CN117185145A

CN117185145A - Crane anti-collision method and system, electronic equipment and crane

Info

Publication number: CN117185145A
Application number: CN202311193477.1A
Authority: CN
Inventors: 林飞宇; 黄旭彪
Original assignee: Sany Marine Heavy Industry Co Ltd
Current assignee: Sany Marine Heavy Industry Co Ltd
Priority date: 2023-09-14
Filing date: 2023-09-14
Publication date: 2023-12-08

Abstract

The application provides a crane anti-collision method, a system, electronic equipment and a crane, which are characterized in that parking of the crane is controlled when the crane is positioned in an area where a target carriage is positioned, then, whether a lifting appliance is aligned with the target carriage or not is judged based on the relative position of the lifting appliance and the target carriage of the crane, and then, the arm rest stop action of the crane is controlled based on whether the lifting appliance is aligned with the target carriage and the distance between the lifting appliance and a power transmission tower or not.

Description

Crane anti-collision method and system, electronic equipment and crane

Technical Field

The application relates to the technical field of cranes, in particular to a crane anti-collision method, a crane anti-collision system, electronic equipment and a crane.

Background

In a railway freight yard, a plurality of power transmission towers, such as high-voltage lines or overhead line posts, are usually arranged, and the high-voltage power transmission lines can be maintained at a certain height through the power transmission towers, so that the safe operation of the power transmission lines is ensured. However, in the process of carrying goods in a goods yard, the crane frequently collides with the safety accident of the power transmission tower, so that the power failure of the goods yard is caused, and even the personal safety of operators is endangered, and the influence is very severe. Therefore, how to prevent the crane from colliding with the power transmission tower during operation is a current urgent problem to be solved.

Disclosure of Invention

Based on the defects and shortcomings of the prior art, the application provides a crane anti-collision method, a crane anti-collision system, electronic equipment and a crane, which can firstly judge whether a lifting appliance is aligned with a target carriage or not based on the relative position of the lifting appliance of the crane and the target carriage after the crane is located in an area where the target carriage is located and is parked, and then control the arm support of the crane to stop acting based on whether the lifting appliance is aligned with the target carriage or not and the distance between the lifting appliance and a power transmission tower, so that the crane is prevented from colliding with the power transmission tower, and the problem that safety accidents are caused by the possibility of colliding with the power transmission tower in the operation process of the crane is solved.

According to a first aspect of an embodiment of the present application, there is provided a crane collision avoidance method, including:

when the crane is positioned in the area where the target carriage is positioned, controlling the crane to park;

judging whether the lifting appliance is aligned with the target carriage or not based on the relative positions of the lifting appliance of the crane and the target carriage;

and controlling the arm support of the crane to stop based on whether the lifting appliance is aligned with the target carriage and the distance between the lifting appliance and the power transmission tower.

According to a second aspect of an embodiment of the present application, there is provided a crane collision avoidance device, including:

the control module is used for controlling the crane to park when the crane is positioned in the area where the target carriage is positioned;

the judging module is used for judging whether the lifting appliance is aligned with the target carriage or not based on the relative positions of the lifting appliance of the crane and the target carriage;

the control module is also used for controlling the arm support of the crane to stop based on whether the lifting appliance is aligned with the target carriage and the distance between the lifting appliance and the power transmission tower.

According to a third aspect of embodiments of the present application, there is provided a crane collision avoidance system, the system comprising a controller and a brake assembly;

Wherein,

the controller is used for controlling the crane to park when the crane is positioned in the area where the target carriage is positioned;

the controller is used for judging whether the lifting appliance is aligned with the target carriage or not based on the relative position of the lifting appliance of the crane and the target carriage; controlling a boom stop action of the crane based on whether the lifting appliance is aligned with the target carriage and the distance between the lifting appliance and the power transmission tower;

and the braking component is used for controlling the parking of the crane or controlling the arm support of the crane to stop under the control of the controller.

According to a fourth aspect of embodiments of the present application, there is provided an electronic device comprising a memory and a processor;

the memory is connected with the processor and used for storing programs;

the processor is used for realizing the crane anticollision method according to the first aspect by running the program in the memory.

According to a fifth aspect of embodiments of the present application, there is provided a storage medium having stored thereon a computer program which, when executed by a processor, implements the crane collision avoidance method as described in the first aspect.

According to a sixth aspect of embodiments of the present application, there is provided a crane having mounted therein a crane collision avoidance system as described in the third aspect for performing the crane collision avoidance method as described in the first aspect.

According to the crane anti-collision method, the system, the electronic equipment and the crane, after the crane is driven to the area where the target carriage is located and is parked, whether the lifting appliance is aligned with the target carriage or not can be judged based on the relative position of the lifting appliance of the crane and the target carriage, and then the mode that the crane arm support stops acting is controlled based on whether the lifting appliance is aligned with the target carriage and the distance between the lifting appliance and the power transmission tower or not, after the crane is parked and the arm support stops acting, the distance between the lifting appliance of the crane and the power transmission tower is not changed, namely the lifting appliance is not further close to the power transmission tower, so that the crane is effectively prevented from colliding with the power transmission tower in the operation process.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present application, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic diagram of a crane collision avoidance scenario according to an embodiment of the present application;

FIG. 2 is a schematic flow chart of a crane collision avoidance method according to an embodiment of the present application;

fig. 3 is a schematic diagram of an included angle between a lifting appliance and a target carriage according to an embodiment of the present application;

fig. 4 is a schematic flow chart of linear feature extraction according to an embodiment of the present application;

FIG. 5 is a schematic diagram of a radius filter according to an embodiment of the present application;

fig. 6 is a schematic diagram of a crane collision avoidance process according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of a crane collision avoidance system according to an embodiment of the present application;

FIG. 8 is a schematic diagram of a horizontal scanning harness according to an embodiment of the present application;

FIG. 9 is a schematic diagram of a vertical scanning harness according to an embodiment of the present application;

fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

SUMMARY

As described in the background art, in a railway freight yard, a crane frequently collides with a safety accident of a power transmission tower in the process of lifting cargoes, so that serious consequences such as power failure of the freight yard and even personal safety hazard of operators are caused.

On the basis, the inventor finds that, generally, a power transmission tower and a crane are respectively positioned at two sides of a target carriage, when the crane loads and unloads cargoes, the crane needs to travel to an area where the target carriage is positioned, and when the crane travels to the area where the target carriage is positioned, the crane is controlled to park so as to complete loading and unloading of cargoes in the target carriage, avoid collision between the crane and the target carriage and between the crane and the power transmission tower positioned at the other side of the target carriage, and also facilitate accurate detection of the distance between a lifting appliance for lifting cargoes on the crane and the power transmission tower. And then, judging whether the lifting appliance is aligned with the target carriage based on the relative position of the lifting appliance and the target carriage of the crane, and controlling the arm support stopping action of the crane based on whether the lifting appliance is aligned with the target carriage and the distance between the lifting appliance and the power transmission tower, wherein the distance between the lifting appliance and the power transmission tower can intuitively reflect whether the crane is about to collide with the power transmission tower or not because whether the lifting appliance is aligned with the target carriage and the distance between the lifting appliance and the power transmission tower can influence the reliability of the distance between the lifting appliance and the power transmission tower to a certain extent, and the distance between the lifting appliance and the power transmission tower is not shortened further because the distance between the lifting appliance and the power transmission tower is controlled, so that the crane is effectively prevented from colliding with the power transmission tower in the operation process.

Based on the above conception, the embodiments of the present specification provide a crane collision avoidance method, which will be exemplarily described with reference to the accompanying drawings.

Exemplary scenario

Referring to fig. 1, fig. 1 is a possible application scenario of the crane collision avoidance method.

In a railway yard, a crane such as a front crane, for example, is used to hoist and load cargo onto a gondola car, as shown in fig. 1, the application scenario includes a contact net support, the gondola car, and the crane. The open wagon is one of railway train types, has no cover, is provided with side plates at the periphery, and has side doors capable of being turned over at the two side plates, so that goods can be conveniently loaded and unloaded.

Typically, open cars include multiple cars. As shown in fig. 1, the open wagon includes a wagon a, a wagon b, a wagon c, and the like, wherein the wagon which is currently required to be loaded with goods is a target wagon, for example, the wagon b is a target wagon, and the area where the target wagon is located is a trapezoid area shown in fig. 1. When the crane runs to one side of the target carriage, namely, the crane is positioned in the area where the target carriage is positioned, the crane is parked, and then, the arm support stopping action of the crane is controlled based on the relative position of the lifting appliance of the crane and the target carriage and the distance between the lifting appliance and the power transmission tower.

Exemplary method

Referring to fig. 2, in an exemplary embodiment, a crane collision avoidance method is provided for use with any electronic device that can communicate with a crane to control crane motion. The crane may be, for example, a crane, and the electronic device may be located at any position, for example, on the crane.

As shown in fig. 2, the method includes steps S201-S203:

s201: and when the crane is positioned in the area of the target carriage, controlling the parking of the crane.

The target carriage is a carriage needing loading and unloading in an open wagon in the current cargo yard, and the area where the target carriage is located is an area where the target carriage can be loaded and unloaded at one side of the target carriage.

Optionally, the position of the crane is monitored, and when the crane is located in the area of the target carriage or the crane enters the area of the target carriage, the crane is controlled to automatically park, namely, the parking of the crane can be realized without the operation of a driver.

Specifically, the position of the crane relative to the target carriage, for example, the distance between the crane and the target carriage, whether the crane is located at one side of the target carriage, and the like are monitored, and when the distance between the crane and the target carriage is relatively close, for example, the distance between the crane and the target carriage is smaller than a certain preset distance, and the crane is located at one side of the target carriage, the crane is determined to be located in the region where the target carriage is located, and at the moment, the crane is controlled to automatically park.

Like this, equipment side detects by oneself whether the hoist is gone to the regional mode of target carriage place and control hoist automatic parking, can avoid because of the driver is not reacted, does not give in time that the parking instruction leads to hoist and target carriage too near even to bump, and the hoist of hoist and the condition that the distance of transmission tower is too near even bump, realizes in time parking, effectively avoids losing, improves handling security.

Alternatively, this step may be implemented based on a driver instruction, and when the crane is located in the area where the target car is located, the driver gives a parking instruction, and at this time, the equipment side controls the crane to park based on the parking instruction.

Specifically, the driver observes whether the crane is driven to the area where the target carriage is located, if yes, the driver gives a parking instruction, and if not, the driver can control the crane to continue driving.

Or specifically, the equipment side monitors whether the crane runs to the area of the target carriage or not by itself, and when the equipment side monitors that the crane runs to the area of the target carriage, the equipment side sends out a parking prompt, and at the moment, the driver gives out a parking instruction based on the parking prompt.

Therefore, under the condition that the crane is controlled to park based on the driver instruction, the driver can directly give out the parking instruction based on the actual condition when the crane runs to the area where the target carriage is located, or give out the parking instruction after the crane position is adjusted based on the actual working condition, so that the operation of controlling the crane to park is better completed based on the actual working condition.

In addition, when the crane runs to the area where the target carriage is located, the crane is controlled to park, so that the crane cannot further approach the target carriage, and the crane is effectively prevented from colliding with the target carriage on the basis that the crane can load and unload cargoes to the target carriage through the lifting appliance of the crane, and further the lifting appliance on the crane is prevented from colliding with the power transmission tower. In addition, as the distance between the lifting appliance and the power transmission tower is changed due to the movement of the crane, after the crane runs to the area where the target carriage is located, the parking of the crane is controlled, the distance between the lifting appliance and the power transmission tower is prevented from being changed due to the movement of the crane, the distance between the lifting appliance and the power transmission tower is difficult to determine, and the distance between the lifting appliance and the power transmission tower is accurately determined.

S202: and judging whether the lifting appliance is aligned with the target carriage or not based on the relative positions of the lifting appliance of the crane and the target carriage.

The relative position of the lifting appliance of the crane and the target carriage can represent the specific position relationship between the lifting appliance and the target carriage. Typically, the relative position may be at least one of a distance, an azimuth relationship, etc. of the spreader from the target car.

In addition, the sling is aligned with the target car, i.e., the sling is substantially parallel to the side edges of the target car. Here, the side edge of the target car, i.e. the side edge of the target car close to the foundation net post, or the side edge of the target car close to the crane. That is, the side edge of the target cabin is any one of the other edges of the target cabin except for the two edges that are close to the other cabin.

The relative position of the lifting appliance of the crane and the target carriage can reflect the specific position relation between the lifting appliance and the target carriage, and based on the relative position, whether the lifting appliance is aligned with the target carriage or not is judged, so that a more accurate judgment result can be obtained, and the arm support of the crane is controlled to stop working more accurately based on the judgment result, and the crane is prevented from colliding with the power transmission tower.

S203: and controlling the arm support of the crane to stop based on whether the lifting appliance is aligned with the target carriage and the distance between the lifting appliance and the power transmission tower.

Correspondingly, based on whether the lifting appliance is aligned with the target carriage and the distance between the lifting appliance and the power transmission tower, the boom of the crane can be controlled to continue to act, or the current action state of the boom of the crane is maintained.

The distance between the lifting appliance and the power transmission tower is used for judging whether the distance between the lifting appliance and the power transmission tower is too short. It will be appreciated that if the spreader is too close to the power tower, the spreader has the potential to collide with the power tower, that is, the crane may collide with the power tower during operation. Therefore, it can be said that the distance between the lifting appliance and the power transmission tower can be used for judging whether the crane possibly collides with the power transmission tower. Therefore, based on the distance between the lifting appliance and the power transmission tower, the arm support of the crane is controlled to stop working, and the situation that the crane and the power transmission tower possibly collide due to the fact that the distance between the lifting appliance and the power transmission tower is too close can be effectively avoided.

That is, the boom of the crane may be controlled to continue or stop based on whether the spreader is aligned with the target car and whether the spreader is closer to the transmission tower.

If the lifting appliance is not aligned with the target carriage, the distances between different positions on the same edge of the lifting appliance and the target carriage may be different, and at this time, the distances between the lifting appliance and the target carriage obtained by detection may be different due to the difference of the reference points of the selected lifting appliance edge. That is, if the hoist is not aligned with the target car, the reliability of the distance between the hoist and the target car detected at this time is poor, and the reliability of the boom of the crane when the boom is controlled to continue or stop operating based on the distance is also poor. Therefore, based on whether the lifting appliance is aligned with the target carriage and the distance between the lifting appliance and the power transmission tower, the arm support of the crane is controlled to continue or stop, and the crane can be well prevented from colliding with the power transmission tower in the operation process.

Specifically, if the lifting appliance is aligned with the target carriage and the distance between the lifting appliance and the power transmission tower is relatively short, the arm support of the crane is controlled to stop acting; if the lifting appliance is aligned with the carriage, the distance between the lifting appliance and the power transmission tower is long, and the arm support of the crane is controlled to continue to act.

The distance between the lifting appliance and the power transmission tower is closer or farther, and the distance threshold can be combined to judge. For example, if the distance between the lifting appliance and the power transmission tower is greater than a preset distance threshold, judging that the distance between the lifting appliance and the power transmission tower is far; and if the distance between the lifting appliance and the power transmission tower is smaller than or equal to the preset distance threshold value, judging that the distance between the lifting appliance and the power transmission tower is relatively close.

In this embodiment, when the crane is located in the area where the target carriage is located, parking of the crane is controlled, so that the distance between the crane and the target carriage can be effectively controlled, and collision between the crane and the target carriage caused by too close distance between the crane and the target carriage is avoided. Then, based on the relative position of the lifting appliance and the target carriage of the crane, whether the lifting appliance is aligned with the target carriage or not is judged, and based on whether the lifting appliance is aligned with the target carriage or not and the distance between the lifting appliance and the power transmission tower or not, the arm rest stop action of the crane is controlled, and as the reliability of the distance between the lifting appliance and the power transmission tower can be influenced by whether the lifting appliance is aligned with the target carriage or not, whether collision can occur between the lifting appliance and the power transmission tower or not can be intuitively reflected by the distance between the lifting appliance and the power transmission tower or not, the arm rest stop action is controlled, and the lifting appliance can be effectively controlled not to be further close to the power transmission tower when the distance between the lifting appliance and the power transmission tower is too close, so that the crane is prevented from colliding with the power transmission tower in the operation process.

In some embodiments, the relative position of the lifting appliance of the crane and the target carriage and the distance between the lifting appliance and the power transmission tower are also acquired before the arm support of the crane is controlled to stop acting based on the relative position of the lifting appliance of the crane and the target carriage and the distance between the lifting appliance and the power transmission tower.

Alternatively, the relative position of the spreader of the crane and the target car, and the distance of the spreader from the transmission tower, may be obtained by a lidar.

In particular, the lidar may be provided on a spreader. Therefore, the laser radar is arranged on the lifting appliance, the relative position of the lifting appliance and the target carriage can be detected more accurately, and the lifting appliance for lifting the goods on the crane is the part closest to the power transmission tower, so that the arm support stopping action of the crane is controlled based on the acquired distance between the lifting appliance and the power transmission tower, and the crane can be effectively prevented from colliding with the power transmission tower in the operation process.

More specifically, the above-described lidar includes a vertical lidar and a horizontal lidar. At this time, the relative position of the lifting appliance and the target carriage is determined based on the data detected by the vertical laser radar, and the distance between the lifting appliance and the power transmission tower is determined based on the data detected by the horizontal laser radar.

The vertical laser radar is used for measuring and detecting the position, distance, speed and movement track of a target object in the vertical direction. Because the lifting appliance is generally positioned right above the target carriage when lifting cargoes, the advantages of the vertical laser radar are combined, and the relative position of the lifting appliance and the target carriage can be accurately acquired by adopting the vertical laser radar.

Similarly, horizontal lidar is used to measure and detect the position, distance, speed and trajectory of a target object in the horizontal direction. Because the transmission tower has certain height, when the lifting appliance is used for lifting cargoes, the advantages of the horizontal laser radar are combined, the horizontal laser radar is adopted for detection, and the distance between the lifting appliance and the transmission tower can be accurately obtained.

The distance between the lifting appliance and the power transmission tower is determined based on the influence of the relative position of the lifting appliance and the target carriage on the distance between the lifting appliance and the power transmission tower, after the alignment of the lifting appliance and the target carriage is judged based on the relative position of the lifting appliance and the target carriage, the distance between the lifting appliance and the power transmission tower is determined based on the data acquired by the horizontal laser radar, so that the reliability of the acquired distance between the lifting appliance and the power transmission tower is better ensured, and the crane is better prevented from colliding with the power transmission tower in the operation process when the arm support of the crane is controlled to stop based on the distance.

In the embodiment, the relative positions of the lifting appliance and the target carriage and the distance between the lifting appliance and the power transmission tower are respectively determined by utilizing the data acquired by the vertical and horizontal laser radars, so that the accuracy of the determined relative positions of the lifting appliance and the target carriage and the accuracy of the distance between the lifting appliance and the power transmission tower can be better ensured, and the crane is better prevented from colliding with the power transmission tower in the operation process based on the determined relative positions of the lifting appliance and the target carriage and the accuracy of the distance between the lifting appliance and the power transmission tower.

In general, the lifting appliance and the target carriage can be regarded as cuboid, and when the lifting appliance is aligned with the target carriage, the included angle between the lifting appliance and the target carriage is usually 0 or a smaller angle. The relative position refers to the positional relationship between the two, and includes azimuth relationship, angular relationship, and the like.

Thus, in some embodiments, the relative positions used to determine whether the spreader is aligned with the target car include at least the angle of the spreader with the target car.

If the included angle between the lifting appliance and the target carriage is smaller than or equal to the preset angle, the lifting appliance and the target carriage can be considered to be in an aligned state, namely, the lifting appliance and the target carriage are judged to be not aligned. At this time, the lifting appliance can smoothly load the lifted goods into the target carriage, or the lifting appliance can smoothly lift the required to be lifted in the target carriage. If the included angle between the lifting appliance and the target carriage is larger than the preset angle, the lifting appliance and the carriage can be considered to be in a misaligned state, namely the lifting appliance is misaligned with the target carriage.

The preset angle can be determined based on the size of the lifting appliance, the size of goods to be loaded and unloaded and the size of the target carriage, and at the moment, the lifting appliance can smoothly complete the loading and unloading of the goods in the target carriage even if the lifting appliance is inclined, namely, the lifting appliance and the target carriage have a certain angle, and the first angle is smaller than or equal to the preset angle.

Alternatively, the angle between the spreader and the target car may be determined based on the angle between the spreader and the contour line in the contour of the target car.

At this time, when determining the relative position based on the data detected by the vertical laser radar, the profile of the target carriage can be obtained by calculating based on the data detected by the vertical laser radar, and then the included angle between the lifting appliance and the target profile line is determined as the included angle between the lifting appliance and the target carriage. The target contour line is any contour line in the contour of the target carriage.

Specifically, when determining the included angle between the lifting appliance and the target contour line, taking a parallel line of the target contour line passing through the center point of the lifting appliance, and determining the included angle between the edge of the lifting appliance and the parallel line as the included angle between the lifting appliance and the target carriage.

Illustratively, as shown in fig. 3, the target contour line is a contour line a corresponding to a side edge of the target cabin. At this time, the angle α between the parallel line a of the target contour line and the edge b of the sling is determined as the angle between the sling and the target carriage. Alternatively, as shown in fig. 3, the target contour is a contour corresponding to other edges outside the side edges of the target car, that is, the target contour is a contour c corresponding to edges in the target car that are close to other cars. At this time, the included angle β between the parallel line C of the target contour line and the other edge d of the hoist is determined as the included angle between the hoist and the target carriage.

In this embodiment, the relative position of the lifting appliance and the target carriage can be accurately determined based on the profile of the target carriage, and because the lifting appliance is parallel or nearly parallel to the target profile line in the profile of the target carriage when the lifting appliance is aligned with the target carriage, the included angle between the lifting appliance and the target carriage can accurately reflect whether the lifting appliance is aligned with the target carriage, and whether the lifting appliance is aligned with the target carriage can be judged based on the included angle between the lifting appliance and the target carriage, so that a relatively accurate judgment result can be obtained.

In order to avoid the influence on the reliability of the distance between the lifting appliance and the power transmission tower when the lifting appliance is not aligned with the target carriage, when the lifting appliance is judged to be not aligned with the target carriage, the alignment of the lifting appliance and the target carriage is adjusted first, and then the arm support of the crane is controlled to continue or stop moving based on the distance between the lifting appliance and the power transmission tower.

In some embodiments, when the boom of the crane is controlled to stop based on whether the lifting appliance is aligned with the target carriage and the distance between the lifting appliance and the power transmission tower, if the lifting appliance is not aligned with the target carriage, the lifting appliance is controlled to horizontally rotate so as to adjust the relative position of the lifting appliance and the target carriage, namely, adjust the included angle between the lifting appliance and the target carriage until the lifting appliance is aligned with the target carriage; and if the lifting appliance is aligned with the target carriage, controlling the arm support to stop acting based on the distance between the lifting appliance and the power transmission tower. Correspondingly, if the lifting appliance is aligned with the target carriage, the arm support can be controlled to continue to act based on the distance between the lifting appliance and the power transmission tower.

Specifically, if the lifting appliance is not aligned with the target carriage, the lifting appliance is controlled to rotate in the direction of decreasing the included angle, such as left turning or right turning, so as to adjust the included angle between the lifting appliance and the target carriage until the included angle between the lifting appliance and the target carriage is smaller than the preset included angle, that is, until the lifting appliance is aligned with the target carriage.

For example, as shown in fig. 3, if α is greater than a preset angle, the spreader is controlled to turn right so that the angle between the spreader and the target car becomes smaller.

More specifically, the included angle between the lifting appliance and the target carriage can be divided into positive and negative. For example, when the lifting appliance moves linearly towards the target carriage, the included angle between the lifting appliance and the target carriage is set to be positive under the condition that the right side of the lifting appliance reaches the edge of the target carriage; when the lifting appliance moves linearly towards the target carriage, the included angle between the lifting appliance and the target carriage is set to be negative under the condition that the left side of the lifting appliance reaches the edge of the target carriage. At this time, if the included angle between the lifting appliance and the target carriage is positive, the lifting appliance is controlled to turn right, and when the included angle between the lifting appliance and the target carriage is negative, the lifting appliance is controlled to turn left, and the included angle between the adjustable lifting appliance and the target carriage is smaller and smaller, namely is closer to 0.

For example, in the case shown in fig. 3, when the lifting appliance moves linearly toward the target compartment, the right side of the lifting appliance (i.e., the upper side of the lifting appliance shown in fig. 3) will reach the edge of the target compartment, the included angle between the lifting appliance and the target compartment is positive, and at this time, the lifting appliance is controlled to rotate to the right (i.e., the upper side of the lifting appliance shown in fig. 3 rotates toward the body direction of the crane), so that the included angle between the lifting appliance and the target compartment becomes 0 gradually. If the situation shown in fig. 3 is contrary, when the lifting appliance moves linearly towards the target carriage, the left side of the lifting appliance (i.e. the lower side of the lifting appliance shown in fig. 3) will reach the edge of the target carriage, at this time, the included angle between the lifting appliance and the target carriage is negative, and the lifting appliance is controlled to rotate left (i.e. the lower side of the lifting appliance shown in fig. 3 rotates towards the body direction of the crane), so that the included angle between the lifting appliance and the target carriage becomes 0 gradually.

When controlling left or right turn of the lifting appliance, the duration of rotation of the lifting appliance can be limited, and the duration can be determined based on the angular speed of rotation of the lifting appliance, so that the included angle between the lifting appliance and the target carriage is close to 0 after left or right turn.

In the embodiment, when the lifting appliance of the crane is not aligned with the target carriage, the relative position of the lifting appliance of the crane and the target carriage is adjusted firstly to enable the lifting appliance to be aligned with the target carriage, after the lifting appliance is aligned with the target carriage, the boom of the crane is controlled to stop working based on the distance between the lifting appliance and the power transmission tower, so that the reliability of the distance between the lifting appliance and the power transmission tower is ensured, and when the boom stop action of the crane is controlled based on the distance between the lifting appliance and the power transmission tower, the crane is effectively prevented from colliding with the power transmission tower in the operation process, and the situation of mistakenly controlling the boom stop action is avoided.

Specifically, under the condition that the distance between the lifting appliance and the power transmission tower is relatively short, the arm support is controlled to stop acting. Correspondingly, under the condition that the distance between the lifting appliance and the power transmission tower is far, the arm support is controlled to continue to act.

The distance between the lifting appliance and the power transmission tower is closer or farther, and the judgment can be performed by combining a preset distance threshold.

Thus, more specifically, the preset distance threshold comprises a first distance threshold. At this time, if the distance between the lifting appliance and the power transmission tower is smaller than or equal to a first distance threshold, determining that the distance between the lifting appliance and the power transmission tower is relatively close, and controlling the arm support to stop acting; correspondingly, if the distance between the lifting appliance and the power transmission tower is larger than the first distance threshold, determining that the distance between the lifting appliance and the power transmission tower is larger, and controlling the arm support to continue to act.

Therefore, when the distance between the lifting appliance and the power transmission tower is relatively short, the arm support action can be stopped in time, and the situation that the crane collides with the power transmission tower due to the further shortened distance between the lifting appliance and the power transmission tower caused by the arm support action is avoided.

In some embodiments, when the crane is traveling to the region of the target car, the spreader may be located in the region between the crane body and the target car, i.e., the spreader is located in front of the body, or in the region between the crane body and the stacked cargo, i.e., the spreader is located behind the body. At this time, in order to avoid unnecessary consumption of calculation resources, the current scene may be judged first, and when the current scene is a loading and unloading scene, that is, a scene in which the lifting appliance is located in front of the vehicle body, the boom of the crane is controlled to stop or continue to act based on information such as the relative position of the lifting appliance and the target carriage of the crane and the distance between the lifting appliance and the power transmission tower.

Optionally, whether the current scene is a loading and unloading scene is determined first, a determination result of the current scene is obtained, and then whether the step S202 is executed is determined based on the determination result of the current scene, if step S202 is executed, the following step S203 is continued after executing S202.

The determination result of the current scene indicates whether the current scene is a loading and unloading scene, for example, the determination result indicates that the current scene is a loading and unloading scene, or the determination result indicates that the current scene is a non-loading and unloading scene.

Specifically, if the determination result of the current scene indicates that the current scene is a loading/unloading scene, the step S202 is executed; if the determination result of the current scene indicates that the current scene is a non-loading/unloading scene, the step S202 is not executed.

In this way, in this embodiment, it is determined that the current scenario is a loading/unloading scenario, that is, a scenario in which the spreader is located in front of the vehicle body, and when the spreader loads/unloads the cargo in the target compartment, step S202 is executed again. Since the cargo is not adjacent to the power transmission tower in the non-loading/unloading scenario, for example, in the cargo stacking scenario, there is no possibility that the crane may collide with the power transmission tower, and at this time, performing step S202 may generate unnecessary resource waste. After determining that the current scene is the loading and unloading scene, step S202 is performed, so that unnecessary resource waste can be avoided well.

In some embodiments, when determining whether the current scene is a loading and unloading scene and obtaining the determination result of the current scene, the determination of the current scene may be performed based on the current scene data acquired by the laser radar.

The laser radar can be the laser radar, and is arranged on the lifting appliance and comprises a vertical laser radar and a horizontal laser radar. Based on the multiple laser radars, current scene data can be accurately detected, so that whether the current scene is a loading and unloading scene or not can be accurately judged based on the current scene data.

Specifically, after the current scene data is detected by the laser radar, linear feature extraction is performed on the current scene data detected by the laser radar to obtain target linear features, and then whether a target area exists in the current scene is judged based on the target linear features. If so, namely, a target area exists in the current scene, determining the current scene as a loading and unloading scene, and representing the current scene as the loading and unloading scene by the obtained judging result; if not, namely, the current scene does not have the target area, the current scene is determined to be the non-loading and unloading scene, and the obtained judging result represents that the current scene is the non-loading and unloading scene.

The target area is a gap area between the target carriage and the ground.

It can be understood that if a gap area between the target carriage and the ground exists in the current scene, the laser radar arranged on the lifting appliance can detect the data of the side of the target carriage, the lifting appliance is positioned between the target carriage and the body of the crane, and at the moment, the current scene is a loading and unloading scene; correspondingly, if a gap area between the target carriage and the ground does not exist in the current scene, the laser radar on the lifting appliance cannot detect the data on the side of the target carriage, the lifting appliance is not positioned between the target carriage and the body of the crane, and at the moment, the current scene is a non-loading and unloading scene, such as a cargo stacking scene.

More specifically, the algorithm used when extracting the straight line feature of the current scene data described above may be, for example, a split-merge algorithm.

The classification merging algorithm is a common algorithm for straight line extraction, is derived from computer vision, has been widely studied and used, merges points in a point set on a straight line to obtain a longer straight line segment, and splits a point set not on a straight line to obtain a shorter straight line segment.

Illustratively, the flow of straight line feature extraction using a merge-split algorithm may be as shown in fig. 4. Taking a point set as an example, firstly placing the point set into a list, and fitting the point set to obtain a fitting straight line. Then, calculating the distance between each point in the point set and the fitting straight line, finding the furthest point, if the furthest distance is smaller than a certain threshold value, determining that the fitting straight line is an effective straight line feature, and recording the slope and intercept of the fitting straight line; if the furthest distance is greater than or equal to the certain threshold value, the point set is segmented from the furthest point to obtain two point sets, and the two point sets are put into the list again for fitting and judging.

In this embodiment, for the current scene data detected by the lidar, the target straight line feature is extracted, and based on the extracted target straight line feature, whether a gap area between the target carriage and the ground exists in the current scene is determined, and when the gap area exists in the current scene, the current scene is determined to be a loading and unloading scene, and because the lidar on the lifting appliance can only detect the gap area between the target carriage and the ground in the loading and unloading scene, the current scene is determined based on whether the gap area exists in the current scene, a more accurate determination result of the current scene can be obtained, and therefore resource waste caused by data acquisition and calculation under unnecessary scenes is better reduced.

The determination of the current scene may also be performed after step S202, for example, after determining that the spreader is aligned with the target car, before the boom is controlled to stop operating based on the distance between the spreader and the power transmission tower. In this way, the resource waste caused by data collection and calculation under unnecessary scenes can be reduced, and the possible saved resources are limited compared with the scene determination before step S202.

It can be appreciated that in some cases, if the boom of the crane cannot be controlled to automatically stop due to a fault, when the distance between the lifting appliance and the power transmission tower is relatively short, the crane may collide with the power transmission tower during the operation process of the crane, so as to cause a safety accident. In order to avoid the situation that the crane is likely to collide with the power transmission tower in the operation process due to faults, an alarm signal can be sent when the distance between the lifting appliance and the power transmission tower is relatively short. The alarm signal is used for reminding a driver to control the arm support to stop acting, that is, the alarm signal is used for reminding the driver that the crane possibly collides with the power transmission tower.

Specifically, whether the distance between the lifting appliance and the power transmission tower is in a magnitude relation with a second distance threshold value is judged, and an alarm signal is sent out based on the magnitude relation. Wherein the second distance threshold is greater than or equal to the first distance threshold.

More specifically, if the distance between the lifting appliance and the power transmission tower is smaller than or equal to a second distance threshold value, an alarm signal is sent out; correspondingly, if the distance between the lifting appliance and the power transmission tower is larger than the second distance threshold value, no alarm signal is sent out.

If the boom is controlled to continue or stop based on the magnitude relation between the distance between the lifting appliance and the power transmission tower and the first distance threshold, and an alarm signal is sent or not sent based on the magnitude relation between the distance between the lifting appliance and the power transmission tower and the second distance threshold, the boom can be divided into two cases based on the magnitude between the first distance threshold and the second distance threshold:

firstly, when the second distance threshold value is equal to the first distance threshold value, if the distance between the lifting appliance and the power transmission tower is smaller than or equal to the first distance threshold value (or the second distance threshold value), the arm support is controlled to stop acting, and an alarm signal is sent out; and if the distance between the lifting appliance and the power transmission tower is greater than the first distance threshold, controlling the arm support to continue to act, and not sending an alarm signal.

Secondly, when the second distance threshold is larger than the first distance threshold, if the distance between the lifting appliance and the power transmission tower is larger than the second distance threshold, the arm support is controlled to continue to act and no alarm signal is sent out; if the distance between the lifting appliance and the power transmission tower is smaller than the second distance threshold and larger than the first distance threshold, the arm support is controlled to continue to act and an alarm signal is sent; if the distance between the lifting appliance and the power transmission tower is equal to a second distance threshold value, the arm support is controlled to continue to act and an alarm signal is sent out; and if the distance between the lifting appliance and the power transmission tower is smaller than or equal to the first distance threshold value, controlling the arm support to stop acting and sending an alarm signal.

Therefore, even if the part of the automatic control arm support which continues or stops working can not work normally due to faults, the alarm signal can be used for sending a prompt to the driver, so that the driver can timely control the arm support to stop working when the distance between the lifting appliance and the power transmission tower is too short based on the alarm signal, the distance between the lifting appliance and the power transmission tower is prevented from being further reduced due to the arm support, and the situation that the crane collides with the power transmission tower in the working process is effectively prevented.

In the above embodiment, when the second distance threshold is greater than the first distance threshold, the alarm signal may be divided into a first alarm signal and a second alarm signal based on the distance between the spreader and the power transmission tower, the first distance threshold, and the magnitude relation between the second distance threshold, that is, the alarm signal includes the first alarm signal and the second alarm signal.

Specifically, if the distance between the lifting appliance and the power transmission tower is greater than a second distance threshold, the arm support is controlled to continue to act and an alarm signal is not sent out; if the distance between the lifting appliance and the power transmission tower is smaller than the second distance threshold and larger than the first distance threshold, the arm support is controlled to continue to act and a first alarm signal is sent; if the distance between the lifting appliance and the power transmission tower is equal to a second distance threshold value, the arm support is controlled to continue to act and a first alarm signal is sent; and if the distance between the lifting appliance and the power transmission tower is smaller than or equal to the first distance threshold value, controlling the arm support to stop acting and sending out a second alarm signal.

The distance between the lifting appliance and the power transmission tower when the second alarm signal is sent out is smaller than the distance between the lifting appliance and the power transmission tower when the first alarm signal is sent out.

Specifically, based on different distance thresholds, the areas corresponding to different distances between the lifting appliance and the power transmission tower during lifting of cargoes can be divided into medium-danger areas and high-danger areas. The risk of the higher dangerous area is higher than that of the medium dangerous area, namely the possibility of the collision of the crane and the power transmission tower in the higher dangerous area is higher than that of the collision of the crane and the power transmission tower in the medium dangerous area.

The first alarm signal can be used for reminding a driver that the lifting appliance enters a medium dangerous area; the second alarm signal can be used for reminding a driver that the lifting appliance enters a higher dangerous area. It will be appreciated that the distance from the transmission tower when the spreader is in a high risk area is less than the distance from the transmission tower when the spreader is in a medium risk area. That is, the degree of urgency of the first alarm signal is generally different from the degree of urgency of the second alarm signal. For example, the first alarm signal may have a lower level of urgency than the second alarm signal.

In particular, the degree of urgency of the first alarm signal and the second alarm signal may be distinguished based on the number of alarm forms contained in the alarm signal.

For example, the second alarm signal includes a plurality of alarm forms such as an acousto-optic alarm, and the first alarm signal includes one of alarm forms such as an acousto-optic alarm.

Alternatively, in particular, the degree of urgency of the first and second alarm signals may also be distinguished based on the volume level, the alarm time period, etc.

In this embodiment, when an alarm is required, that is, an alarm signal is sent, different alarm signals, that is, first and second alarm signals are sent based on the distance between the lifting appliance and the power transmission tower, the first distance threshold value and the second distance threshold value, so that a driver can be reminded to operate according to the emergency degree of the alarm signals, and the situation that the crane is likely to collide with the power transmission tower in the operation process is effectively prevented while the operation of the crane is well completed.

In some embodiments, when determining the relative position of the lifting appliance and the target carriage, the distance between the lifting appliance and the power transmission tower and the current scene by using the data acquired by the laser radar, the data acquired by the laser radar can be filtered by adopting a filtering algorithm to filter out the interference generated by dust, rainwater and the like on determining the relative position of the lifting appliance and the target carriage, the distance between the lifting appliance and the power transmission tower and the current scene.

The filtering algorithm may be, for example, a radius filtering algorithm.

Specifically, in the process of filtering out the interference of dust, rainwater and the like by using a radius filtering algorithm, a filtering radius is set first, the number of other points of each point in the range of the filtering radius with the point as the center is calculated and determined, and the points with the number less than a preset number threshold are filtered out.

Illustratively, as shown in fig. 5, the number of other points within the range of the filter radius r centered on itself is 0, 4, 1 for the 3 points, which are set to the filter radius r, A, B, C, respectively. At this time, if the preset number threshold is 1, the point A is filtered out, and the points B-C are reserved; if the preset number threshold is 2, both the point A and the point C are filtered, and the point B is reserved; if the preset number threshold is 5, points A-C are all filtered out.

Of course, the filtering operation of the data acquired by the laser radar by adopting the filtering algorithm can be performed in three situations of determining the relative position of the lifting appliance and the target carriage, the distance between the lifting appliance and the power transmission tower and the current scene, and can also be performed in at least one of the three situations.

It should be noted that, through this embodiment, after filtering the interference such as dust, rainwater, not only reducible calculated amount, but also can effectively improve and confirm the relative position of fixed hoist and target carriage, the distance of hoist and transmission tower and the accuracy of current scene to effectively prevent that the hoist from bumping with the transmission tower in the operation in-process.

Taking a front crane as an example, in a railway freight yard, the crane anti-collision flow can be parked when the front crane runs to the area where the target carriage of the open wagon is located, then, the vertical laser radar scans the outline of the target carriage in real time, calculates the included angle alpha between the lifting appliance and the target carriage in real time, judges whether the lifting appliance is aligned with the target carriage or not based on the included angle alpha, namely judges whether the included angle alpha meets 1rad > alpha > -1rad, and if so, determines that the lifting appliance is aligned with the target carriage; if not, continuing to judge whether the included angle alpha meets alpha > 0rad. If so, the right side of the lifting appliance reaches the edge of the target carriage when the lifting appliance moves linearly towards the target carriage, and the lifting appliance is controlled to turn right so that the included angle between the lifting appliance and the target carriage tends to 0rad; if not, when the lifting appliance moves towards the target carriage in a straight line, the left side of the lifting appliance firstly reaches the edge of the target carriage, and the lifting appliance is controlled to rotate left, so that the included angle between the lifting appliance and the target carriage tends to be 0rad. Wherein the duration of controlling the left or right turn of the spreader may be fixed, e.g. 300ms. After the rotation of the lifting appliance is controlled, whether the included angle alpha meets 1rad > alpha > -1rad can be judged again.

As shown in fig. 6, taking filtering of interference such as dust and rainwater on data collected by the horizontal lidar, that is, filtering of interference such as dust and rainwater before determining the distance between the lifting appliance and the power transmission tower, the power transmission tower is exemplified by a contact net pillar, after the lifting appliance is aligned with the target carriage, linear feature extraction is performed on current scene data collected by the lidar, and the current scene is judged based on the extracted target linear scene, if the current scene is a non-loading and unloading scene, for example, a stacking scene (namely, the goods stacking scene), the operation corresponding to the steps S202-S203 is not performed; if the current scene is a loading and unloading scene, filtering the interference of rainwater, dust and the like, determining the distance between the lifting appliance and the contact net support column, and if the distance X > a, a is a second distance threshold value, not alarming; if the distance b < X < = a, b is a first distance threshold value, a first alarm signal is sent out to remind the lifting appliance of entering a medium dangerous area; if the distance X < = b, namely the distance does not meet X > a and b < X < = a, a second alarm signal is sent out to remind the lifting appliance of entering a higher dangerous area, the arm support action is stopped, and the crane is prevented from colliding with the contact net support column.

Exemplary System

The embodiment of the application also provides a crane collision avoidance system, the structure of which can be shown in fig. 7, and the crane collision avoidance system comprises a controller and a brake assembly.

Illustratively, taking a frontal crane as an example, as shown in fig. 7, the crane collision avoidance system may be located on the frontal crane, the controller may be located in the cab of the frontal crane, and the brake assembly located in the brake system of the frontal crane.

The controller is used for controlling the crane to park when the crane is located in the area where the target carriage is located;

As shown in FIG. 7, the crane collision avoidance system also comprises a laser radar which can be arranged on a lifting appliance of the front crane and comprises horizontal laser radars a1-a2 and vertical laser radars b1-b2.

In particular, the lidar may be provided at a front end portion of the spreader of the front crane, i.e. a portion close to the transmission tower.

The horizontal laser radar and the vertical laser radar are used for detecting the relative positions of a lifting appliance and a target carriage of the crane and the distance between the lifting appliance and the power transmission tower. Specifically, the horizontal laser radar is used for detecting the distance between the lifting appliance of the crane and the power transmission tower, and the vertical laser radar is used for detecting the relative position between the lifting appliance of the crane and the target carriage.

As an example, as shown in fig. 8, a schematic diagram of a horizontal scanning beam of the horizontal lidar may be shown, where the horizontal lidar a and the horizontal lidar B are respectively disposed at two sides of a front end of a spreader of the front crane, and the horizontal scanning beams of the two horizontal lidar are respectively a beam a and a beam B. a and B scan the contact net support posts of the open wagon carriage spaced from the front crane through the wire harnesses A and B, and determine the distance between the lifting appliance and the contact net support posts.

For example, in the application scenario shown in fig. 1, a schematic diagram of a vertical scanning beam of a vertical lidar may be shown in fig. 9, where vertical lidars C and D are respectively disposed on two sides of a front end of a spreader of a front crane, and horizontal scanning beams of the two horizontal lidars are respectively a beam C and a beam D. C and D, scanning a target carriage of the open wagon at one side of the front crane through the wire harnesses C and D, determining the outline of the target carriage, and further determining the relative position of the lifting appliance and the target carriage.

It is understood that the lidar is in communication with the controller and the brake assembly is in communication with the controller. The laser radar sends data obtained by detecting the relative position of the lifting appliance of the crane and the target carriage and the distance between the lifting appliance and the power transmission tower to the controller, the controller determines the relative position of the lifting appliance of the crane and the target carriage and the distance between the lifting appliance and the power transmission tower based on the data, and the controller controls the arm support of the crane to continue or stop moving based on the relative position of the lifting appliance of the crane and the target carriage and the distance between the lifting appliance and the power transmission tower through the brake component.

In one embodiment, an alarm (not shown in fig. 7) is also provided in the crane collision avoidance system, and is communicatively coupled to the controller and operable to issue an alarm signal under the control of the controller section.

In an embodiment, an edge processor is arranged in a controller of the crane anti-collision system, and specifically, the edge processor calculates the relative position of the lifting appliance and the target carriage, the current scene, the distance between the lifting appliance and the power transmission tower and the like in real time.

The specific implementation of the functions of each component in the crane collision avoidance system can be described by referring to the method side, and the detailed description is omitted here.

Exemplary apparatus

Correspondingly, the embodiment of the application also provides a crane anti-collision device, which comprises a control module and a judging module.

Wherein,

The crane collision avoidance device provided by the embodiment belongs to the same application conception as the crane collision avoidance method provided by the embodiment of the application, and the method provided by any embodiment of the application can be executed, and has the corresponding functional modules and beneficial effects of the execution method. Technical details not described in detail in the present embodiment can be referred to the specific processing content of the crane anti-collision method provided in the foregoing embodiment of the present application, and will not be described herein.

The functions implemented by the control module and the judging module can be implemented in the form of calling software by the same or different processors respectively, and the embodiment of the application is not limited.

Exemplary electronic device

Another embodiment of the present application also proposes an electronic device, referring to fig. 10, including: a memory 200 and a processor 210.

Wherein the memory 200 is connected to the processor 210, and is used for storing a program;

the processor 210 is configured to implement the crane collision avoidance method disclosed in any of the foregoing embodiments by running a program stored in the memory 200.

Specifically, the electronic device may further include: a bus, a communication interface 220, an input device 230, and an output device 240.

The processor 210, the memory 200, the communication interface 220, the input device 230, and the output device 240 are interconnected by a bus. Wherein:

a bus may comprise a path that communicates information between components of a computer system.

Processor 210 may be a general-purpose processor such as a general-purpose Central Processing Unit (CPU), microprocessor, etc., or may be an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of programs in accordance with aspects of the present application. But may also be a Digital Signal Processor (DSP), application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components.

Processor 210 may include a main processor, and may also include a baseband chip, modem, and the like.

The memory 200 stores programs for implementing the technical scheme of the present application, and may also store an operating system and other key services. In particular, the program may include program code including computer-operating instructions. More specifically, the memory 200 may include read-only memory (ROM), other types of static storage devices that may store static information and instructions, random access memory (random access memory, RAM), other types of dynamic storage devices that may store information and instructions, disk storage, flash, and the like.

The input device 230 may include means for receiving data and information entered by a user, such as a keyboard, mouse, camera, scanner, light pen, voice input device, touch screen, pedometer, or gravity sensor, among others.

Output device 240 may include means, such as a display screen, printer, speakers, etc., that allow information to be output to a user.

The communication interface 220 may include devices using any transceiver or the like for communicating with other devices or communication networks, such as ethernet, radio Access Network (RAN), wireless Local Area Network (WLAN), etc.

The processor 210 executes the program stored in the memory 200 and invokes other devices, which may be used to implement the steps of any of the crane collision avoidance methods provided in the above embodiments of the present application.

It will be appreciated by those skilled in the art that the structure shown in fig. 10 is merely a block diagram of a portion of the structure associated with the present inventive arrangements and is not limiting of the electronic device to which the present inventive arrangements are applied, and that a particular electronic device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.

The embodiment of the application also provides a crane, wherein the crane is provided with a crane collision avoidance system, and the crane collision avoidance system is used for executing the steps in the crane collision avoidance method.

In addition to the above-described methods and apparatus, embodiments of the present application provide a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform the steps in a crane anti-collision method according to various embodiments of the present application described in the above-described "exemplary methods" section of this specification.

The computer program product may write program code for performing operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.

Furthermore, embodiments of the present application also propose a storage medium on which a computer program is stored, the computer program being executed by a processor to perform the steps in the crane collision avoidance method according to various embodiments of the present application described in the "exemplary methods" section of the description above.

It will be appreciated that the specific examples herein are intended only to assist those skilled in the art in better understanding the embodiments of the present description and are not intended to limit the scope of the present description.

It should be understood that, in various embodiments of the present disclosure, the sequence number of each process does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure.

It will be appreciated that the various embodiments described in this specification may be implemented either alone or in combination, and are not limited in this regard.

Unless defined otherwise, all technical and scientific terms used in the embodiments of this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this specification belongs. The terminology used in the description is for the purpose of describing particular embodiments only and is not intended to limit the scope of the description. The term "and/or" as used in this specification includes any and all combinations of one or more of the associated listed items. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It will be appreciated that the processor of the embodiments of the present description may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method embodiments may be implemented by integrated logic circuits of hardware in a processor or instructions in software form. The processor may be a general purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), an off-the-shelf programmable gate array (Field Programmable gate array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The methods, steps and logic blocks disclosed in the embodiments of the present specification may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present specification may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in a decoded processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory, and the processor reads the information in the memory and, in combination with its hardware, performs the steps of the above method.

It will be appreciated that the memory in the embodiments of this specification may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The nonvolatile memory may be a read-only memory (ROM), a Programmable ROM (PROM), an Erasable Programmable ROM (EPROM), an Electrically Erasable Programmable ROM (EEPROM), or a flash memory, among others. The volatile memory may be Random Access Memory (RAM). It should be noted that the memory of the systems and methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory.

Those of ordinary skill in the art will appreciate that the elements and algorithm steps described in connection with the embodiments disclosed herein can 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. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present specification.

It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described system, apparatus and unit may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.

In the several embodiments provided in this specification, it should be understood that the disclosed systems, apparatuses, and methods may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment.

In addition, each functional unit in each embodiment of the present specification may be integrated into one processing unit, each unit may exist alone physically, or two or more units may be integrated into one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the present specification may be essentially or portions contributing to the prior art or portions of the technical solutions may be embodied in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present specification. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a read-only memory (ROM), a random-access memory (RAM), a magnetic disk, or an optical disk, etc.

The foregoing is merely specific embodiments of the present disclosure, but the scope of the disclosure is not limited thereto, and any person skilled in the art who is skilled in the art can easily think about variations or substitutions within the scope of the disclosure of the present disclosure, and it is intended to cover the variations or substitutions within the scope of the disclosure. Therefore, the protection scope of the present specification shall be subject to the protection scope of the claims.

Claims

1. A crane collision avoidance method, the method comprising:

2. The crane collision avoidance method of claim 1 wherein the spreader is provided with a lidar comprising a vertical lidar and a horizontal lidar; the method further comprises the steps of:

determining the relative position based on the data detected by the vertical lidar;

the distance is determined based on the data detected by the horizontal lidar.

3. The crane anti-collision method of claim 1, in which the relative position comprises an angle of the spreader with the target car;

the determining the relative position based on the data detected by the vertical lidar includes:

calculating based on the data detected by the vertical laser radar to obtain the outline of the target carriage;

Determining an included angle between the lifting appliance and a target contour line as an included angle between the lifting appliance and the target carriage; the target contour line is any contour line in the contour of the target carriage.

4. A crane anti-collision method according to any one of claims 1-3, characterized in that controlling the boom stop action of the crane based on whether the spreader is aligned with the target car and the distance of the spreader from the power transmission tower, comprises:

if the lifting appliance is not aligned with the target carriage, controlling the lifting appliance to horizontally rotate so as to adjust the relative position of the lifting appliance and the target carriage until the lifting appliance is aligned with the target carriage;

and if the lifting appliance is aligned with the target carriage, controlling the arm support to stop acting based on the distance.

5. The crane anti-collision method according to claim 4, wherein the controlling the boom stop action based on the distance comprises:

and if the distance is smaller than or equal to the first distance threshold, controlling the arm support to stop acting.

6. The crane anti-collision method of claim 5, further comprising:

Judging whether the current scene is a loading and unloading scene or not, and obtaining a judging result of the current scene;

and if the judging result of the current scene represents that the current scene is a loading and unloading scene, executing the step of judging whether the lifting appliance is aligned with the target carriage or not based on the relative positions of the lifting appliance of the crane and the target carriage.

7. The crane collision avoidance method of claim 6 wherein the determining whether the current scene is a loading and unloading scene, the determining result of the current scene, comprises:

extracting linear characteristics of current scene data detected by the laser radar to obtain target linear characteristics;

judging whether a target area exists in the current scene or not based on the target straight line characteristics, wherein the target area is a gap area between the target carriage and the ground;

if yes, the judgment result represents that the current scene is the loading and unloading scene;

if not, the judging result represents that the current scene is a non-loading and unloading scene.

8. The crane anti-collision method of claim 5, further comprising:

and if the distance is smaller than or equal to the second distance threshold, sending an alarm signal, wherein the second distance threshold is larger than or equal to the first distance threshold, and the alarm signal is used for reminding the driver to control the arm support to stop acting.

9. The crane anti-collision method of claim 8, wherein the second distance threshold is greater than the first distance threshold, and the alarm signal comprises a first alarm signal and a second alarm signal;

the sending out of the alarm signal includes:

if the distance is greater than a first distance threshold, a first alarm signal is sent out;

and if the distance is smaller than or equal to the first distance threshold value, a second alarm signal is sent out.

10. A crane collision avoidance system, the system comprising a controller and a brake assembly;

wherein,

11. An electronic device comprising a memory and a processor;

the memory is connected with the processor and used for storing programs;

the processor is configured to implement the crane collision avoidance method according to any one of claims 1 to 9 by running a program in the memory.

12. Crane, characterized in that the crane has mounted therein a crane collision avoidance system as claimed in claim 10 for performing the crane collision avoidance method as claimed in any of the preceding claims 1-9.