objects, and different movable conditions are correspondingly arranged for the construction site moving objects with different object types and different job types. That is, for different work site moving objects, there are different movable ranges according to the types of the work.

For example, for a worksite operator, if the operator is a quality inspection operator and the operation type is an inspection tower crane operation state, the movable range of the operator includes the construction operation area of the tower crane. Further, the construction site dangerous area recognition result can simultaneously comprise two or three of a falling object dangerous area, a collapse dangerous area and a working dangerous area, namely, the movable range of the construction site movable object is determined by integrating the falling object dangerous area, the collapse dangerous area and the working dangerous area, a current construction site movable map corresponding to the construction site movable object is obtained, and path planning is carried out based on the current construction site movable map so as to ensure quick and safe movement of the construction site movable object in a construction site system. In particular implementation, the movable condition of the site moving object may be determined according to a path planning request message corresponding to the site moving object, for example, the path planning request message may include identification information of the site moving object, and according to the identification information, the movable condition corresponding to the site moving object may be queried and obtained.

And after the identification result of the dangerous area of the construction site in the construction site system is obtained and the movable condition corresponding to the movable object of the construction site is determined, the immovable area in the current construction site map is determined by combining the identification result of the dangerous area of the construction site and the movable condition. Specifically, the dangerous area determination can be performed on the current worksite map according to the worksite dangerous area recognition result, and after the dangerous area determination, the immovable area in the current worksite map, namely the area range of the worksite moving object which does not perform path planning processing, is determined based on movable conditions. After the immovable area corresponding to the movable object of the construction site is divided in the current construction site map, the movable map of the current construction site is obtained according to other areas except the immovable area in the current construction site map. The current construction site map is divided according to the construction site dangerous area identification result and the movable condition of the construction site movable object, so that potential safety hazards can be effectively eliminated, the area which is not suitable for the movement of the construction site movable object can be obtained, the current construction site movable map corresponding to the construction site movable object is obtained, and then, the path planning is carried out based on the current construction site movable map, so that the quick and safe movement of the construction site movable object in a construction site system can be ensured.

In one embodiment, before acquiring the cone distribution information of the construction site system, the method further comprises: acquiring construction site operation distribution information preset by a construction site system; determining a cone barrel distribution area of the indicating cone barrel and the number of cone barrels in the cone barrel distribution area according to the construction site operation distribution information and the current construction site movable map; and obtaining cone distribution information according to the cone distribution area and the cone number in the cone distribution area.

In this embodiment, a cone is set in the worksite system according to the worksite operation distribution information preset in the worksite system. Specifically, the construction site operation distribution information preset by the construction site system is acquired, and the construction site operation distribution information can be predetermined by the construction plan and the construction state of the construction site system. After the construction site operation distribution information of the construction site system is obtained, determining a cone barrel distribution area of the indicating cone barrels and the number of cone barrels in the cone barrel distribution area according to the construction site operation distribution information and the current construction site movable map. The current movable map of the construction site is a map area in which a construction site moving object in the current map of the construction site can move, namely path planning processing can be performed. In the concrete implementation, the cone barrel distribution area can be set in a certain range of the construction site operation area corresponding to the construction site operation distribution information on the basis of the current construction site movable map. That is, in the map region where the path planning process is possible, the cone distribution region is divided in association with the site operation region corresponding to the site operation distribution information, the cone distribution region is used for setting the cones, and the cones in the cone distribution region perform movement instructions on the planned path of the site moving object in the cone respective regions. The number of the cone barrels in the cone barrel distribution area can be uniformly set to be the same; the setting may also be performed according to the size of each cone barrel distribution area and the busyness of the cone barrel distribution area, i.e. how many objects are moved on the construction site in the cone barrel distribution area, for example, more cones may be set for the busyness cone barrel distribution area. After determining the cone distribution area of the indicating cone and the number of cones in the cone distribution area, cone distribution information is obtained according to the cone distribution area and the number of cones in the cone distribution area, namely, the cone distribution information comprises the cone distribution area and the number of cones in each cone distribution area.

In one embodiment, as shown in fig. 5, the step of determining the indicating cone, that is, dividing the planned path according to cone distribution information to obtain planned sub-paths, and determining the indicating cones corresponding to the planned sub-paths respectively includes:

step S501: and determining that a path which is passed by the planned path passes through the cone distribution area in the cone distribution area according to the planned path and cone distribution information.

In this embodiment, the planned path is divided according to the cone distribution information, and then the indication cone to be called is determined by combining the obtained planned sub-path with the cone distribution information. Specifically, the cone distribution information includes cone distribution areas and the number of cones in each cone distribution area. And determining a cone barrel distribution area which is passed by the planned path in the cone barrel distribution area according to the planned path and cone barrel distribution information of the moving object of the construction site, and taking the cone barrel distribution area which is passed by the planned path as the path passing through the cone barrel distribution area. In specific implementation, the planned path can be analyzed, and the planned path is divided into cone distribution areas, so that the cone distribution area through which the planned path passes is determined, and the cone distribution area through which the planned path passes is used as the path. The path indicates that when the construction site moving object moves according to the current planning path through the cone barrel distribution area, the moving indication can be carried out through allocating the cone barrels in the cone barrel distribution area, so that the problem that the cone barrel control efficiency is low due to the fact that the cone barrels move too long distance and the instantaneity is reduced can be avoided.

Step S503: and dividing the planned path according to the path passing cone distribution area to obtain a planned sub-path in the planned path, wherein the planned sub-path is indicated by the path passing cone distribution area.

After each path passing through the planned path passes through the cone barrel distribution area, dividing the planned path according to the path passing through the cone barrel distribution area, namely determining a path section of the planned path, which is indicated by movement of the path passing through the cone barrel in the cone barrel distribution area, so as to obtain a planned sub-path in the planned path, which is indicated by the path passing through the cone barrel distribution area. The planned sub-paths correspond to the paths passing through the cone barrel distribution areas, namely, the movement indication is carried out in the corresponding planned sub-paths through the cone barrels in the cone barrel distribution areas by allocating the paths. The cone barrel synchronous allocation can be carried out by dividing the planning path into planning sub-paths corresponding to the cone barrel distribution areas of each path, and the cone barrel control efficiency is improved.

Step S505: and determining the number of the required indicating cones according to the length of the planned sub-path.

After each path passes through the cone distribution area and each path passes through the planning sub-path corresponding to the cone distribution area, determining the number of indicating cones to be allocated according to the length of the planning sub-path. Generally, the longer the planned sub-path, the greater the number of indicating cones that need to be deployed. In specific application, the interval of each indicating cone can be flexibly set, for example, an indicating cone is arranged on a straight channel at intervals of 10m for movement indication; at the curve, a smaller interval may be provided, such as an indicating cone for each 5 m. Therefore, different planning sub-paths require different numbers of indication cones.

Step S507: and selecting the indicating cone barrels from the path passing cone barrel distribution areas according to the number of the indicating cone barrels.

After the number of indicating cone barrels to be allocated corresponding to each planned sub-path is determined, the indicating cone barrels are selected according to the number of the indicating cone barrels from paths corresponding to each planned sub-path through the cone barrel distribution area. When the method is specifically implemented, the number of the indicating cone barrels is determined, when the indicating cone barrels are selected from the path passing cone barrel distribution area, the indicating cone barrels can be controlled by using the indicating numbers, each indicating number corresponds to a fixed position in the planning sub-path, namely, the indicating cone barrels corresponding to each indicating number move and indicate the corresponding positions in the planning sub-path, so that the ordered control of the indicating cone barrels is realized.

In one embodiment, generating the cone indication control message indicating the cone according to the planned sub-path and the indication cone comprises: determining indication destinations corresponding to the indication cones according to the planned sub-paths and the number of the indication cones; generating a cone moving path of the indicating cone according to the current position information of the indicating cone, the indicating destination and the current construction site movable map; determining indication signal data corresponding to the indication cone barrel according to the planned sub-path and the indication destination; and generating cone indication control information according to the cone movement path and the indication signal data.

In this embodiment, path planning processing is performed for each indicating cone, and the cone is controlled to move to an indicating destination according to the obtained cone movement path, and movement indication is performed on the moving object of the construction site according to the obtained indicating signal data. Specifically, when a cone indication control message of the indication cone is generated, determining indication destinations corresponding to all the indication cones according to the planned sub-paths and the number of the indication cones. The indication destination is the position of the indication cone when the indication cone is used for moving indication, and the position of each indication cone corresponds to the planned sub-path, so that the moving indication of the moving object of the construction site is realized. In the specific implementation, the planned sub-paths can be segmented according to the number of the indicating cone barrels, the corresponding positions of the indicating cone barrels in the planned sub-paths are determined, and the indicating destinations corresponding to the indicating cone barrels are obtained according to the corresponding positions of the indicating cone barrels in the planned sub-paths.

After determining the indication destination corresponding to the indication cone, the indication destination can be used as the end point of the path planning of the indication cone, and the current position information of the indication cone, the indication destination and the current movable map of the construction site are combined to generate the cone moving path of the indication cone based on path planning algorithms, such as BFS (Briadith-First Search) algorithm, PRM (Probabilistic Road Maps, random road map) algorithm, RRT (Rapidly exploring Random Tree, rapid-expansion random tree) algorithm, dijkstra algorithm, bellman-Ford algorithm or SPFA (Shortest Path Faster Algorithm, shortest path rapid algorithm) and the like.

On the other hand, according to the planned sub-path and the indication destination, the indication signal data corresponding to the indication cone barrel is determined. The indicating signal data are specific display contents of the indicating cone barrel, and include, but are not limited to, display colors, flicker frequencies and display images. For example, if the indicating cone is provided with lamplight, lamplight with different colors can be displayed to indicate the moving object of the construction site to move, and particularly, green light can be displayed for a safe driving area; a red light may be displayed for the no-travel area. The specific display content of the indicating cone is related to the indicating destination and the planned sub-path where the indicating cone is located, for example, in a straight road, the indicating signal data may be straight, and in a curve, the indicating signal data may be a turning identifier or the like. After the indicating signal data and the cone moving path corresponding to the indicating cone are obtained, cone indicating control information is generated according to the cone moving path and the indicating signal data, and the cone indicating control information is used for controlling the indicating cone to move and indicate the construction site moving object. Specifically, the server may send the generated cone indication control message to a corresponding indication cone through a network, such as a 5G network, and after receiving the cone indication control message, the 5G communication device for indicating the cone moves to an indication destination according to a cone movement path in the cone indication control message, and performs movement indication on the moving object of the construction site at the indication destination according to indication signal data in the cone indication control message.

In one embodiment, the indication signal data includes a display color, a blinking frequency, and a display image; according to the planned sub-path and the indication destination, determining the indication signal data corresponding to the indication cone comprises: inquiring a preset cone indicating signal table; determining path indication characteristics of the indication cone barrel according to the planned sub-path and the indication destination; and inquiring to obtain display colors, flicker frequencies and display images corresponding to the path indication features from the cone indication signal table.

In the present embodiment, the instruction signal data includes a display color, a blinking frequency, and a display image. The display color can be the light display color of a light indicating device in the indicating cone; the display image can be a lamplight display image of a direction indicating device in the indicating cone, and particularly can be a display image; the flicker frequency is the flicker frequency of the light indicating device and the direction indicating device.

Specifically, when determining the indication signal data corresponding to the indication cone, a preset cone indication signal table is queried, and the cone indication signal table records various display colors, flickering frequencies and display contents corresponding to the display images, such as meanings of various display colors, meanings corresponding to the flickering frequencies and the like. And determining path indication characteristics of the indicating cone according to the planned sub-path and the indicating destination, wherein specific display content of the indicating cone is related to the indicating destination where the indicating cone is positioned and the planned sub-path, and determining path indication characteristics of the corresponding indicating cone according to the planned sub-path and the indicating destination, namely indicating content meaning of the indicating cone needing to be subjected to movement indication. After determining the path indication characteristics of the indicating cone, according to the path indication characteristics, inquiring and obtaining display colors, flicker frequencies and display images corresponding to the path indication characteristics from a cone indication signal table. Different indicating signal data correspond to different path indicating characteristics, the corresponding mapping relation of the indicating signal data and the path indicating characteristics can be stored by a preset cone indicating signal table, and after the path indicating characteristics of the indicating cone are obtained, the corresponding display color, the corresponding flicker frequency and the corresponding display image can be inquired from the cone indicating signal table according to the path indicating characteristics.

In one embodiment, after issuing the cone indication control message to the indication cone, the method further comprises: when the indication cone is detected to finish moving indication, cone reset information is generated according to cone indication control information; and sending cone barrel reset information to the indicating cone barrel, wherein the cone barrel reset information is used for controlling the indicating cone barrel to reset.

In this embodiment, after issuing the cone indication control message to the indication cone, if it is monitored that the task of indicating the cone movement indication is performed, if the moving object of the construction site has driven away from the indication range corresponding to the indication cone, the movement indication task of the indication cone may be ended, and specifically, the cone reset is controlled by the cone reset message, for example, the indication cone is controlled to return to the cone distribution area of the original cone.

Specifically, after the cone indication control message is issued to the indication cone, the movement indication progress of the indication cone is detected, and when the movement indication of the indication cone is detected to be completed, cone reset message is generated according to the cone indication control message. When the cone barrel indicating control message comprises a cone barrel moving path, a cone barrel reset path with opposite paths can be generated according to the cone barrel moving path, an indicating reset signal is generated, and a cone barrel reset message is obtained according to the cone barrel reset path and the indicating reset signal. The cone-barrel reset path can be a planning path for indicating the cone barrel to return to the original cone-barrel distribution area, the indication reset signal can be a reset signal for indicating signal data of the indication cone barrel, the indication cone barrel can be controlled to finish moving indication tasks through the cone-barrel reset path and the indication reset signal, and the indication cone barrel can be moved back to the original cone-barrel distribution area, so that reset control of the indication cone barrel is realized. Further, after the cone barrel reset message is obtained, the cone barrel reset message is issued to the corresponding indicating cone barrel, and after the indicating cone barrel receives the cone barrel reset message, the moving indicating task of the moving object on the construction site is finished according to the cone barrel reset message and returns to the original cone barrel distribution area, so that the indicating cone barrel is quickly reset.

It should be understood that, although the steps in the flowcharts of fig. 2 and 5 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 2, 5 may comprise a plurality of sub-steps or phases, which are not necessarily performed at the same time, but may be performed at different times, nor does the order of execution of the sub-steps or phases necessarily follow one another, but may be performed alternately or alternately with at least a portion of the sub-steps or phases of other steps or other steps.

In one embodiment, as shown in fig. 6, there is provided a cone control device 60 for an intelligent worksite, comprising: a cone distribution acquisition module 601, an indication cone determination module 603, a cone control message module 605 and a cone control processing module 607; wherein:

the cone distribution acquisition module 601 is configured to acquire cone distribution information of a construction site system when a planned path corresponding to a construction site moving object is acquired;

The indicating cone determining module 603 is configured to divide the planned path according to cone distribution information to obtain planned sub-paths, and determine indicating cones corresponding to the planned sub-paths respectively;

the cone control message module 605 is configured to generate a cone indication control message indicating the cone according to the planned sub-path and the indication cone;

the cone control processing module 607 is configured to issue a cone indication control message to the indicating cone, where the cone indication control message is used to control the indicating cone to perform movement indication on the moving object of the construction site.

In one embodiment, the system further comprises a destination determining module, a current position determining module, a movable map acquiring module and a path planning processing module; wherein: the destination determining module is used for determining the moving destination of the construction site moving object according to the path planning request message when the path planning request message corresponding to the construction site moving object is obtained; the current position determining module is used for determining the current position of the mobile object at the construction site; the movable map acquisition module is used for acquiring a current movable map of the construction site, and the current movable map of the construction site is obtained by dividing the current map of the construction site according to the acquired dangerous area identification result of the construction site; and the path planning processing module is used for planning the path according to the current position, the moving destination and the current movable map of the construction site to obtain a planned path of the movable object of the construction site.

In one embodiment, the mobile map generation system further comprises a screening condition acquisition module, an immovable area determination module and a movable map determination module; wherein: the screening condition acquisition is used for acquiring a construction site dangerous area identification result and movable conditions corresponding to a construction site movable object; the immovable area determining module is used for determining an immovable area in the current building site map according to the building site dangerous area identification result and movable conditions; and the movable map determining module is used for obtaining the movable map of the current construction site according to other areas except the immovable area in the map of the current construction site.

In one embodiment, the system further comprises a job distribution acquisition module, a cone determination module and a cone distribution information module; wherein: the job distribution acquisition module is used for acquiring job site job distribution information preset by a job site system; the cone barrel determining module is used for determining cone barrel distribution areas of the indicating cone barrels and the number of the cone barrels in the cone barrel distribution areas according to the construction site operation distribution information and the current construction site movable map; and the cone barrel distribution information module is used for obtaining cone barrel distribution information according to the cone barrel distribution area and the cone barrel number in the cone barrel distribution area.

In one embodiment, the indicating cone determining module 603 includes a passing area determining unit, a sub path obtaining unit, a cone number determining unit, and an indicating cone determining unit; wherein: the passing area determining unit is used for determining that a path which the planned path passes through the cone distribution area in the cone distribution area according to the planned path and cone distribution information; the sub-path obtaining unit is used for dividing the planned path according to the fact that each path passes through the cone barrel distribution area, and obtaining a planned sub-path in the planned path, wherein the planned sub-path is indicated by the fact that each path passes through the cone barrel distribution area correspondingly; the cone number determining unit is used for determining the required indicated cone number according to the length of the planned sub-path; the indicating cone determining unit is used for selecting indicating cones from the path passing cone distribution areas according to the number of the indicating cones.

In one embodiment, the cone control message module 605 includes an indication destination determining unit, a cone path determining unit, an indication signal determining unit, and a cone control message unit; wherein: the indication destination determining unit is used for determining indication destinations corresponding to the indication cones according to the planned sub-paths and the number of the indication cones; the cone barrel path determining unit is used for generating a cone barrel moving path of the indicating cone barrel according to the current position information of the indicating cone barrel, the indicating destination and the current construction site movable map; the indication signal determining unit is used for determining indication signal data corresponding to the indication cone barrel according to the planned sub-path and the indication destination; and the cone control message unit is used for generating cone indication control messages according to the cone moving path and the indication signal data.

In one embodiment, the indication signal data includes a display color, a blinking frequency, and a display image; the indication signal determining unit comprises a signal table inquiring subunit, an indication characteristic determining subunit and an indication signal determining subunit; wherein: the signal table inquiring subunit is used for inquiring a preset cone barrel indication signal table; an indication characteristic determining subunit, configured to determine a path indication characteristic of the indication cone according to the planned sub-path and the indication destination; the indicating signal determining subunit is used for inquiring and obtaining the display color, the flicker frequency and the display image corresponding to the path indicating characteristic from the cone indicating signal table.

In one embodiment, the system further comprises a reset message module and a reset processing module; wherein: the reset message module is used for generating cone reset messages according to cone indication control messages when the indication cone is detected to finish moving indication; the resetting processing module is used for sending cone resetting information to the indicating cone, and the cone resetting information is used for controlling the indicating cone to reset.

For specific limitations of the cone control device of the intelligent construction site, reference may be made to the above limitation of the cone control method of the intelligent construction site, and no further description is given here. The modules in the cone control device of the intelligent construction site can be fully or partially realized by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.

In one embodiment, as shown in FIG. 7, a smart site cone control system is provided, comprising an indicating cone 62 and a cone control device 60 as described above; the indicating cone 62 is connected to a cone control processing module 607 in the cone control device 60.

Specifically, after the cone control device 60 generates a cone indication control message, the cone indication control message is issued to the indication cone 62 through the cone control processing module 607, and the indication cone 62 indicates the movement of the moving object on the construction site according to the received cone indication control message.

In one embodiment, a computer device is provided, which may be a server, and the internal structure of which may be as shown in fig. 8. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program, when executed by the processor, implements a method for controlling the cone of an intelligent worksite.

It will be appreciated by those skilled in the art that the structure shown in fig. 8 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided comprising a memory storing a computer program and a processor that when executing the computer program performs the steps of:

In one embodiment, the processor when executing the computer program further performs the steps of: when a path planning request message corresponding to the construction site moving object is obtained, determining a moving destination of the construction site moving object according to the path planning request message; determining the current position of a moving object at a construction site; acquiring a current movable map of a construction site, and dividing the current map of the construction site according to the acquired dangerous area identification result of the construction site; and planning a path according to the current position, the moving destination and the current movable map of the construction site to obtain a planned path of the movable object of the construction site.

In one embodiment, the processor when executing the computer program further performs the steps of: acquiring a construction site dangerous area identification result and movable conditions corresponding to a construction site movable object; determining an immovable area in the current building site map according to the building site dangerous area identification result and movable conditions; and obtaining the movable map of the current construction site according to other areas except the immovable area in the map of the current construction site.

In one embodiment, the processor when executing the computer program further performs the steps of: acquiring construction site operation distribution information preset by a construction site system; determining a cone barrel distribution area of the indicating cone barrel and the number of cone barrels in the cone barrel distribution area according to the construction site operation distribution information and the current construction site movable map; and obtaining cone distribution information according to the cone distribution area and the cone number in the cone distribution area.

In one embodiment, the processor when executing the computer program further performs the steps of: determining that a path which is passed by the planned path passes through the cone distribution area in the cone distribution area according to the planned path and cone distribution information; dividing a planned path according to the paths passing through the cone distribution areas to obtain planned sub-paths in the planned path, wherein the planned sub-paths are indicated by the paths passing through the cone distribution areas; determining the number of required indicating cone barrels according to the length of the planned sub-path; and selecting the indicating cone barrels from the path passing cone barrel distribution areas according to the number of the indicating cone barrels.

In one embodiment, the processor when executing the computer program further performs the steps of: determining indication destinations corresponding to the indication cones according to the planned sub-paths and the number of the indication cones; generating a cone moving path of the indicating cone according to the current position information of the indicating cone, the indicating destination and the current construction site movable map; determining indication signal data corresponding to the indication cone barrel according to the planned sub-path and the indication destination; and generating cone indication control information according to the cone movement path and the indication signal data.

In one embodiment, the indication signal data includes a display color, a blinking frequency, and a display image; the processor when executing the computer program also implements the steps of: inquiring a preset cone indicating signal table; determining path indication characteristics of the indication cone barrel according to the planned sub-path and the indication destination; and inquiring to obtain display colors, flicker frequencies and display images corresponding to the path indication features from the cone indication signal table.

In one embodiment, the processor when executing the computer program further performs the steps of: when the indication cone is detected to finish moving indication, cone reset information is generated according to cone indication control information; and sending cone barrel reset information to the indicating cone barrel, wherein the cone barrel reset information is used for controlling the indicating cone barrel to reset.

In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:

In one embodiment, the computer program when executed by the processor further performs the steps of: when a path planning request message corresponding to the construction site moving object is obtained, determining a moving destination of the construction site moving object according to the path planning request message; determining the current position of a moving object at a construction site; acquiring a current movable map of a construction site, and dividing the current map of the construction site according to the acquired dangerous area identification result of the construction site; and planning a path according to the current position, the moving destination and the current movable map of the construction site to obtain a planned path of the movable object of the construction site.

In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring a construction site dangerous area identification result and movable conditions corresponding to a construction site movable object; determining an immovable area in the current building site map according to the building site dangerous area identification result and movable conditions; and obtaining the movable map of the current construction site according to other areas except the immovable area in the map of the current construction site.

In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring construction site operation distribution information preset by a construction site system; determining a cone barrel distribution area of the indicating cone barrel and the number of cone barrels in the cone barrel distribution area according to the construction site operation distribution information and the current construction site movable map; and obtaining cone distribution information according to the cone distribution area and the cone number in the cone distribution area.

In one embodiment, the computer program when executed by the processor further performs the steps of: determining that a path which is passed by the planned path passes through the cone distribution area in the cone distribution area according to the planned path and cone distribution information; dividing a planned path according to the paths passing through the cone distribution areas to obtain planned sub-paths in the planned path, wherein the planned sub-paths are indicated by the paths passing through the cone distribution areas; determining the number of required indicating cone barrels according to the length of the planned sub-path; and selecting the indicating cone barrels from the path passing cone barrel distribution areas according to the number of the indicating cone barrels.

In one embodiment, the computer program when executed by the processor further performs the steps of: determining indication destinations corresponding to the indication cones according to the planned sub-paths and the number of the indication cones; generating a cone moving path of the indicating cone according to the current position information of the indicating cone, the indicating destination and the current construction site movable map; determining indication signal data corresponding to the indication cone barrel according to the planned sub-path and the indication destination; and generating cone indication control information according to the cone movement path and the indication signal data.

In one embodiment, the indication signal data includes a display color, a blinking frequency, and a display image; the computer program when executed by the processor also performs the steps of: inquiring a preset cone indicating signal table; determining path indication characteristics of the indication cone barrel according to the planned sub-path and the indication destination; and inquiring to obtain display colors, flicker frequencies and display images corresponding to the path indication features from the cone indication signal table.

In one embodiment, the computer program when executed by the processor further performs the steps of: when the indication cone is detected to finish moving indication, cone reset information is generated according to cone indication control information; and sending cone barrel reset information to the indicating cone barrel, wherein the cone barrel reset information is used for controlling the indicating cone barrel to reset.

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.

Claims

1. A method for controlling a cone of an intelligent worksite, the method comprising:

when a planning path corresponding to a construction site moving object is obtained, cone barrel distribution information of a construction site system is obtained, and the planning path is obtained by carrying out path planning on the basis of the current position, the moving destination and a construction site movable map of the construction site moving object;

dividing the planning paths according to the cone barrel distribution information to obtain planning sub-paths, and determining indication cones corresponding to the planning sub-paths respectively;

Generating a cone indication control message of the indication cone according to the planned sub-path and the indication cone;

and sending the cone indication control message to the indication cone, wherein the cone indication control message is used for controlling the indication cone to carry out movement indication on the construction site moving object.

2. The method according to claim 1, further comprising, before the step of obtaining cone distribution information of the worksite system when obtaining the planned path corresponding to the moving object of the worksite:

when a path planning request message corresponding to a construction site moving object is obtained, determining a moving destination of the construction site moving object according to the path planning request message;

determining a current position of the worksite moving object;

3. The method of claim 2, further comprising, prior to said obtaining a current worksite movable map:

Acquiring a recognition result of the dangerous area of the construction site and a movable condition corresponding to the movable object of the construction site;

determining an immovable area in the current worksite map according to the worksite dangerous area identification result and the movable condition;

and obtaining the movable map of the current worksite according to the other areas except the immovable area in the current worksite map.

4. The method of claim 2, further comprising, prior to the acquiring the cone profile information for the worksite system:

and obtaining cone distribution information according to the cone distribution areas and the cone number in the cone distribution areas.

5. The method of claim 4, wherein dividing the planned path according to the cone distribution information to obtain planned sub-paths, and determining the indication cones to which the planned sub-paths respectively correspond comprises:

determining that a path which the planned path passes through a cone distribution area in the cone distribution area according to the planned path and the cone distribution information;

Dividing the planned paths according to the paths passing through the cone distribution areas to obtain planned sub-paths in the planned paths, wherein the paths are indicated by the cone distribution areas;

determining the number of required indicating cones according to the length of the planned sub-path;

and selecting the indicating cone barrels from the path passing cone barrel distribution area according to the number of the indicating cone barrels.

6. The method of claim 5, wherein generating the cone indication control message for the indication cone based on the planned sub-path and the indication cone comprises:

generating a cone movement path of the indicating cone according to the current position information of the indicating cone, the indicating destination and the current site movable map;

7. The method of claim 6, wherein the indication signal data includes a display color, a blinking frequency, and a display image; the determining, according to the planned sub-path and the indication destination, indication signal data corresponding to the indication cone bucket includes:

Inquiring a preset cone indicating signal table;

and inquiring and obtaining display colors, flicker frequencies and display images corresponding to the path indication features from the cone indication signal table.

8. The method of any one of claims 1 to 7, further comprising, after said issuing said cone indication control message to said indication cone:

when the indication cone is detected to finish moving indication, cone reset information is generated according to the cone indication control information;

and sending the cone barrel reset message to the indicating cone barrel, wherein the cone barrel reset message is used for controlling the indicating cone barrel to reset.

9. An intelligent site cone control device, characterized in that the device comprises: the cone barrel distribution acquisition module is used for acquiring cone barrel distribution information of the construction site system when a planning path corresponding to the construction site moving object is acquired, wherein the planning path is obtained by carrying out path planning on the basis of the current position of the construction site moving object, the moving destination and the construction site movable map;

the indicating cone determining module is used for dividing the planning paths according to the cone distribution information to obtain planning sub-paths and determining indicating cones corresponding to the planning sub-paths respectively;

The cone bucket control message module is used for generating cone bucket indication control messages of the indication cone bucket according to the planned sub-paths and the indication cone bucket; and the cone control processing module is used for sending the cone indication control message to the indication cone, wherein the cone indication control message is used for controlling the indication cone to carry out movement indication on the construction site moving object.

10. A cone control system for an intelligent worksite, comprising an indicating cone and a cone control device according to claim 9; the indicating cone is in communication connection with a cone control processing module in the cone control device.

11. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 8 when the computer program is executed.

12. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 8.