CN116882220B - Crane station area planning method and device, electronic equipment and storage medium - Google Patents
Crane station area planning method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The application relates to the technical field of cranes, and discloses a crane station area planning method and device, electronic equipment and a storage medium, wherein the method comprises the following steps: collecting positions of a hoisting starting point, a hoisting end point and an obstacle; taking a hoisting starting point as a circle center, and respectively taking the minimum working amplitude and the maximum working amplitude of the crane as radiuses to make circles to obtain a starting point circular ring; taking a hoisting end point as a circle center, and respectively taking the minimum working amplitude and the maximum working amplitude of the crane as radiuses to make circles to obtain an end point circular ring; the intersection of the starting point circular ring and the end point circular ring is identified and used as a station area; based on the station area, generating a point cloud image of the station area, calculating and deleting a range exceeding the adjustment range of the crane landing leg on the ground height, and calculating and deleting a range of possible collision; the remaining range is calculated as the crane position range. The crane station position area can be reasonably planned, the crane adjusting position is avoided, and therefore the operation efficiency of the crane is improved.
Description
Technical Field
The application belongs to the technical field of cranes, and relates to a crane station area planning method and device, electronic equipment and a storage medium.
Background
In recent years, unmanned machine work has become a research hotspot in the industry. Various industrial robots and automatic machines bring great improvement to social productivity. The crane can play an important role in the transport of materials during construction and maintenance of buildings and facilities. The key to the efficiency of the project and the safety of the project implementation process is the stable operation of the crane.
However, due to the rapid development of the modern society, the structure of industrial facilities is increasingly complex, devices and materials used tend to be more diversified, the shape of the hoisted object of the crane becomes more irregular, the size range of the object is wider, and thus, the hoisting planning of the crane is more fine and the requirement of higher bearing is provided. In addition, due to the continuous development demands for natural resources and the rapid development of the construction industry, the working environment of the crane is also more and more complex. When working environment is bad, the operation difficulty of the crane is greatly improved, and the test of the hoisting planning technology is more serious. Therefore, the hoisting planning of the crane has great research significance.
The prior art discloses a construction method of a hoisting path planning model, which comprises the following steps: establishing a crane model; constructing a lifting system configuration space model based on the current operation scene and the crane model, wherein the lifting system configuration space model comprises crane loading data and crane unloading data; aiming at the lifting system configuration space model and the boarding data, generating boarding raster image data of a crane; aiming at the lifting system configuration space model and the getting-off data, generating getting-off raster image data of a crane; and constructing a hoisting path planning model by utilizing an A star algorithm and combining the on-board raster image data and the off-board raster image data.
In order to solve the problems of low hoisting efficiency, safety risk in hoisting and the like caused by unreasonable arrangement of a traditional crane station area, a crane station area planning method is particularly provided. Therefore, the station area planning directly affects the efficiency, safety and reliability of the crane hoisting operation.
Disclosure of Invention
The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview, and is intended to neither identify key/critical elements nor delineate the scope of such embodiments, but is intended as a prelude to the more detailed description that follows.
In order to solve the problems in the related art, the embodiment of the disclosure provides a crane station area planning method, which is used for solving the problem of low parking stall recommendation precision caused by large influence of weather factors in the prior art.
In some embodiments, a crane site area planning method is provided, the method comprising:
s100, collecting positions of a hoisting start point, a hoisting end point and an obstacle;
s200, taking a hoisting starting point as a circle center, and respectively taking the minimum working amplitude and the maximum working amplitude of the crane as radiuses to make circles to obtain a starting point circular ring;
s300, taking a hoisting end point as a circle center, and respectively taking the minimum working amplitude and the maximum working amplitude of the crane as radiuses to make circles to obtain an end point circular ring;
s400, identifying the intersection of the starting point circular ring and the ending point circular ring as a station area;
s500, generating a point cloud picture of the station area based on the station area;
s600, calculating and deleting a range exceeding the adjustment range of the crane support leg on the ground height according to the point cloud picture of the station area;
s700, calculating and deleting a range of possible collision according to the point cloud image of the station area and the position of the obstacle;
s800, calculating the remaining range as the range of the crane station.
Preferably, in the station area, calculating and deleting a range of possible collisions according to a point cloud image of the station area and a position of an obstacle includes:
s710, judging whether a hoisting connecting line exists in the obstacle, if so, executing S720; if not, executing S730; the connecting line of the station position point and the lifting starting point or the connecting line of the crane and the lifting end point is used as the lifting connecting line;
s720, identifying that the obstacle is subjected to range deletion in a region where a lifted object collides when the obstacle is on a lifting connecting line;
s730, judging whether the distance between the obstacle and the station point is larger than the minimum working amplitude of the crane when the obstacle is not on the hoisting connecting line; if yes, not operating; if not, executing S740;
s740, if the obstacle is in the minimum working range, taking a point which is larger than the minimum allowable height of the crane in the height direction as an obstacle point, and judging whether the obstacle point in the minimum working range of the crane operation collides with the crane or not; if yes, identifying the points possibly collided as potential obstacle points, screening the potential obstacle points and deleting the potential obstacle points, and leaving the remaining potential obstacle points to be used as selectable station points; if not, the corresponding station position point is taken as the selectable station position point.
Preferably, the identifying a point of possible collision in S740 as a potential obstacle point, screening the potential obstacle point and deleting, leaving the remaining potential obstacle points, includes:
s741, identifying points where the crane hoisted object is likely to collide on the obstacle, wherein the points are potential obstacle points, and the rest points which are not collided are selected as selectable station points;
s742, classifying the potential obstacle point connection lines, the classification comprising: the potential obstacle point connecting line passes through one lifting connecting line, the potential obstacle point connecting line passes through two lifting connecting lines, and the potential obstacle point connecting line does not pass through the lifting connecting lines; the potential obstacle point connecting line is a connecting line between any two potential obstacle points;
and S743, enabling the potential obstacle point connecting line to pass through the two hoisting connecting lines and the region corresponding to the potential obstacle point connecting line, which does not pass through the hoisting connecting line, to serve as the selectable station point.
Preferably, the identifying the obstacle in S720 includes:
set a rotation center O 1 The coordinates are (x, y), the highest height of the obstacle is H OBS The highest height of the obstacle is projected to the rotation center in the xy plane with the distance D OBS The distance from the center point of the hoisted object projected on the xy plane to the rotation center is D OBJ The height of the hoisted object is H OBJ The safety distance from the suspension arm to the obstacle is H S The distance from the lifting hook to the top end of the suspension arm is H L The length of the suspension arm is L;
solving the distance H from the lifting hook to the top end of the suspension arm when the suspension arm is placed over the obstacle for a safe distance L ；
H L ＝D OBJ ×tanθ-H OBJ
If H L Greater than the allowable value H from the lifting hook to the top end of the suspension arm LS The boom length L at this time is calculated,
when L is within the length of the working arm allowed by the crane, the station point can be selected; when L is not in the length of the working arm allowed by the crane, the station position is not selectable;
if H L Less than the allowable value H from the lifting hook to the top end of the suspension arm LS Then take H L ＝H LS Calculating the length L of the suspension arm at the moment, and selecting a station point when the length L is within the length of the working arm allowed by the crane; when L is not within the working arm length allowed by the crane, the station point is not selectable.
Preferably, identifying whether the crane hoist object is above the obstacle and is subject to a collision comprises:
distance D of obstacle from rotation center OBS The hoisted object is above the obstacle at a safe distance H S Obstacle height H OBS Height H of hoisted object OBJ Safety distance H of hook to boom top LS Obtaining the length L of the suspension arm;
if L is within the allowed working arm length of the crane, the crane hoisted object is at a safe distance H above the obstacle S And the obstacle points can not collide with the crane when passing through the crane.
Preferably, calculating and deleting the range exceeding the adjustment range of the crane support leg on the ground height according to the point cloud image of the station area comprises the following steps:
setting the size of grids based on the point cloud map, calculating the number of the grids, and traversing the whole point cloud map by taking the grids as units;
sequentially cycling grids, searching the lowest point min_p of each grid, and then calculating a gradient value Tpoint according to a formula by other point points in the grids;
setting a gradient Threshold value, circulating each point by each grid, and comparing the gradient value with the gradient Threshold value to distinguish between a standing site and a non-standing site;
and (5) after the circulation is finished, outputting a result.
In some embodiments, a crane site area planning apparatus is disclosed, comprising: the initial acquisition module is configured to acquire positions of a hoisting start point, a hoisting end point and an obstacle; the starting point ring identifying module is configured to make circles by taking the hoisting starting point as a circle center and taking the minimum working amplitude and the maximum working amplitude of the crane as radiuses respectively to obtain a starting point ring; the end point identifying circular ring module is configured to make circles by taking a hoisting end point as a circle center and taking the minimum working amplitude and the maximum working amplitude of the crane as radiuses respectively to obtain an end point circular ring; the station position area acquisition module is configured to identify the intersection of the starting point circular ring and the ending point circular ring as a station position area; the generating point cloud image module is configured to generate a point cloud image of the station area based on the station area; the screening height module is configured to calculate and delete a range exceeding the adjustment range of the crane support leg on the ground height according to the point cloud picture of the station area; the screening collision module is configured to calculate and delete the range of possible collision according to the point cloud image of the station area and the position of the obstacle; and the calculating module is configured to calculate the remaining range as the target station range.
In some embodiments, an electronic device is disclosed that includes a memory, a processor, and a computer program stored on the memory and executable on the processor that, when executed, performs a crane yard zone planning method as described above.
In some embodiments, a computer readable storage medium having a computer program stored thereon for execution by a processor of a crane yard zone planning method as described above is disclosed.
According to the crane station area planning method provided by the embodiment of the disclosure, the station area of a crane is identified through the hoisting starting point and the hoisting ending point, and the range exceeding the adjustment range and the possible collision range of the crane landing leg on the ground height is deleted in the station area, so that the target station range is obtained. Therefore, the station area of the crane can be reasonably planned, and the position adjustment of the crane is avoided, so that the operation efficiency of the crane is improved.
The foregoing general description and the following description are exemplary and explanatory only and are not restrictive of the application.
Drawings
One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which like reference numerals refer to similar elements, and in which:
fig. 1 is a flowchart of a crane station area planning method provided in an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of generation of a crane yard area provided by an embodiment of the present disclosure;
FIG. 3 is a schematic illustration of a grade filtering meshing provided by an embodiment of the present disclosure;
FIG. 4 is a schematic view of an obstacle on a lifting connection provided by an embodiment of the present disclosure;
FIG. 5 is a schematic view of another obstacle provided in an embodiment of the present disclosure on a hoist link;
FIG. 6 is a schematic diagram of an obstacle versus minimum amplitude provided by an embodiment of the present disclosure;
FIG. 7 is a schematic diagram of a crane hoist identifying a collision above an obstacle provided by an embodiment of the disclosure;
FIG. 8-1 is a schematic view of an obstacle of a crane provided by an embodiment of the disclosure;
FIG. 8-2 is a schematic illustration of an obstacle of a crane provided by an embodiment of the disclosure;
8-3 are diagrams of obstacles of a crane provided by embodiments of the present disclosure;
fig. 9 is a schematic diagram of a crane station area planning apparatus according to an embodiment of the disclosure;
fig. 10 is a schematic diagram of a crane site area planning apparatus according to an embodiment of the present disclosure.
Reference numerals:
1: hoisting a starting point; 2: hoisting the end point; 3: a station area; 4: an obstacle; 5: hoisting objects; 6: minimum working amplitude; 7: maximum working amplitude.
Detailed Description
So that the manner in which the features and techniques of the disclosed embodiments can be understood in more detail, a more particular description of the embodiments of the disclosure, briefly summarized below, may be had by reference to the appended drawings, which are not intended to be limiting of the embodiments of the disclosure. In the following description of the technology, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may still be practiced without these details. In other instances, well-known structures and systems are shown simplified in order to simplify the drawings.
The following description and the drawings sufficiently illustrate specific embodiments of the invention to enable those skilled in the art to practice them. Other embodiments may involve structural, logical, electrical, process, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in, or substituted for, those of others. The scope of embodiments of the invention encompasses the full ambit of the claims, as well as all available equivalents of the claims. Embodiments may be referred to herein, individually or collectively, by the term "invention" merely for convenience and without intending to voluntarily limit the scope of this application to any single invention or inventive concept if more than one is in fact disclosed. Relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, or electronic device that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, or electronic device. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method or electronic device comprising the element. Various embodiments are described herein in a progressive manner, each embodiment focusing on differences from other embodiments, and identical and similar parts between the various embodiments are sufficient to be seen with each other. The method, product and the like disclosed in the examples are relatively simple to describe because they correspond to the method parts disclosed in the examples, and the relevant points are only referred to the description of the method parts.
Mine transportation is an important task of mine operation, and accurate parking of mine cars in the transportation process is one of the technical problems to be solved urgently. The parking position of the ore card in the loading area needs to be dynamically changed according to the surrounding environment, and the current parking mode generally adopts man-machine interaction to select the parking position of the ore card in combination with a camera. The scheme of selecting the parking position by using the camera is an accurate parking method of the automatic driving loading and unloading point of the mining area based on visual assistance. According to the method, through calibration of a monocular camera and measurement of a camera mounting position and an auxiliary operation vehicle GPS antenna mounting position, pixel coordinates of an expected parking position selected by man-machine interaction in an image are converted into GPS coordinates, and then the parking position is sent to a mining card to park. The camera is used for selecting the parking position, the influence of weather and illumination is large, and the proper parking position can not be selected in rainy and snowy days and in the evening.
In the prior art, most of the existing technologies are designed aiming at a crane approach path and a working path, and no patent technology exists in the aspect of a crane station area. The station planning of other robots is basically different from the station planning of the crane, and the influence of factors such as topography and the like on the station planning is not considered.
The planning of the station area of the mobile crane is a very important link of hoisting planning. The method mainly comprises the steps of determining the most suitable station area of the crane according to the weight of the hoisted object, the starting point, the finishing point and the crane parameters, and safely and efficiently completing the hoisting task under the station area. Because the dead weight of the crane is large and the crane walks slowly, more time is required to move from one station position to other station positions, if the station position area planning is not good in the hoisting process, the crane can frequently replace the station position, and even the safety risks that the crane operation at the station position exceeds the limit working condition occur, and the like, therefore, the station position area planning directly influences the high efficiency, the safety and the reliability of the crane hoisting operation.
The lifting device aims at solving the problems of low lifting efficiency, safety risk in lifting and the like caused by unreasonable arrangement of a traditional crane station area. Referring to fig. 1, an embodiment of the present disclosure provides a crane station location area planning method, including:
s100, collecting positions of a hoisting start point 1, a hoisting end point 2 and an obstacle 4.
S200, taking the hoisting starting point 1 as a circle center, and respectively taking the minimum working amplitude 6 and the maximum working amplitude 7 of the crane as radiuses to make circles so as to obtain a hoisting ring.
S300, taking the hoisting end point 2 as a circle center, and respectively taking the minimum working amplitude 6 and the maximum working amplitude 7 of the crane as radiuses to make circles so as to obtain an end point circular ring.
S400, identifying the intersection of the starting point circular ring and the ending point circular ring as a station area 3.
It should be appreciated that reference is made to fig. 2 for a schematic representation of the generation of a site area 3 in an embodiment of the present disclosure. According to the minimum working amplitude 6 and the maximum working amplitude 7 of the crane, taking the hoisted object 5 as the center of a circle, and the circular ring is the working amplitude range of the crane. The hoisting start point 1 is the starting position of the hoisted object 5, and the hoisting end point 2 is the hoisting target position. Wherein Rmin is the minimum working radius of the crane, and Rmax is the maximum working radius of the crane. The intersection area of the two working amplitude ranges is the station area 3 which can be hoisted by the working amplitude of the crane without walking in the hoisting process. It should be noted that the screened area of S200 to S400 is the station area 3 of the preliminary screening. In the subsequent step, based on the station area 3, deleting the unsuitable position, further screening, and finally obtaining the target station range.
S500, generating a point cloud image of the station area 3 based on the station area 3.
And S600, calculating and deleting the range exceeding the adjustment range of the crane support leg on the ground height according to the point cloud picture of the station area 3.
It should be understood that ground height includes ground grade and step height. If the ground gradient and the step height exceed the adjustable range of the crane support leg, the area needs to be deleted correspondingly in the station area 3.
Specifically, based on the point cloud map, the length is X and the width is Y. The grid size is set, the length is x, and the width is y. The number of grids, row number Row, column number Col, were calculated. Traversing the whole point cloud map in units of grids. Referring to fig. 3, a schematic diagram of a gradient filtering meshing in an embodiment of the disclosure is shown.
Sequentially cycling grids, searching the lowest point min_p of each grid, and then calculating a gradient value Tpoint according to a formula by other point points in the grids;
setting a gradient Threshold value, circulating each point by each grid, and comparing the gradient value with the gradient Threshold value to distinguish between a standing site and a non-standing site;
and (5) after the circulation is finished, outputting a result.
S700, calculating and deleting the range of possible collision according to the point cloud image of the station area 3 and the position of the obstacle 4.
Specifically, in the stop zone 3, a range of possible collisions is calculated and deleted from the point cloud image of the stop zone 3 and the position of the obstacle 4, including:
s710, judging whether a hoisting connection line exists for the obstacle 4, if so, executing S720; if not, executing S730; the connecting line between the station site and the hoisting start point 1 or the connecting line between the crane and the hoisting end point 2 is used as the hoisting connecting line.
S720, recognizing that the obstacle 4 is deleted in the range where the hoisted object collides when the obstacle 4 is on the hoisting connection line.
It will be appreciated that the obstacle 4 is on the hoisting connection, i.e. the obstacle 4 is on the connection of the crane to the hoisting start 1 or the obstacle 4 is on the connection of the crane to the hoisting end 2. In both cases, the obstacle 4 is located between the hoisting start point 1 and the hoisting end point 2, and the boom of the crane may hit the obstacle 4. When the boom of the crane is required to be analyzed to contact the hoisting start point 1 or the hoisting end point 2, the boom is kept above the obstacle 4, passes over the obstacle 4, and does not touch the obstacle 4.
The crane boom is determined whether to cross the obstacle 4, whether a working posture which cannot collide exists when the crane lifts an object or places the object is considered, and if the working posture exists, the station position is not selectable.
Referring to fig. 4, a schematic view of an obstacle 4 on a hoisting line according to an embodiment of the disclosure is shown.
Set a rotation center O 1 The coordinates are (x, y), the highest height of the obstacle is H OBS The highest height of the obstacle is projected to the rotation center in the xy plane with the distance D OBS The distance from the center point of the hoisted object 5 projected on the xy plane to the rotation center is D OBJ The height of the hoisted object is H OBJ The safety distance from the boom to the obstacle 4 is H S The distance from the lifting hook to the top end of the suspension arm is H L The length of the suspension arm is L;
solving the distance H from the lifting hook to the top end of the suspension arm when the suspension arm is placed under the lifting object 5 above the obstacle 4 at a safe distance L The method comprises the steps of carrying out a first treatment on the surface of the Wherein,according to the following, calculate H L 。
H L ＝D OBJ ×tanθ-H OBJ
Let the allowable value from the hook to the top of the boom be H LS ，H LS For identifying whether the hook collides with the boom tip.
If H L Greater than the allowable value H from the lifting hook to the top end of the suspension arm LS And (4) further calculating the length L of the suspension arm at the current position if the suspension hook is not collided with the top end of the suspension arm. Referring to FIG. 4, H is shown L ≥H LS Is the case in (a). And judging whether the calculation meets the requirement or not according to the length L of the suspension arm. The boom length L at this point is calculated,
let the minimum arm length of the crane which can be extended be L MIN Maximum arm length L MAX 。
When L MIN ≤L≤L MAX When the working arm length L required by the current gesture is indicated to be reached by the telescopic crane, the station point can be selected.
When L<L MIN Or L>L MAX When the working arm length L required by the current gesture is not reached by the telescopic crane, the station position point cannot be selected.
Referring to fig. 5, a schematic view of an obstacle 4 on a hoisting line according to an embodiment of the disclosure is shown. H is shown in FIG. 5 L ＜H LS Is the case in (a).
If the lifting hook is at the top end of the suspension arm H L Less than H LS The lifting hook collides with the top end of the suspension arm, which isThe lifting hook is prevented from colliding with the suspension arm. At this time, the boom needs to be lifted, and the distance from the lifting hook to the top end of the boom is the minimum H LS At this time, the safe distance from the boom to the obstacle 4 is not H S There will be an increase. The boom length L at this point is calculated,
let the minimum arm length of the crane which can be extended be L MIN Maximum arm length L MAX 。
When L MIN ≤L≤L MAX When the working arm length L required by the current gesture is indicated to be reached by the telescopic crane, the station point can be selected.
When L<L MIN Or L>L MAX When the working arm length L required by the current gesture is not reached by the telescopic crane, the station position point cannot be selected.
It should be noted that, in the embodiment of the present disclosure, the station point is not selectable, and it is understood that the corresponding collision area is deleted.
S730, judging whether the distance between the obstacle 4 and the station is larger than the minimum working amplitude 6 of the crane when the obstacle 4 is not on the hoisting connecting line; if yes, not operating; if not, then S740 is performed.
It will be appreciated that the obstacle 4 is not in the hoisting connection, i.e. the obstacle 4 is neither in the connection of the crane to the hoisting start point 1 nor in the connection of the obstacle 4 to the crane to the hoisting end point 2. In the above case, in the stop zone 3, it is determined whether the obstacle 4 is within the minimum operation range 6 based on the minimum operation range 6 centering on the stop point.
Referring to fig. 5, a schematic diagram of the relationship between the minimum amplitude and the obstacle 4 in the embodiment of the disclosure is shown.
If the obstacle 4 is not within the minimum working amplitude 6, i.e. the distance of the obstacle 4 from the station site is greater than the minimum working amplitude 6 of the crane, the crane can bypass the obstacle 4 at the minimum working amplitude 6 without collision with the obstacle 4 when moving at the minimum working amplitude 6 and the crane has a smaller movement radius than the distance from the crane to the obstacle 4, and the station site can be located at the station site, and is not operated.
If the obstacle 4 is within the minimum working range 6, i.e., the distance of the obstacle 4 from the station site is less than the crane minimum working range 6, further judgment is required, S740 is performed.
S740, if the obstacle 4 is in the range of the minimum working amplitude 6, taking a point which is larger than the minimum allowable height of the crane in the height direction as an obstacle point, and judging whether the obstacle point in the minimum working range of the crane operation collides with the crane or not; if yes, identifying the points possibly collided as potential obstacle points, screening the potential obstacle points and deleting the potential obstacle points, and leaving the remaining potential obstacle points to be used as selectable station points; if not, the corresponding station position point is taken as the selectable station position point.
Further, identifying points of possible collision in S740 as potential obstacle points, screening the potential obstacle points and deleting, leaving remaining potential obstacle points, including:
s741, identifying the points where the crane lifting object 5 possibly collides on the obstacle 4 as potential obstacle points, and the rest points which cannot collide as selectable station points.
The selectable station points are the screened crane station point ranges.
Wherein, discernment hoist and mount thing 5 is in barrier 4 top, whether can bump, includes:
distance D of obstacle 4 from center of rotation OBS The hoisted object 5 is above the obstacle 4 at a safe distance H S Obstacle height H OBS Height H of hoisted object OBJ Safety distance H of hook to boom top LS The boom length L is determined. Referring to fig. 6, a schematic diagram of a crane hoist 5 identifying a collision above an obstacle 4 in an embodiment of the disclosure is shown.
If L is within the allowed working arm length of the crane, the crane hoist 5 is located a safe distance H above the obstacle 4 S And the obstacle points can not collide with the crane when passing through the crane.
S742, classifying the potential obstacle point connection lines, the classification comprising: the potential obstacle point connecting line passes through one lifting connecting line, the potential obstacle point connecting line passes through two lifting connecting lines, and the potential obstacle point connecting line does not pass through the lifting connecting lines; the potential obstacle point connecting line is a connecting line between any two potential obstacle points.
And S743, enabling the potential obstacle point connecting line to pass through the two hoisting connecting lines and the region corresponding to the potential obstacle point connecting line, which does not pass through the hoisting connecting line, to serve as the selectable station point.
The potential obstacle point links are classified into three cases. The first case is where the potential obstacle point line passes through a hoist line, see fig. 8-1. The second case is where the potential obstacle point line passes through two hoist lines, see fig. 8-2. A third situation is that the line does not pass through the hoist line for the potential obstacle point, see fig. 8-3.
It will be appreciated that when the potential obstacle point connection passes through a hoist connection, i.e. no matter whether the crane turns the boom from the hoist start 1 to the hoist end 2 clockwise or counter-clockwise, an obstacle 4 is passed. And the obstacle 4 collides when the hoisted object 5 is above the obstacle 4. The judgment of the collision is in S741. Therefore, the corresponding region needs to be deleted.
And when the potential obstacle point connecting line passes through the two hoisting connecting lines or the potential obstacle point connecting line does not pass through the hoisting connecting line, the suspension arm can be rotated from the hoisting starting point 1 to the hoisting end point 2 without passing through the obstacle 4. Thus, the corresponding region is reserved as a selectable station site.
S800, calculating the remaining range as the range of the crane station.
Fig. 9 shows a crane site area planning apparatus according to an embodiment of the present invention, the apparatus includes:
the initial acquisition module is configured to acquire positions of a hoisting start point, a hoisting end point and an obstacle;
the starting point ring identifying module is configured to make circles by taking the hoisting starting point as a circle center and taking the minimum working amplitude and the maximum working amplitude of the crane as radiuses respectively to obtain a starting point ring;
the end point identifying circular ring module is configured to make circles by taking a hoisting end point as a circle center and taking the minimum working amplitude and the maximum working amplitude of the crane as radiuses respectively to obtain an end point circular ring;
the station position area acquisition module is configured to identify the intersection of the starting point circular ring and the ending point circular ring as a station position area;
the generating point cloud image module is configured to generate a point cloud image of the station area based on the station area;
the screening height module is configured to calculate and delete a range exceeding the adjustment range of the crane support leg on the ground height according to the point cloud picture of the station area;
the screening collision module is configured to calculate and delete the range of possible collision according to the point cloud image of the station area and the position of the obstacle;
and the calculating module is configured to calculate the remaining range as the target station range.
As shown in connection with fig. 10, an embodiment of the present disclosure provides a crane yard area planning apparatus including a processor (processor) and a memory (memory). Optionally, the electronic device may further comprise a communication interface (Communication Interface) and a bus. The processor, the communication interface and the memory can complete communication with each other through the bus. The communication interface may be used for information transfer. The processor may call logic instructions in memory to perform the crane yard zone planning method of the above embodiments.
The disclosed embodiments provide a storage medium storing computer executable instructions configured to perform the above-described crane yard zone planning method.
The storage medium may be a transitory computer readable storage medium or a non-transitory computer readable storage medium. A non-transitory storage medium comprising: a plurality of media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or a transitory storage medium.
The above description and the drawings illustrate embodiments of the disclosure sufficiently to enable those skilled in the art to practice them. Other embodiments may involve structural, logical, electrical, process, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in, or substituted for, those of others. Moreover, the terminology used in the present application is for the purpose of describing embodiments only and is not intended to limit the claims. As used in the description of the embodiments and the claims, the singular forms "a," "an," and "the" (the) are intended to include the plural forms as well, unless the context clearly indicates otherwise. Similarly, the term "and/or" as used in this application is meant to encompass any and all possible combinations of one or more of the associated listed. Furthermore, when used in this application, the terms "comprises," "comprising," and/or "includes," and variations thereof, mean that the stated features, integers, steps, operations, elements, and/or components are present, but that the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof is not precluded. Without further limitation, an element defined by the phrase "comprising one …" does not exclude the presence of other like elements in a process, method or electronic device comprising the element. In this context, each embodiment may be described with emphasis on the differences from the other embodiments, and the same similar parts between the various embodiments may be referred to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method sections disclosed in the embodiments, the description of the method sections may be referred to for relevance.
Those of skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. The skilled artisan may use different methods for each particular application to achieve the described functionality, but such implementation should not be considered to be beyond the scope of the embodiments of the present disclosure. It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the system, system and unit described above may refer to the corresponding process in the foregoing method embodiment, which is not repeated herein.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. In the description corresponding to the flowcharts and block diagrams in the figures, operations or steps corresponding to different blocks may also occur in different orders than that disclosed in the description, and sometimes no specific order exists between different operations or steps. For example, two consecutive operations or steps may actually be performed substantially in parallel, they may sometimes be performed in reverse order, which may be dependent on the functions involved. Each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Claims (8)
1. A method for planning a crane site area, the method comprising:
s100, collecting positions of a hoisting start point, a hoisting end point and an obstacle;
s200, taking a hoisting starting point as a circle center, and respectively taking the minimum working amplitude and the maximum working amplitude of the crane as radiuses to make circles to obtain a starting point circular ring;
s300, taking a hoisting end point as a circle center, and respectively taking the minimum working amplitude and the maximum working amplitude of the crane as radiuses to make circles to obtain an end point circular ring;
s400, identifying the intersection of the starting point circular ring and the ending point circular ring as a station area;
s500, generating a point cloud picture of the station area based on the station area;
s600, calculating and deleting a range exceeding the adjustment range of the crane support leg on the ground height according to the point cloud picture of the station area;
s700, calculating and deleting a range of possible collision according to the point cloud image of the station area and the position of the obstacle;
s800, calculating the remaining range as a crane station range;
in the station area, calculating and deleting the range of possible collision according to the point cloud image of the station area and the position of the obstacle, wherein the method comprises the following steps:
s710, judging whether a hoisting connecting line exists in the obstacle, if so, executing S720; if not, executing S730; the connecting line of the station site and the lifting starting point or the connecting line of the station site and the lifting end point is used as the lifting connecting line;
s720, identifying that the obstacle is subjected to range deletion in a region where a lifted object collides when the obstacle is on a lifting connecting line;
s730, judging whether the distance between the obstacle and the station point is larger than the minimum working amplitude of the crane when the obstacle is not on the hoisting connecting line; if yes, not operating; if not, executing S740;
s740, if the obstacle is in the minimum working range, taking a point which is larger than the minimum allowable height of the crane in the height direction as an obstacle point, and judging whether the obstacle point in the minimum working range of the crane operation collides with the crane or not; if yes, identifying the points possibly collided as potential obstacle points, screening the potential obstacle points and deleting the potential obstacle points, and leaving the remaining potential obstacle points to be used as selectable station points; if not, the corresponding station position is used as the selectable station position;
identifying points of potential collision in S740 as potential obstacle points, screening the potential obstacle points and deleting, leaving remaining potential obstacle points, including:
s741, identifying points where the crane hoisted object is likely to collide on the obstacle, wherein the points are potential obstacle points, and the rest points which are not collided are selected as selectable station points;
s742, classifying the potential obstacle point connection lines, the classification comprising: the potential obstacle point connecting line passes through one lifting connecting line, the potential obstacle point connecting line passes through two lifting connecting lines, and the potential obstacle point connecting line does not pass through the lifting connecting lines; the potential obstacle point connecting line is a connecting line between any two potential obstacle points;
and S743, enabling the potential obstacle point connecting line to pass through the two hoisting connecting lines and the region corresponding to the potential obstacle point connecting line, which does not pass through the hoisting connecting line, to serve as the selectable station point.
2. The method of claim 1, wherein identifying the area where the obstacle would collide with the lifted object in S720 includes:
set a rotation center O 1 The coordinates are (x, y), the highest height of the obstacle is H OBS The highest height of the obstacle is projected to the rotation center in the xy plane with the distance D OBS The distance from the center point of the hoisted object projected on the xy plane to the rotation center is D OBJ The height of the hoisted object is H OBJ The safety distance from the suspension arm to the obstacle is H S The distance from the lifting hook to the top end of the suspension arm is H L The length of the suspension arm is L, and the pitch angle of the suspension arm is theta;
solving the distance H from the lifting hook to the top end of the suspension arm when the suspension arm is placed over the obstacle for a safe distance L ；
H L ＝D OBJ ×tanθ-H OBJ
If H L Greater than the allowable value H from the lifting hook to the top end of the suspension arm LS The boom length L at this time is calculated,
when L is within the length of the working arm allowed by the crane, the station point can be selected; when L is not in the length of the working arm allowed by the crane, the station position is not selectable;
if H L Less than the allowable value H from the lifting hook to the top end of the suspension arm LS Then take H L ＝H LS Calculating the length L of the suspension arm at the moment, and selecting a station point when the length L is within the length of the working arm allowed by the crane; when L is not within the working arm length allowed by the crane, the station point is not selectable.
3. The method of claim 1, wherein identifying whether a crane hoist is above an obstacle is subject to a collision comprises:
distance D of obstacle from rotation center OBS The hoisted object is above the obstacle at a safe distance H S Obstacle height H OBS Height H of hoisted object OBJ Safety distance H of hook to boom top LS Obtaining the length L of the suspension arm;
if L is within the allowed working arm length of the crane, the crane hoisted object is at a safe distance H above the obstacle S And the obstacle points can not collide with the crane when passing through the crane.
4. The method of claim 1, wherein calculating and deleting a range exceeding crane leg adjustments in ground height from the point cloud of the site area comprises:
setting the size of grids based on the point cloud map, calculating the number of the grids, and traversing the whole point cloud map by taking the grids as units;
sequentially cycling grids, searching the lowest point min_p of each grid, and then calculating a gradient value Tpoint according to a formula by other point points in the grids;
wherein, point (x) is the x coordinate of the point in the grid, point (y) is the y coordinate of the point in the grid, point (z) is the z coordinate of the point in the grid, min_p (x) is the x coordinate of the minimum point min_p in the grid, min_p (y) is the y coordinate of the minimum point min_p in the grid, and min_p (z) is the z coordinate of the minimum point min_p in the grid;
setting a gradient Threshold value, circulating each point by each grid, and comparing the gradient value with the gradient Threshold value to distinguish between a standing site and a non-standing site;
and (5) after the circulation is finished, outputting a result.
5. The method of claim 1, wherein the ground level comprises a ground grade and a step level.
6. A crane site area planning apparatus, comprising:
the initial acquisition module is configured to acquire positions of a hoisting start point, a hoisting end point and an obstacle;
the starting point ring identifying module is configured to make circles by taking the hoisting starting point as a circle center and taking the minimum working amplitude and the maximum working amplitude of the crane as radiuses respectively to obtain a starting point ring;
the end point identifying circular ring module is configured to make circles by taking a hoisting end point as a circle center and taking the minimum working amplitude and the maximum working amplitude of the crane as radiuses respectively to obtain an end point circular ring;
the station position area acquisition module is configured to identify the intersection of the starting point circular ring and the ending point circular ring as a station position area;
the generating point cloud image module is configured to generate a point cloud image of the station area based on the station area;
the screening height module is configured to calculate and delete a range exceeding the adjustment range of the crane support leg on the ground height according to the point cloud picture of the station area;
the screening collision module is configured to calculate and delete the range of possible collision according to the point cloud image of the station area and the position of the obstacle; wherein, in the station area, according to the position of the point cloud picture and the obstacle of the station area, calculate and delete the range that probably collides, include:
s710, judging whether a hoisting connecting line exists in the obstacle, if so, executing S720; if not, executing S730; the connecting line of the station site and the lifting starting point or the connecting line of the station site and the lifting end point is used as the lifting connecting line;
s720, identifying that the obstacle is subjected to range deletion in a region where a lifted object collides when the obstacle is on a lifting connecting line;
s730, judging whether the distance between the obstacle and the station point is larger than the minimum working amplitude of the crane when the obstacle is not on the hoisting connecting line; if yes, not operating; if not, executing S740;
s740, if the obstacle is in the minimum working range, taking a point which is larger than the minimum allowable height of the crane in the height direction as an obstacle point, and judging whether the obstacle point in the minimum working range of the crane operation collides with the crane or not; if yes, identifying the points possibly collided as potential obstacle points, screening the potential obstacle points and deleting the potential obstacle points, and leaving the remaining potential obstacle points to be used as selectable station points; if not, the corresponding station position is used as the selectable station position;
identifying points of potential collision in S740 as potential obstacle points, screening the potential obstacle points and deleting, leaving remaining potential obstacle points, including:
s741, identifying points where the crane hoisted object is likely to collide on the obstacle, wherein the points are potential obstacle points, and the rest points which are not collided are selected as selectable station points;
s742, classifying the potential obstacle point connection lines, the classification comprising: the potential obstacle point connecting line passes through one lifting connecting line, the potential obstacle point connecting line passes through two lifting connecting lines, and the potential obstacle point connecting line does not pass through the lifting connecting lines; the potential obstacle point connecting line is a connecting line between any two potential obstacle points;
s743, enabling the potential obstacle point connecting line to pass through the two hoisting connecting lines and the area corresponding to the potential obstacle point connecting line, which does not pass through the hoisting connecting line, to be used as a selectable station point;
and the calculating module is configured to calculate the remaining range as the target station range.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method of any one of claims 1 to 5 when the program is executed.
8. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method according to any one of claims 1 to 5.
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