CN114873457A - Method and equipment for assisting in running of crane - Google Patents
Method and equipment for assisting in running of crane Download PDFInfo
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- CN114873457A CN114873457A CN202210504989.4A CN202210504989A CN114873457A CN 114873457 A CN114873457 A CN 114873457A CN 202210504989 A CN202210504989 A CN 202210504989A CN 114873457 A CN114873457 A CN 114873457A
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- crane
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- dimensional space
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
Abstract
The method comprises the steps of obtaining working environment parameters of the crane, and modeling based on the working environment parameters to obtain a three-dimensional space model; determining a data mapping relation between a three-dimensional space model and real coordinate data of a crane in a real environment, and determining a starting point coordinate and an end point coordinate in the three-dimensional space model based on the current position information of a hoisted object, the placement point position information of the hoisted object and the data mapping relation; planning a running path of the crane according to the starting point coordinates and the end point coordinates, determining a safe running area according to the running path, and rendering the safe running area; and performing alarm feedback by displaying the rendered safe operation area. Therefore, the recommended path is provided after the crane lifts the hoisted object, the alarm is given in real time when the hoisted object is not in the recommended path range, the operation efficiency of the crane is improved, and the safety of the hoisting operation is ensured.
Description
Technical Field
The application relates to the field of computers, in particular to a method and equipment for assisting in running of a crane.
Background
Present hoist has irreplaceable effect in cargo handling affairs, and tower crane who uses on common building site needs manual operation usually, and the driver operates the article transportation destination of lifting hook-up transportation in the driver's cabin, drives for a long time and has very big health burden to the driver, consequently, can use remote control's mode control tower crane transportation goods.
In the process of remotely operating the tower crane, the position of the lifting hook is often difficult to visually feel through a remote interface, when the crane lifts an object, a good plan is not provided for an obstacle avoidance route, redundant actions exist in the operation of the crane, a good alarm mechanism does not exist, and a driver needs higher driving technical requirements.
Disclosure of Invention
An object of the present application is to provide a method and apparatus for assisting operation of a crane, which solve the problems of difficult driving, low operation efficiency and untimely warning caused by no driving assistance in the prior art.
According to one aspect of the present application, there is provided a method of crane assisted operation, the method comprising:
obtaining working environment parameters of a crane, and modeling based on the working environment parameters to obtain a three-dimensional space model;
determining a data mapping relation between a three-dimensional space model and real coordinate data of a crane in a real environment, and determining a starting point coordinate and an end point coordinate in the three-dimensional space model based on the current position information of a hoisted object, the placement point position information of the hoisted object and the data mapping relation;
planning a running path of the crane according to the starting point coordinates and the end point coordinates, determining a safe running area according to the running path, and rendering the safe running area;
and performing alarm feedback by displaying the rendered safe operation area.
Optionally, the working environment parameters include terrain parameters, building parameters, and obstacle parameters, and a three-dimensional space model is obtained based on the working environment parameters through modeling, including:
and modeling by using a preset model according to the terrain parameters, the building parameters and the obstacle parameters, and establishing a discrete three-dimensional space to determine a three-dimensional space model.
Optionally, before determining the data mapping relationship between the three-dimensional space model and the real coordinate data of the crane in the real environment, the method further includes:
establishing a coordinate system by taking the position of the crane as an origin on the basis of the three-dimensional space model, and determining a data mapping relation between the three-dimensional space model and real coordinate data of the crane in a real environment on the basis of the coordinate system.
Optionally, the operation path of the crane includes a lifting path, a translation path, and a descending path, and the operation path of the crane is planned according to the start point coordinate and the end point coordinate, and includes:
determining lifting height data based on the starting point coordinate and the end point coordinate, and determining a lifting path according to the lifting height data;
determining a plane where a translation path is located according to the lifting height data, judging whether obstacle avoidance operation exists in the process of translating to a position right above a terminal coordinate or not based on the plane and the terminal coordinate, and if so, selecting a shortest obstacle avoidance route as the translation path;
and determining a path which is translated to the position right above the end point coordinate and descends to the end point coordinate as a descending path.
Optionally, the determining a safe operation area according to the operation path includes:
acquiring volume information of a hanging object, and determining a corresponding first distance threshold according to the volume information of the hanging object;
and determining a safe operation area corresponding to the operation path according to the first distance threshold, wherein the safe operation area is a cylindrical area which takes discrete points on the operation path as the center of a circle and the first distance threshold as the radius.
Optionally, the rendering the safe operating area includes:
acquiring position information of a hoisted object, and determining the nearest point on a running path based on the position information of the hoisted object;
and judging whether the distance between the hoisted object and the nearest point is greater than a first distance threshold, and if so, rendering the safe operation area within a second preset distance threshold of the nearest point.
Optionally, the modeling based on the working environment parameter obtains a three-dimensional space model, and further includes:
determining a three-dimensional spatial model based on the working environment parametric modeling using Unity 3D.
According to another aspect of the present application, there is also provided an apparatus for crane auxiliary operation, the apparatus comprising:
the data modeling module is used for obtaining working environment parameters of the crane and obtaining a three-dimensional space model based on the working environment parameters;
the data processing module is used for determining a data mapping relation between the three-dimensional space model and real coordinate data of the crane in a real environment, and determining a starting point coordinate and an end point coordinate in the three-dimensional space model based on the current position information of the hoisted object, the placement point position information of the hoisted object and the data mapping relation;
the rendering display module is used for planning a running path of the crane according to the starting point coordinates and the end point coordinates, determining a safe running area according to the running path and rendering the safe running area;
and the alarm feedback module is used for carrying out alarm feedback by displaying the rendered safe operation area.
Optionally, the apparatus comprises:
and the data processing module is also used for establishing a coordinate system based on the three-dimensional space model by taking the position of the crane as an origin, and determining a data mapping relation between the three-dimensional space model and real coordinate data of the crane in a real environment based on the coordinate system.
According to yet another aspect of the application, there is also provided a computer readable medium having computer readable instructions stored thereon, the computer readable instructions being executable by a processor to implement the method of any of the preceding claims.
According to yet another aspect of the present application, there is also provided an apparatus for crane auxiliary operation, the apparatus comprising:
one or more processors; and
a memory storing computer readable instructions that, when executed, cause the processor to perform operations of any of the methods described above.
Compared with the prior art, the method and the device have the advantages that the working environment parameters of the crane are obtained, and the three-dimensional space model is obtained based on the working environment parameters through modeling; determining a data mapping relation between a three-dimensional space model and real coordinate data of a crane in a real environment, and determining a starting point coordinate and an end point coordinate in the three-dimensional space model based on the current position information of a hoisted object, the placement point position information of the hoisted object and the data mapping relation; planning a running path of the crane according to the starting point coordinates and the end point coordinates, determining a safe running area according to the running path, and rendering the safe running area; and performing alarm feedback by displaying the rendered safe operation area. Therefore, the recommended path is provided after the crane lifts the hoisted object, the alarm is given in real time when the hoisted object is not in the recommended path range, the operation efficiency of the crane is improved, and the safety of the hoisting operation is ensured.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 illustrates a method flow diagram of a crane assisted operation provided in accordance with an aspect of the present application;
FIG. 2 is a schematic diagram illustrating rendering and displaying a safe operating area in an actual application scenario according to an alternative embodiment of the present application;
FIG. 3 illustrates a block diagram of an equipment frame for crane assisted operation according to another aspect of the present application;
fig. 4 is a schematic diagram illustrating establishment of a coordinate system in an actual application scenario according to an alternative embodiment of the present application.
The same or similar reference numbers in the drawings identify the same or similar elements.
Detailed Description
The present application is described in further detail below with reference to the attached figures.
In a typical configuration of the present application, the terminal, the device serving the network, and the trusted party each include one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include non-transitory computer readable media (transient media), such as modulated data signals and carrier waves.
Fig. 1 shows a schematic flow diagram of a method for assisting the operation of a crane, according to an aspect of the present application, the method comprising: S100-S400, wherein in S100, working environment parameters of the crane are obtained, and a three-dimensional space model is obtained based on the working environment parameters through modeling; in S200, determining a data mapping relation between the three-dimensional space model and real coordinate data of the crane in a real environment, and determining a starting point coordinate and an end point coordinate in the three-dimensional space model based on the current position information of the hoisted object, the placement point position information of the hoisted object and the data mapping relation; in S300, planning a running path of the crane according to the starting point coordinates and the end point coordinates, determining a safe running area according to the running path, and rendering the safe running area; in S400, alarm feedback is performed by displaying the rendered safe operating area. Therefore, the recommended path is provided after the crane lifts the hoisted objects, the alarm is given in real time when the hoisted objects are not in the recommended path range, the operation efficiency of the crane is improved, and the safety of the hoisting operation is ensured.
Specifically, in S100, a working environment parameter of the crane is obtained, and a three-dimensional space model is obtained based on the working environment parameter. Here, the crane may be a tower crane, and the operating environment parameters of the crane are all building characteristic parameters and ground characteristic parameters in the operating environment of the crane, such as the structural parameters of the tower crane, the geographical position information of the tower crane, the building structure data information and the obstacle structure data information, and the operating interval parameters of each motor of the tower crane. And modeling based on the working environment parameters to obtain a three-dimensional space model.
In S200, determining a data mapping relation between the three-dimensional space model and real coordinate data of the crane in a real environment, and determining a starting point coordinate and an end point coordinate in the three-dimensional space model based on the current position information of the hoisted object, the placement point position information of the hoisted object and the data mapping relation. In the method, the real coordinate data of the crane in the real environment can be acquired through a global positioning system or a sensor, and the three-dimensional space model and the real coordinate data of the crane in the real environment need to be determined because the tower crane base is used as the origin of a relative coordinate system. Then, a placement point of the hoisted object is obtained, for example, the hoisted object is hoisted to the center of the roof of the building a, the center of the roof of the building a is the placement point of the hoisted object, the placement point position information of the hoisted object can be obtained through a global positioning system, the three-dimensional reconstruction scanning can be performed on the working environment through a high-definition camera arranged on a tower crane to obtain the placement point position information of the hoisted object, all terrain parameters and all building parameters, then, the corresponding coordinate of the current position of the hoisted object in the established three-dimensional space model is determined based on the data mapping relation, the coordinate is determined as the starting point coordinate of the working running path of the hoisted object, and it needs to be noted that the user can also set the starting point coordinate by himself. And then, determining the corresponding coordinates of the hanging object placing points in the established three-dimensional space model based on the data mapping relation, and determining the coordinates as the end point coordinates of the hanging object working and running path.
In S300, a running path of the crane is planned according to the starting point coordinates and the end point coordinates, a safe running area is determined according to the running path, and the safe running area is rendered. After the starting point coordinate and the end point coordinate are determined, the running path of the crane is planned according to the starting point coordinate, the end point coordinate and the tower crane origin point coordinate of the crane, so that the crane can transport the hoisted object to the end point coordinate. The operation path is a trajectory line formed by visual discrete points in the model space, and the operation path has intuitiveness. And determining a safe operation area according to the operation path, wherein the safe operation area is a cylindrical area surrounding the operation path, the transportation of the hoisted objects along the planned operation path in the safe operation area is safe, the safe operation area can be rendered so as to visually display the safe operation area corresponding to the operation path, the driving efficiency of the crane is improved, and the operation safety is ensured.
In S400, alarm feedback is performed by displaying the rendered safe operating area. The safe operation area can be rendered and displayed when the hanging position exceeds the range of the safe operation area, or the safe operation area is rendered and displayed by using a specified color to perform alarm feedback when the hanging position exceeds the range of the safe operation area, for example, the safe operation area is rendered red and flicked to perform alarm feedback, and an alarm is visually given to ensure the driving safety of the crane.
In an optional embodiment of the present application, in S100, the working environment parameters include a terrain parameter, a building parameter, and an obstacle parameter, and the modeling is performed using a preset model according to the terrain parameter, the building parameter, and the obstacle parameter, and a discrete three-dimensional space is established to determine a three-dimensional space model. The terrain parameters, the building parameters and the barrier parameters can be input into the preset model, the terrain, the building and the barrier in the working environment can be restored into the preset model, and the tower crane does not require high precision in the working environment because the tower crane is in a static state, and a discrete three-dimensional space model can be established at intervals of 0.1 meter by taking a tower crane base as an origin of a relative coordinate system.
In an optional embodiment of the present application, before determining the data mapping relationship between the three-dimensional space model and the real coordinate data of the crane in the real environment, a coordinate system is established based on the three-dimensional space model with the position of the crane as an origin, and the data mapping relationship between the three-dimensional space model and the real coordinate data of the crane in the real environment is determined based on the coordinate system. Here, since the tower crane is in a stationary state during operation, the tower crane base can be used as an origin of a relative coordinate system and aligned with the northeast coordinate system in the real environment, so as to establish a coordinate system, wherein the coordinate system is a three-axis coordinate system, for example, the body of the tower crane is set to be perpendicular to the ground, and the initial east deflection angle θ is set 0 Initial trolley distance d 0 Initial height h 0 . Then, a data mapping relation between the three-dimensional space model and the real coordinate data of the crane in the real environment is determined based on the coordinate system, for example, the data mapping relation is determined according to the real coordinate data of the tower crane and the coordinates (0,0,0) of the tower crane in the three-dimensional space model, so that the running track presented in the three-dimensional space model can run normally in the real environment, the accuracy is improved, and the driving efficiency of a crane driver is improved.
In an optional embodiment of the present application, in S300, the operation path of the crane includes a hoisting path, a translation path, and a descent path, hoisting height data is determined based on the start point coordinate and the end point coordinate, and a hoisting path is determined according to the hoisting height data; determining a plane where a translation path is located according to the lifting height data, judging whether obstacle avoidance operation exists in the process of translating to a position right above a terminal coordinate or not based on the plane and the terminal coordinate, and if so, selecting a shortest obstacle avoidance route as the translation path; and determining a path which is translated to the position right above the end point coordinate and descends to the end point coordinate as a descending path. Here, the real coordinate position of the hoisted object may be obtained by using a sensor, a coordinate corresponding to the current position of the hoisted object is determined based on a data mapping relationship between the three-dimensional space model and real coordinate data of the crane in a real environment and is used as a start point coordinate, and the hoisting height data is determined according to a larger value of the height data in the start point coordinate and the end point coordinate, for example, a value obtained by increasing the larger value in the start point coordinate and the end point coordinate by a preset height increasing value is used as the hoisting height data, and the hoisting path is determined according to the hoisting height data. And then, judging whether an obstacle avoidance operation exists in the process of translating to the position right above the end point coordinate or not based on the plane and the end point coordinate, if so, selecting the shortest obstacle avoidance route as a translation route, wherein when an obstacle exists, the obstacle avoidance operation can be carried out under the condition of keeping a preset safety distance, generally, the obstacle avoidance operation can be carried out in two directions when the obstacle exists, for example, the obstacle avoidance operation can be carried out in the left direction and the right direction, and the shortest obstacle avoidance route is selected as the translation route. Then, after the suspended object reaches the position above the destination, the suspended object is lowered to the target point, and a path which is translated to the position right above the end point coordinate and lowered to the end point coordinate is determined as a lowering path. By the aid of the method, the specific operation path of the hoisted object can be rapidly planned, and the operation path can be visually presented in the three-dimensional space model, so that the working efficiency of the crane is improved, and the safety is guaranteed.
In an optional embodiment of the present application, in S300, volume information of a hoisted object is obtained, and a corresponding first distance threshold is determined according to the volume information of the hoisted object; and determining a safe operation area corresponding to the operation path according to the first distance threshold, wherein the safe operation area is a cylindrical area which takes discrete points on the operation path as the center of a circle and the first distance threshold as the radius. The method comprises the steps of obtaining volume information of a hanging object, such as length, width and height, determining a corresponding first distance threshold value, wherein the first distance threshold value is the minimum distance between the hanging object and an obstacle when the hanging object is in obstacle avoidance operation, and determining the corresponding first distance threshold value by calculating the length, the width and the height in combination with a preset safety distance for the crane to run. And determining a safe operation area corresponding to the operation path according to the first distance threshold, wherein the safe operation area is a cylindrical area which takes discrete points on the operation path as the center of a circle and the first distance threshold as the radius.
In an optional embodiment of the present application, in S300, position information of a hoisted object is obtained, and a nearest point on a travel path is determined based on the position information of the hoisted object; and judging whether the distance between the hoisted object and the nearest point is greater than a first distance threshold, and if so, rendering the safe operation area within a second preset distance threshold of the nearest point. When the distance between the hanging object and the nearest point is larger than a first distance threshold value, the hanging object is located outside the safe operation area, and the alarm is completed by rendering the safe operation area within a second preset distance threshold value of the nearest point. The safe operation area within the second preset distance threshold of the nearest point is rendered, so that a section of safe operation area within the second preset distance threshold before and after the position of the hanging object can be rendered, and the condition that visual confusion is caused by the fact that all safe operation areas are displayed in the three-dimensional space model at the same time is avoided.
In an optional embodiment of the application, when the hanging position does not exceed the range of the safe operation area, only the safe operation area within a preset second distance threshold before and after the nearest point of the operation path of the hanging object is rendered and displayed, and when the hanging position exceeds the range of the safe operation area, the rendered safe operation area is flashed or is rendered in a designated color to complete an alarm, for example, the safe operation area is rendered into red and flashed to give an alarm, so that the condition that the visual confusion of a crane driver is caused by the complete display of the safe operation area is avoided, and the intuitiveness of the auxiliary operation of the crane is ensured.
In an optional embodiment of the present application, in S100, a Unity 3D model is used to determine a three-dimensional spatial model based on the working environment parameter modeling. Here, the working environment parameters may be input using a preset model of Unity 3D to complete modeling of the three-dimensional space model, and similarly, rendering processing of the safe operating area, such as color rendering or flicker rendering, may be completed using Unity 3D.
Fig. 2 shows a rendering and displaying schematic diagram of a safe operation area in an actual application scene in an optional embodiment of the present application, after a planning of an operation path is completed, a trajectory is drawn in a Unity three-dimensional space according to coordinate information of the operation path, the safe operation area is determined according to volume information of a hoisted object and a safe operation distance of a crane, that is, a channel around the trajectory, and dynamic rendering of the safe operation area can be completed by using Unity 3D. Here, a safe distance s of the trajectory is determined, i.e. a channel of radius s is drawn around the trajectory, usually in a transparent state. When the working task is executed, an operator, such as a driver, controls the hanging object to move along the running track, the nearest point of the running track compared with the hanging object can be obtained in a traversing mode, when the distance between the nearest point and the hanging object is larger than s, the cylindrical channel corresponding to the whole safe running area is dynamically rendered to flicker, when the distance between the nearest point and the hanging object is smaller than s, the hanging object is regarded as returning to the safe running area, and the channel is changed to be in a transparent state.
According to the embodiment, when the distance between the nearest point and the hanging object is smaller than s all the time, the track peripheral channel within 3 meters before and after the nearest point is dynamically rendered to form a local channel, so that the situation that the channel corresponding to the whole safe operation area largely displays other features such as barriers, buildings and the like in the blocked page is avoided, and the safety and the visibility are ensured.
Embodiments of the present application further provide a computer readable medium, on which computer readable instructions are stored, where the computer readable instructions can be executed by a processor to implement the foregoing method for crane auxiliary operation.
In correspondence with the method described above, the present application also provides a terminal, which includes modules or units capable of executing the method steps described in fig. 1 or fig. 2 or various embodiments, and these modules or units can be implemented by hardware, software or a combination of hardware and software, and the present application is not limited thereto. For example, in an embodiment of the present application, there is also provided an apparatus for crane auxiliary operation, wherein the apparatus includes:
one or more processors; and
a memory having computer readable instructions stored thereon that, when executed, cause the processor to perform the operations of the one crane assisted operation method described above.
For example, the computer readable instructions, when executed, cause the one or more processors to:
obtaining working environment parameters of a crane, and modeling based on the working environment parameters to obtain a three-dimensional space model; determining a data mapping relation between a three-dimensional space model and real coordinate data of a crane in a real environment, and determining a starting point coordinate and an end point coordinate in the three-dimensional space model based on the current position information of a hoisted object, the placement point position information of the hoisted object and the data mapping relation; planning a running path of the crane according to the starting point coordinates and the end point coordinates, determining a safe running area according to the running path, and rendering the safe running area; and performing alarm feedback by displaying the rendered safe operation area.
Fig. 3 shows a block diagram of an equipment frame for crane auxiliary operation according to another aspect of the present application, the equipment comprising: the data modeling module 100 is used for acquiring working environment parameters of the crane and modeling based on the working environment parameters to obtain a three-dimensional space model; the data processing module 200 is configured to determine a data mapping relationship between the three-dimensional space model and real coordinate data of the crane in a real environment, and determine a start point coordinate and an end point coordinate in the three-dimensional space model based on the current position information of the hoisted object, the placement point position information of the hoisted object, and the data mapping relationship; the rendering display module 300 is configured to plan a running path of the crane according to the start point coordinates and the end point coordinates, determine a safe running area according to the running path, and render the safe running area; and an alarm feedback module 400, configured to perform alarm feedback by displaying the rendered safe operating area. Therefore, the recommended path is provided after the crane lifts the hoisted object, the alarm is given in real time when the hoisted object is not in the recommended path range, the operation efficiency of the crane is improved, and the safety of the hoisting operation is ensured.
It should be noted that, the content executed by the data modeling module 100, the data processing module 200, the rendering and displaying module 300, and the alarm feedback module 400 is the same as or corresponding to the content in the above steps S100, S200, S300, and S400, and for the sake of brevity, the details are not repeated herein.
In an optional embodiment of the present application, the data processing module 200 is further configured to establish a coordinate system based on the three-dimensional space model with the position of the crane as an origin, and determine a data mapping relationship between the three-dimensional space model and real coordinate data of the crane in the real environment based on the coordinate system. Here, since the tower crane is in a stationary state during operation, the data processing module 200 may use the tower crane base as an origin of a relative coordinate system, and align with the northeast coordinate system in the real environment, so as to establish a coordinate system, where the coordinate system is a three-axis coordinate system, for example, the tower crane body is set to be perpendicular to the ground, and the initial east deflection angle θ is set 0 Initial trolley distance d 0 Initial height h 0 . Next, the data processing module 200 determines a data mapping relationship between the three-dimensional space model and the real coordinate data of the crane in the real environment based on the coordinate system, for example, the data mapping relationship is determined according to the real coordinate data of the tower crane and the coordinate (0,0,0) of the tower crane in the three-dimensional space model, so as to realize that the running track presented in the three-dimensional space model can normally run in the real environment, improve the accuracy, and improve the driving efficiency of the crane driver.
Fig. 4 is a schematic diagram illustrating establishment of a coordinate system in an actual application scenario according to an alternative embodiment of the present application, where O is a location of a tower crane, D is a hanging object, B is a boom of the crane, O is set as an origin, and an X axis is located on a real ringThe environment is in the east direction, the Y axis is perpendicular to the ground level, the coordinate of the hanging object on the X axis is d cos theta, the coordinate of the hanging object on the Y axis is h, and the coordinate of the hanging object on the Z axis is d sin theta. Here, the operation interval of the rotary electric machine is [ θ ] min ，θ max ]The operation interval of the variable amplitude motor is [ d min ，d max ]The operation interval of the lifting motor is [ h ] min ，h max ]And the obstacle can be described correspondingly in the coordinate system.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
It should be noted that the present application may be implemented in software and/or a combination of software and hardware, for example, implemented using Application Specific Integrated Circuits (ASICs), general purpose computers or any other similar hardware devices. In one embodiment, the software programs of the present application may be executed by a processor to implement the steps or functions described above. Likewise, the software programs (including associated data structures) of the present application may be stored in a computer readable recording medium, such as RAM memory, magnetic or optical drive or diskette and the like. Additionally, some of the steps or functions of the present application may be implemented in hardware, for example, as circuitry that cooperates with the processor to perform various steps or functions.
In addition, some of the present application may be implemented as a computer program product, such as computer program instructions, which when executed by a computer, may invoke or provide methods and/or techniques in accordance with the present application through the operation of the computer. Program instructions which invoke the methods of the present application may be stored on a fixed or removable recording medium and/or transmitted via a data stream on a broadcast or other signal-bearing medium and/or stored within a working memory of a computer device operating in accordance with the program instructions. An embodiment according to the present application comprises an apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform a method and/or a solution according to the aforementioned embodiments of the present application.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. The terms first, second, etc. are used to denote names, but not any particular order.
Claims (11)
1. A method of crane assisted operation, the method comprising:
obtaining working environment parameters of a crane, and modeling based on the working environment parameters to obtain a three-dimensional space model;
determining a data mapping relation between a three-dimensional space model and real coordinate data of a crane in a real environment, and determining a starting point coordinate and an end point coordinate in the three-dimensional space model based on the current position information of a hoisted object, the placement point position information of the hoisted object and the data mapping relation;
planning a running path of the crane according to the starting point coordinates and the end point coordinates, determining a safe running area according to the running path, and rendering the safe running area;
and performing alarm feedback by displaying the rendered safe operation area.
2. The method of claim 1, wherein the operating environment parameters include terrain parameters, building parameters, and obstacle parameters, and wherein modeling based on the operating environment parameters results in a three-dimensional spatial model comprising:
and modeling by using a preset model according to the terrain parameters, the building parameters and the obstacle parameters, and establishing a discrete three-dimensional space to determine a three-dimensional space model.
3. The method of claim 1, wherein prior to determining the data mapping relationship between the three-dimensional space model and the crane's real coordinate data in the real environment, further comprising:
establishing a coordinate system by taking the position of the crane as an origin on the basis of the three-dimensional space model, and determining a data mapping relation between the three-dimensional space model and real coordinate data of the crane in a real environment on the basis of the coordinate system.
4. The method of claim 1, wherein the travel path of the crane comprises a lifting path, a translation path, and a lowering path, and wherein planning the travel path of the crane according to the start point coordinates and the end point coordinates comprises:
determining lifting height data based on the starting point coordinate and the end point coordinate, and determining a lifting path according to the lifting height data;
determining a plane where a translation path is located according to the lifting height data, judging whether obstacle avoidance operation exists in the process of translating to a position right above a terminal coordinate or not based on the plane and the terminal coordinate, and if so, selecting a shortest obstacle avoidance route as the translation path;
and determining a path which is translated to the position right above the end point coordinate and descends to the end point coordinate as a descending path.
5. The method of claim 1, wherein determining a safe operating area from the travel path comprises:
acquiring volume information of a hanging object, and determining a corresponding first distance threshold according to the volume information of the hanging object;
and determining a safe operation area corresponding to the operation path according to the first distance threshold, wherein the safe operation area is a cylindrical area which takes discrete points on the operation path as the center of a circle and the first distance threshold as the radius.
6. The method of claim 5, wherein the rendering the safe operating area comprises:
acquiring position information of a hoisted object, and determining the nearest point on a running path based on the position information of the hoisted object;
and judging whether the distance between the hoisted object and the nearest point is greater than a first distance threshold, and if so, rendering the safe operation area within a second preset distance threshold of the nearest point.
7. The method of claim 1, wherein modeling based on the operating environment parameters results in a three-dimensional spatial model, further comprising:
determining a three-dimensional spatial model based on the working environment parametric modeling using Unity 3D.
8. An apparatus for crane assisted operation, the apparatus comprising:
the data modeling module is used for obtaining working environment parameters of the crane and obtaining a three-dimensional space model based on the working environment parameters;
the data processing module is used for determining a data mapping relation between the three-dimensional space model and real coordinate data of the crane in a real environment, and determining a starting point coordinate and an end point coordinate in the three-dimensional space model based on the current position information of the hoisted object, the placement point position information of the hoisted object and the data mapping relation;
the rendering display module is used for planning a running path of the crane according to the starting point coordinates and the end point coordinates, determining a safe running area according to the running path and rendering the safe running area;
and the alarm feedback module is used for carrying out alarm feedback by displaying the rendered safe operation area.
9. The apparatus of claim 8, wherein the apparatus comprises:
and the data processing module is also used for establishing a coordinate system based on the three-dimensional space model by taking the position of the crane as an origin, and determining a data mapping relation between the three-dimensional space model and real coordinate data of the crane in a real environment based on the coordinate system.
10. A computer readable medium having computer readable instructions stored thereon which are executable by a processor to implement the method of any one of claims 1 to 7.
11. An apparatus for crane assisted operation, the apparatus comprising:
one or more processors; and
a memory storing computer readable instructions that, when executed, cause the processor to perform the operations of the method of any of claims 1 to 7.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116443733A (en) * | 2023-06-14 | 2023-07-18 | 山东中建众力设备租赁有限公司 | Crane control method and system and intelligent terminal |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116443733A (en) * | 2023-06-14 | 2023-07-18 | 山东中建众力设备租赁有限公司 | Crane control method and system and intelligent terminal |
| CN116443733B (en) * | 2023-06-14 | 2023-08-22 | 山东中建众力设备租赁有限公司 | Crane control method and system and intelligent terminal |
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