CN117422835A - Crane safety operation range evaluation method and system based on spherical polar coordinate system - Google Patents
Crane safety operation range evaluation method and system based on spherical polar coordinate system Download PDFInfo
- Publication number
- CN117422835A CN117422835A CN202311513940.6A CN202311513940A CN117422835A CN 117422835 A CN117422835 A CN 117422835A CN 202311513940 A CN202311513940 A CN 202311513940A CN 117422835 A CN117422835 A CN 117422835A
- Authority
- CN
- China
- Prior art keywords
- crane
- polar coordinate
- operation range
- spherical polar
- coordinate system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000011156 evaluation Methods 0.000 title claims abstract description 19
- 238000000034 method Methods 0.000 claims abstract description 54
- 238000004590 computer program Methods 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 10
- 238000003860 storage Methods 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 3
- 239000000470 constituent Substances 0.000 claims description 2
- 238000010276 construction Methods 0.000 abstract description 43
- 230000005540 biological transmission Effects 0.000 abstract description 18
- 238000004458 analytical method Methods 0.000 abstract description 12
- 238000009434 installation Methods 0.000 abstract description 9
- 230000008569 process Effects 0.000 description 14
- 238000010586 diagram Methods 0.000 description 10
- 238000004422 calculation algorithm Methods 0.000 description 6
- 239000000725 suspension Substances 0.000 description 6
- 238000012423 maintenance Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000000295 complement effect Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 238000012800 visualization Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004566 building material Substances 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- CLOMYZFHNHFSIQ-UHFFFAOYSA-N clonixin Chemical compound CC1=C(Cl)C=CC=C1NC1=NC=CC=C1C(O)=O CLOMYZFHNHFSIQ-UHFFFAOYSA-N 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/20—Administration of product repair or maintenance
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
- G06Q50/08—Construction
Landscapes
- Engineering & Computer Science (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Human Resources & Organizations (AREA)
- General Physics & Mathematics (AREA)
- Tourism & Hospitality (AREA)
- Marketing (AREA)
- General Business, Economics & Management (AREA)
- Economics (AREA)
- Strategic Management (AREA)
- General Health & Medical Sciences (AREA)
- Geometry (AREA)
- Primary Health Care (AREA)
- Software Systems (AREA)
- Computer Graphics (AREA)
- Health & Medical Sciences (AREA)
- Entrepreneurship & Innovation (AREA)
- Operations Research (AREA)
- Quality & Reliability (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The application discloses a crane safety operation range assessment method and system based on a spherical polar coordinate system, wherein the method comprises the following steps: acquiring pose data and motion parameters of a crane; converting pose data of the crane based on a spherical polar coordinate system to obtain three-dimensional spherical polar coordinate data of the crane; detecting obstacle collision risk according to the three-dimensional spherical polar coordinate data and the motion parameters of the crane, and evaluating the safety operation range of the crane; and determining the working speed range of the crane according to the safety operation range of the crane. According to the invention, the crane safety operation range evaluation method based on the spherical polar coordinate system is adopted, and the collision analysis is accurately and intuitively carried out on the crane and the hoisted goods and the objects in the actual installation environment by evaluating the conveying path and the installation time of construction equipment or other objects in the complex environment, so that the construction safety of the power transmission line is improved.
Description
Technical Field
The invention relates to the technical field of power transmission line construction, in particular to a crane safety operation range assessment method and system based on a spherical polar coordinate system.
Background
The transmission line is an important component of the transmission network, most of the transmission lines are located in outdoor mountain forests or even in some severe environments, and under the action of external natural environments, the transmission line wires, the ground wires, the hardware fittings, the insulators and the like are damaged to different degrees, so that inspection and maintenance are required regularly, and damaged elements are required to be replaced if necessary. Before constructing a power transmission line, firstly, carrying out early-stage survey and design on a construction area to obtain position coordinate data of a construction environment, and drawing a plane section diagram of the power transmission line according to the requirement, wherein the processes of determining a graph proportion, dividing the graph, drawing key measurement points, drawing crossing house points, drawing crossing power lines and communication path points, drawing crossing rivers and lake points, drawing crossing roads, drawing line sag and the like are generally required; and finally, determining a specific detailed flow in the construction of the construction power transmission line according to the position information and the spatial relation in the plane section diagram.
In the construction of the transmission line, a crane is generally adopted to hoist the infrastructure and the power equipment, the telescopic supporting rod is arc-shaped, and the supporting force of the telescopic supporting rod on the suspension arm is always vertical to the suspension arm during working, so that the suspension arm slowly rotates, and the goods are lifted. In the prior art, the presentation surfaces of the horizontal section diagrams of the power transmission lines are two-dimensional images, can not be intuitively converted into constraint conditions of three-dimensional space, and are difficult to clearly observe and predict potential safety hazards existing in the construction process. Due to the complex and diverse construction environments, the field installation process of the prefabricated element often has an unavoidable risk of collision with surrounding objects.
Therefore, it is necessary to provide a crane safety operation range assessment method and system based on a spherical polar coordinate system, so as to solve the technical problems that in the prior art, collision analysis cannot be intuitively performed on a crane, hoisted goods and objects in an actual installation environment, analysis cannot be performed on the relative position of a construction site, and optimal planning of construction speed and path cannot be performed, so that potential safety hazards exist in the construction process.
Disclosure of Invention
The invention provides a crane safety operation range assessment method and system based on a spherical polar coordinate system, which are used for solving the technical problems that in the prior art, the presentation surface of a horizontal section image of a power transmission line is a two-dimensional image, the two-dimensional image cannot be intuitively converted into a constraint condition of a three-dimensional space, so that collision analysis cannot be intuitively performed on a crane, hoisted goods and objects in an actual installation environment in a construction process, the relative position of a construction site cannot be analyzed, and potential safety hazards exist in the construction process.
In order to solve the above problems, the present invention provides a crane safety operation range evaluation method based on a spherical polar coordinate system, comprising:
acquiring pose data and motion parameters of a crane;
converting pose data of the crane based on a spherical polar coordinate system to obtain three-dimensional spherical polar coordinate data of the crane;
detecting obstacle collision risk according to the three-dimensional spherical polar coordinate data and the motion parameters of the crane, and evaluating the safety operation range of the crane;
and determining the working speed range of the crane according to the safety operation range of the crane.
Further, the pose data of the crane comprise coordinate positions of all components of the crane in a three-dimensional rectangular coordinate system, and boom angles and extension lengths of the crane; wherein, the component parts of crane include crane body and crane arm of crane.
Further, the converting the pose data of the crane based on the spherical polar coordinate system to obtain three-dimensional spherical polar coordinate data of the crane includes:
for a three-dimensional rectangular coordinate system taking the crane body as an origin, converting any point P (x, y, z) on the crane boom of the crane into three-dimensional spherical polar coordinate data under the three-dimensional spherical polar coordinate systemThe specific formula of (2) is:
wherein r represents the radial distance between the point P and the origin, θ represents the angle between the point P and the z-axis,representing the angle between point P and the x-axis.
Further, the motion parameters include crane size, operational limits, and freedom of motion.
Further, according to the three-dimensional spherical polar coordinate data and the motion parameters of the crane, performing obstacle collision risk detection, and evaluating the safety operation range of the crane, the method comprises the following steps:
determining the maximum movable radius and the safe angle range of the current pose of the crane according to the three-dimensional spherical polar coordinate data and the motion parameters of the crane;
when the horizontal linear distance between the obstacles around the crane and the crane body exceeds the maximum movable radius of the crane, the safety operation range is a first safety operation range;
when the horizontal straight line distance between the obstacle around the crane and the crane body is within the maximum movable range of the crane, the safety operation range is a second safety operation range, and the second safety operation range is determined according to the size and the pose of the obstacle and the safety angle range of the crane.
Further, determining the working speed range of the crane according to the safety operation range of the crane includes:
when the safe operation range of the crane is a first safe range, the working speed of the crane is a normal luffing speed, a normal horizontal rotation speed and a normal vertical rotation speed;
when the safe operation range of the crane is the second safe range, judging whether the horizontal linear distance between the obstacle and the crane body reaches a preset early warning distance, and when the preset early warning distance is reached, adjusting the working speed of the crane into a preset amplitude changing speed, a preset horizontal rotating speed and a preset vertical rotating speed.
Further, the preset early warning distance is a multi-stage early warning distance, and the early warning distance of each stage is correspondingly provided with a corresponding amplitude speed, a corresponding horizontal rotation speed and a corresponding vertical rotation speed.
The invention also provides a crane safety operation range evaluation system based on the spherical polar coordinate system, which comprises:
the data acquisition module is used for acquiring pose data and motion parameters of the crane;
the coordinate conversion module is used for converting the pose data of the crane based on a spherical polar coordinate system to obtain three-dimensional spherical polar coordinate data of the crane;
the evaluation module is used for detecting the collision risk of the obstacle according to the three-dimensional spherical polar coordinate data and the motion parameters of the crane and evaluating the safety operation range of the crane;
and the calculation module is used for determining the working speed range of the crane according to the safety operation range of the crane.
The invention also provides electronic equipment, which comprises a processor and a memory, wherein the memory is stored with a computer program, and when the computer program is executed by the processor, the crane safety operation range assessment method based on the spherical polar coordinate system according to any one of the technical schemes is realized.
The invention also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for evaluating the safety operation range of the crane based on the spherical polar coordinate system is realized.
Compared with the prior art, the invention has the beneficial effects that: firstly, acquiring pose data and motion parameters of a crane, and converting Cartesian coordinates of the crane into spherical polar coordinates through a coordinate conversion algorithm so as to evaluate and calculate a safety range; secondly, analyzing crane position and surrounding environment data through a collision detection algorithm, and determining whether collision possibility exists or not; finally, the safety operation range of the crane is evaluated, the safety gap between the crane and surrounding objects is calculated, the position of the crane and the safety operation range are displayed in real time, the most reasonable working speed is provided, the construction process is monitored and warned, a large amount of time loss caused by collision problems on a construction site is effectively avoided, and meanwhile, the personal safety of constructors can be ensured. According to the invention, a crane safety operation range assessment method based on a spherical polar coordinate system is adopted, collision risk, a conveying path and installation time are assessed on construction equipment or other objects in a complex environment, collision analysis is accurately and intuitively carried out on the crane, hoisted goods and the objects in an actual installation environment, analysis is carried out on the relative position of a construction site, optimal planning of construction speed and path is carried out, and a warning and alarm system is provided, so that the construction safety of a power transmission line is improved, and the method has very strong practicability.
Drawings
Fig. 1 is an expression schematic diagram of an object in a three-dimensional rectangular coordinate system according to an embodiment of the present invention;
FIG. 2 is a schematic representation of an object in a spherical polar coordinate system according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of a crane safety operation range evaluation method based on a spherical polar coordinate system according to an embodiment of the present invention;
fig. 4 is an expression schematic diagram of a crane in a spherical polar coordinate system according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a distance relationship between an obstacle and a crane according to an embodiment of the present invention;
FIG. 6 is a flow chart of a method for collision detection and velocity planning according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a crane safety operation range evaluation system based on a spherical polar coordinate system according to an embodiment of the present invention.
Detailed Description
Before explaining the embodiments of the present invention, the inventive concept of the present application will be first described.
Before the construction of the power transmission line, the position information and the spatial relationship of objects in a horizontal section diagram of a construction area are firstly determined so as to determine a specific detailed flow in the construction of the power transmission line. In addition, the construction process adopts a crane to hoist the infrastructure and the power equipment, the telescopic supporting rod of the crane is arc-shaped, and the supporting force of the telescopic supporting rod on the suspension arm is always vertical to the suspension arm during working, so that the suspension arm rotates slowly, and the goods are lifted. However, in the prior art, the presentation surfaces of the horizontal section diagrams of the power transmission lines are two-dimensional images, so that the two-dimensional images cannot be intuitively converted into constraint conditions of a three-dimensional space, and the coordinates of the Cartesian coordinate system used for the two-dimensional images are difficult to intuitively display the working conditions of the crane, so that potential safety hazards existing in the construction process cannot be clearly observed and predicted.
Thus, the method of the present application observes the hoisting work process from the crane operator's perspective, whose best description of the hoisting condition three-dimensional space is the spherical polar coordinate system. The crane safety operation range based on the spherical polar coordinate system is evaluated in the construction process, so that constructors can be helped to observe and predict potential safety hazards existing in the construction process more clearly. Meanwhile, the distance and collision analysis of the crane and the hoisted goods and any object in the actual installation environment can be intuitively detected, and the optimal planning of the construction method and the path can be realized through the analysis of the relative positions of the construction sites.
The application provides a crane safety operation range assessment method and system based on a spherical polar coordinate system. The specific principle is as follows:
the conventional three-dimensional rectangular coordinate system is a three-dimensional rectangular coordinate system in which the position of a point P in a three-dimensional space is represented by rectangular coordinates (x, y, z). The three-dimensional rectangular coordinate system discussed in this application defaults to the positive directions of its x, y, z axes to meet the right hand rule (as shown in fig. 1). At any point P in three-dimensional space, its position can be expressed in rectangular coordinates (x, y, z).
The spherical polar coordinate system, also called space polar coordinate, is one kind of three-dimensional coordinate system, and is expanded from two-dimensional polar coordinate system to determine the position of the midpoint, line, plane and body in three-dimensional space. Using spherical coordinatesTo represent a point P atA three-dimensional orthogonal coordinate system of the position in three-dimensional space.
As shown in FIG. 2, the radial distance between the origin O and the target point P is r, the angle between the line of O to P and the positive z-axis is zenith angle θ, and the angle between the projection line of the line of O to P on the xy-plane and the positive x-axis is azimuth angle
According to the basic principle, the three-dimensional space of the hoisting working condition is represented by a spherical polar coordinate system, so that the space relation is more intuitively and clearly judged, and the safe operation range of the crane is determined according to the three-dimensional spherical polar coordinate data and the motion parameters; and then the working speed of the crane is adjusted according to the safe operation range, so that the safety of the construction process of the power transmission line is ensured.
Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form a part hereof, and together with the description serve to explain the principles of the invention, and are not intended to limit the scope of the invention.
The embodiment of the invention provides a crane safety operation range evaluation method based on a spherical polar coordinate system, and fig. 3 is a flow chart diagram of the crane safety operation range evaluation method based on the spherical polar coordinate system, wherein the method comprises the following steps:
step S101: acquiring pose data and motion parameters of a crane;
step S102: converting pose data of the crane based on a spherical polar coordinate system to obtain three-dimensional spherical polar coordinate data of the crane;
step S103: detecting obstacle collision risk according to the three-dimensional spherical polar coordinate data and the motion parameters of the crane, and evaluating the safety operation range of the crane;
step S104: and determining the working speed range of the crane according to the safety operation range of the crane.
Firstly, acquiring pose data and motion parameters of a crane, and converting Cartesian coordinates of the crane into spherical polar coordinates through a coordinate conversion algorithm so as to evaluate and calculate a safety range; secondly, analyzing crane position and surrounding environment data through a collision detection algorithm, and determining whether collision possibility exists or not; finally, the safety operation range of the crane is evaluated, the safety gap between the crane and surrounding objects is calculated, the position of the crane and the safety operation range are displayed in real time, the most reasonable working speed is provided, the construction process is monitored and warned, a large amount of time loss caused by collision problems on a construction site is effectively avoided, and meanwhile, the personal safety of constructors can be ensured. According to the method, based on coordinate conversion of the spherical polar coordinate system, through evaluation of the conveying paths and the installation time of construction equipment or other objects in a complex environment, collision analysis is accurately and intuitively carried out on a crane, hoisted goods and objects in an actual installation environment, analysis is carried out on the relative positions of a construction site, and optimal planning of construction speed and paths is carried out, so that the construction safety of a power transmission line is improved.
As a specific example, the pose of the crane is acquired by sensors or other devices, such as cameras, laser scanners, radars, etc., which are also used to sense the position, shape and size of surrounding obstacles, thereby acquiring information of the surrounding environment of the crane.
And three-dimensional point cloud data of the surrounding environment of the crane can be acquired by using a laser scanner, a radar and other sensors. By analyzing the point cloud data, an accurate data basis can be provided for subsequent collision detection and safety range assessment to ensure crane operation within a safety range.
As a preferred embodiment, the pose data of the crane includes a coordinate position of each constituent member of the crane in a three-dimensional rectangular coordinate system, a boom angle of the crane, and an extension length; wherein, the component parts of crane include crane body and crane arm of crane.
It should be noted that, the method of this embodiment may continue to use the cartesian coordinate system of the crane position and posture without coordinate transformation. By performing collision detection and safety clearance calculation in a cartesian coordinate system, the safety operation range of the crane can be evaluated.
If the crane's operating space has spherical symmetry and the representation of the spherical polar coordinate system is more consistent with the operator's workflow and visualization requirements, then the spherical polar coordinate system based method is more suitable. It can provide intuitive safety range visualization and important information in the operator's field of view. No large amount of sensing data is needed and no assistance of high-precision radar and other instruments is needed. The selection of the most appropriate scheme depends on various factors including application scenario, available technology, budget and performance requirements, etc.
As a preferred embodiment, the converting the pose data of the crane based on the spherical polar coordinate system to obtain three-dimensional spherical polar coordinate data of the crane includes:
for a three-dimensional rectangular coordinate system taking the crane body as an origin, converting any point P (x, y, z) on the crane boom of the crane into three-dimensional spherical polar coordinate data under the three-dimensional spherical polar coordinate systemThe specific formula of (2) is:
wherein r represents the radial distance between the point P and the origin, θ represents the angle between the point P and the z-axis,representing the angle between point P and the x-axis.
As a specific example, please refer to fig. 4, refer to fig. 4The crane carries out mathematical expression, and the crane body is used as a coordinate origin, so that the method can be used for obtaining: r is the length of the current crane boom, θ is the complementary angle of the current boom and the ground,the angle with the x-axis is projected on the horizontal plane for the current boom. The spherical polar coordinate system better describes the position and the attitude of the crane in the three-dimensional space through three parameters of radial distance, azimuth angle and pitch angle.
Specifically, the specific formula for converting the spherical polar coordinate system into the rectangular coordinate system is as follows:
z＝rcosθ (3)
in the spherical polar coordinate system, sphere x 2 +y 2 +z 2 ＝a 2 Equation r=a, sphere x 2 +y 2 +(z-a) 2 ＝a 2 Equation r=2acosθ, cylinder x 2 +y 2 ＝R 2 The equation of (1) is rsinθ=r.
The specific formula for converting the rectangular coordinate system into the spherical polar coordinate system is as follows:
as a preferred embodiment, the motion parameters include crane size, operational limitations and freedom of motion.
As a specific example, the safety range of the crane is calculated based on the spherical polar coordinate data of the crane. This involves determining the maximum radius (r_max) and the safety angle range (θ_min, θ_max) of the crane in the spherical polar coordinate system,)。
Maximum radius (r_max): the maximum radius of the crane in the spherical polar coordinate system, i.e. the furthest distance the crane can safely reach, is determined according to the crane size and operating limitations.
Safety angle ranges (theta_min, theta_max),): and determining the safety angle range of the crane in the spherical polar coordinate system according to the limiting conditions and the operation requirements of the crane. The angular ranges can take the degrees of freedom of motion such as rotation, lifting and swinging of the crane into consideration according to specific conditions.
As a preferred embodiment, the detecting of the risk of collision of the obstacle according to the three-dimensional spherical polar coordinate data and the motion parameters of the crane, and the evaluating of the safety operation range of the crane comprise:
determining the maximum movable radius and the safe angle range of the current pose of the crane according to the three-dimensional spherical polar coordinate data and the motion parameters of the crane;
when the horizontal linear distance between the obstacles around the crane and the crane body exceeds the maximum movable radius of the crane, the safety operation range is a first safety operation range;
when the horizontal straight line distance between the obstacle around the crane and the crane body is within the maximum movable range of the crane, the safety operation range is a second safety operation range, and the second safety operation range is determined according to the size and the pose of the obstacle and the safety angle range of the crane.
The above process is described in detail with reference to a specific example.
The first step: a spherical polar coordinate system is constructed by taking a crane body as an origin, r is the length of a current crane boom, θ is the complementary angle of the included angle between the current boom and the ground,the angle with the x-axis is projected on the horizontal plane for the current boom. Deltar is the movable radius of the crane in the current state, delta theta and delta theta>An angular range movable for the current state. Assume that the maximum radius of the crane in the spherical polar coordinate system is r_max, and the safety angle ranges are (theta_min, theta_max and +.>)。
And a second step of: and judging whether an obstacle exists around the crane. If no obstacle exists, the safety operation range of the crane is a first safety operation range and is marked as a safety range (1); if there is an obstacle, the third step is entered.
And a third step of: the horizontal straight line safety distance d from the obstacle to the origin (O point) of the crane and the safety height h of the obstacle are confirmed. The occupied position of the obstacle is calculated by the included angle from the origin O to the safe distances on two sides of the obstacleThe safety distance here means a distance of a certain length from the obstacle object. As shown in fig. 5, a rectangular parallelepiped is a detected obstacle, and a coordinate system represents a spherical polar coordinate system with a crane body as an origin.
Fourth step: performing scene analysis according to the size of the horizontal straight line safety distance d, and calculating the safety range of the crane;
when d > r_max, the safety range of the crane is the safety range (1).
When d < r_max, the safety range of the crane is recorded as a safety range (2), and analysis is required according to various conditions.
Specifically, the safety ranges r+Δr, θ+Δθ andthe method meets the following conditions:
safety range (1):
r+Δr < r_max (7)
θ_min < θ+Δθ < θ_max (8)
safety range (2):
as a specific example, three-dimensional modeling and simulation techniques may also be utilized to model and simulate crane, environment, and operational scenarios in a computer environment. By performing collision detection and safety range evaluation in a simulation environment, the safety operation range of the crane can be predicted, and the actual collision risk is avoided.
In some embodiments, object detection, tracking, and collision risk prediction algorithms may be developed using deep learning and computer vision techniques. By analyzing real-time video or sensor data, objects around the crane can be detected and collision risk predicted, thereby realizing the assessment of the safe operation range of the crane. Specifically, a YOLO model or the like may be used to detect the obstacle, and then a prediction algorithm such as kalman filtering is used to machine learn the predicted action, so as to predict the collision risk.
As a preferred embodiment, determining the working speed range of the crane according to the safety operation range of the crane includes:
when the safe operation range of the crane is a first safe range, the working speed of the crane is a normal luffing speed, a normal horizontal rotation speed and a normal vertical rotation speed;
when the safe operation range of the crane is the second safe range, judging whether the horizontal linear distance between the obstacle and the crane body reaches a preset early warning distance, and when the preset early warning distance is reached, adjusting the working speed of the crane into a preset amplitude changing speed, a preset horizontal rotating speed and a preset vertical rotating speed.
As a preferred embodiment, the preset early warning distance is a multi-stage early warning distance, and each stage of early warning distance is correspondingly provided with a corresponding amplitude speed, a corresponding horizontal rotation speed and a corresponding vertical rotation speed.
As a specific example, the working speed V of the crane is calculated from the safe working range of the crane. The working speed V refers to the speed of the crane working mechanism which stably operates under the rated load, and the working speeds V are different under different conditions. The method of determining the operating speed V is discussed below in the following section. Assuming that the horizontal straight line safety distance from the obstacle to the origin (O point) of the crane is represented by d, the maximum radius of the crane in the spherical polar coordinate system is r_max, and the safety angle ranges are (theta_min, theta_max),)。
(1) If d > r_max, the crane has no collision risk with the obstacle, and the working speed of the crane is the normal working speed. The crane operating speed at this time is as follows: the amplitude variation speed is V1, the horizontal rotation speed is omega 1, and the vertical rotation speed is w1; wherein V1, ω1 and w1 are the normal luffing speed, the normal horizontal rotational speed and the normal vertical rotational speed, respectively.
Specifically, the luffing speed refers to the average linear speed of horizontal displacement of the crane boom from the maximum amplitude to the minimum amplitude under the stable motion state of the crane, and the unit is m/min.
The rotation speed refers to the rotation speed of the crane around the rotation center of the crane in a stable motion state, and the horizontal rotation speed and the vertical rotation speed refer to the rotation speed around the center point in the xoy plane/yoz plane, wherein the unit is r/min.
(2) If d < r_max, the safety range of the crane needs to be analyzed according to various conditions, and the working speed is normal within the safety range. The operating speed is reduced to a certain extent when approaching the safety range of the obstacle.
Normally the luffing speed is V1, the horizontal rotation speed is ω1, and the vertical rotation speed is w1.
When the distance around the obstacle is a preset first guard distance d1, the amplitude speed is reduced to V2 (V2 < V1/2), the horizontal rotation speed is reduced to ω2 (ω2< ω1), and the vertical rotation speed is reduced to w2 (w 2< w 1).
When the approach obstacle distance is a preset second guard distance d2 (d 2< d 1), the luffing speed is reduced to V3 (V3 < V2/2), the horizontal rotation speed is reduced to omega 3 (omega 3< omega 2), and the vertical rotation speed is reduced to w3 (w 3< w 2).
When the approaching obstacle distance is a preset third guard distance d3 (d 3< d 2), the luffing speed, the horizontal rotation speed and the vertical rotation speed are reduced to 0.
By presetting the first guard distance, the second guard distance and the third guard distance, the working speed of the crane can be distinguished, the working speed can be determined according to the allowance of the safety distance, and the construction efficiency is ensured to the greatest extent on the premise of ensuring the safety.
As shown in fig. 6, fig. 6 shows a flowchart of a method for overall collision detection and optimal planning of working speed and construction path.
It should be noted that the method described in the present application may be applied to a plurality of scenarios, including but not limited to the following specific application scenarios:
(1) Industrial field: in industrial production, cranes are often used for cargo handling, heavy weight handling and other tasks. The safe operation range assessment method based on the spherical polar coordinate system can help a crane operator assess the safe operation range of the crane in a narrow working space and avoid collision with equipment, structures or other objects.
(2) Building and construction fields: in construction sites and construction sites, cranes are used for carrying building materials, hoisting members and the like. The safety operation range assessment method based on the spherical polar coordinate system can help a crane operator to determine the safety operation range of the crane and avoid collision with a building, a scaffold or other equipment.
(3) Road and bridge maintenance: in road and bridge maintenance work, a crane is used for hoisting and maintaining equipment, cleaning obstacles and other tasks. The safety operation range assessment method based on the spherical polar coordinate system can help a crane operator assess the safety operation range of a crane on a road, a bridge or an overhead structure, and avoid collision with traffic flow or other structures.
The present embodiment also provides a crane safety operation range evaluation system based on a spherical polar coordinate system, as shown in fig. 7, the crane safety operation range evaluation system 700 based on a spherical polar coordinate system includes:
the data acquisition module 701 is used for acquiring pose data and motion parameters of the crane;
the coordinate conversion module 702 is configured to convert pose data of the crane based on a spherical polar coordinate system to obtain three-dimensional spherical polar coordinate data of the crane;
the evaluation module 703 is used for detecting the collision risk of the obstacle according to the three-dimensional spherical polar coordinate data and the motion parameters of the crane and evaluating the safety operation range of the crane;
and the calculating module 704 is used for determining the working speed range of the crane according to the safety operation range of the crane.
The embodiment also provides an electronic device, which comprises a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the crane safety operation range assessment method based on the spherical polar coordinate system according to any one of the technical schemes is realized.
The embodiment also provides a computer readable storage medium, and a computer program is stored in the computer readable storage medium, and when the computer program is executed by a processor, the method for evaluating the safety operation range of the crane based on the spherical polar coordinate system is realized.
According to the computer readable storage medium and the computing device provided in the above embodiments of the present invention, the detailed description of the method for evaluating the safety operation range of a crane based on the spherical polar coordinate system may be referred to, and the method has similar advantages as the method for evaluating the safety operation range of a crane based on the spherical polar coordinate system, and is not repeated herein.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention.
Claims (10)
1. The utility model provides a crane safety operation scope evaluation method based on spherical polar coordinate system, which is characterized in that the method comprises the following steps:
acquiring pose data and motion parameters of a crane;
converting pose data of the crane based on a spherical polar coordinate system to obtain three-dimensional spherical polar coordinate data of the crane;
detecting obstacle collision risk according to the three-dimensional spherical polar coordinate data and the motion parameters of the crane, and evaluating the safety operation range of the crane;
and determining the working speed range of the crane according to the safety operation range of the crane.
2. The method for evaluating the safety operation range of a crane based on a spherical polar coordinate system according to claim 1, wherein the pose data of the crane comprises coordinate positions of all constituent parts of the crane in a three-dimensional rectangular coordinate system, a crane arm angle and an extension length of the crane; wherein, the component parts of crane include crane body and crane arm of crane.
3. The crane safety operation range evaluation method based on the spherical polar coordinate system according to claim 2, wherein the converting the pose data of the crane based on the spherical polar coordinate system to obtain three-dimensional spherical polar coordinate data of the crane comprises:
for a three-dimensional rectangular coordinate system taking the crane body as an origin, converting any point P (x, y, z) on the crane boom of the crane into three-dimensional spherical polar coordinate data under the three-dimensional spherical polar coordinate systemThe specific formula of (2) is:
wherein r represents the radial distance between the point P and the origin, θ represents the angle between the point P and the z-axis,representing the angle between point P and the x-axis.
4. The method for evaluating the safety operation range of a crane based on a spherical polar coordinate system according to claim 1, wherein the motion parameters include a size of the crane, an operation limit, and a degree of freedom of motion.
5. The method for evaluating the safety operation range of a crane based on a spherical polar coordinate system according to claim 2, wherein the step of performing obstacle collision risk detection based on three-dimensional spherical polar coordinate data and motion parameters of the crane, evaluating the safety operation range of the crane comprises the steps of:
determining the maximum movable radius and the safe angle range of the current pose of the crane according to the three-dimensional spherical polar coordinate data and the motion parameters of the crane;
when the horizontal linear distance between the obstacles around the crane and the crane body exceeds the maximum movable radius of the crane, the safety operation range is a first safety operation range;
when the horizontal straight line distance between the obstacle around the crane and the crane body is within the maximum movable range of the crane, the safety operation range is a second safety operation range, and the second safety operation range is determined according to the size and the pose of the obstacle and the safety angle range of the crane.
6. The method for evaluating the safe operating range of a crane based on a spherical polar coordinate system according to claim 5, wherein determining the operating speed range of the crane from the safe operating range of the crane comprises:
when the safe operation range of the crane is a first safe range, the working speed of the crane is a normal luffing speed, a normal horizontal rotation speed and a normal vertical rotation speed;
when the safe operation range of the crane is the second safe range, judging whether the horizontal linear distance between the obstacle and the crane body reaches a preset early warning distance, and when the preset early warning distance is reached, adjusting the working speed of the crane into a preset amplitude changing speed, a preset horizontal rotating speed and a preset vertical rotating speed.
7. The crane safety operation range assessment method based on the spherical polar coordinate system according to claim 6, wherein the preset early warning distance is a multi-stage early warning distance, and each stage of the early warning distance is correspondingly provided with a corresponding luffing speed, a horizontal rotation speed and a vertical rotation speed.
8. A crane safety operation range evaluation system based on a spherical polar coordinate system, comprising:
the data acquisition module is used for acquiring pose data and motion parameters of the crane;
the coordinate conversion module is used for converting the pose data of the crane based on a spherical polar coordinate system to obtain three-dimensional spherical polar coordinate data of the crane;
the evaluation module is used for detecting the collision risk of the obstacle according to the three-dimensional spherical polar coordinate data and the motion parameters of the crane and evaluating the safety operation range of the crane;
and the calculation module is used for determining the working speed range of the crane according to the safety operation range of the crane.
9. An electronic device comprising a processor and a memory, wherein the memory has a computer program stored thereon, which when executed by the processor, implements the crane safety operation range assessment method based on the spherical polar coordinate system as claimed in any one of claims 1 to 7.
10. A computer readable storage medium, wherein a computer program is stored in the computer readable storage medium, and when the computer program is executed by a processor, the method for evaluating the safety operation range of a crane based on the spherical polar coordinate system is realized according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311513940.6A CN117422835A (en) | 2023-11-14 | 2023-11-14 | Crane safety operation range evaluation method and system based on spherical polar coordinate system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311513940.6A CN117422835A (en) | 2023-11-14 | 2023-11-14 | Crane safety operation range evaluation method and system based on spherical polar coordinate system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117422835A true CN117422835A (en) | 2024-01-19 |
Family
ID=89528280
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311513940.6A Pending CN117422835A (en) | 2023-11-14 | 2023-11-14 | Crane safety operation range evaluation method and system based on spherical polar coordinate system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117422835A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080294308A1 (en) * | 2007-05-23 | 2008-11-27 | Watson Derek G | Method and apparatus for real-time polars |
| CN102542361A (en) * | 2012-01-11 | 2012-07-04 | 中联重科股份有限公司 | Method for planning path of lift object for crane |
| US20120255188A1 (en) * | 2009-11-20 | 2012-10-11 | Sany Automobile Manufacture Co., Ltd. | Hook pose detecting equipment and crane |
| US20140278076A1 (en) * | 2013-03-15 | 2014-09-18 | Trimble Navigation Limited | Determining a crane tilt angle |
| CN104627842A (en) * | 2014-12-01 | 2015-05-20 | 长安大学 | Jib crane hoisting operation anti-collision method and system |
| CN108706479A (en) * | 2018-07-19 | 2018-10-26 | 苏州远征魂车船技术有限公司 | A kind of dynamic changes the intelligent barrier avoiding tower crane of counterweight |
| CN109292657A (en) * | 2018-12-05 | 2019-02-01 | 南通星云智能科技有限公司 | A kind of avoidance method for early warning of tower crane crane |
| EP3553015A1 (en) * | 2018-04-13 | 2019-10-16 | HMF Group A/S | Crane and method for operating a crane |
| CN114148930A (en) * | 2021-11-26 | 2022-03-08 | 西安理工大学 | Path planning and dynamic avoiding method of tower crane intelligent control system |
| CN116101908A (en) * | 2023-02-10 | 2023-05-12 | 国能黄骅港务有限责任公司 | Portal crane anti-collision method, device, equipment and storage medium |
-
2023
- 2023-11-14 CN CN202311513940.6A patent/CN117422835A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080294308A1 (en) * | 2007-05-23 | 2008-11-27 | Watson Derek G | Method and apparatus for real-time polars |
| US20120255188A1 (en) * | 2009-11-20 | 2012-10-11 | Sany Automobile Manufacture Co., Ltd. | Hook pose detecting equipment and crane |
| CN102542361A (en) * | 2012-01-11 | 2012-07-04 | 中联重科股份有限公司 | Method for planning path of lift object for crane |
| US20140278076A1 (en) * | 2013-03-15 | 2014-09-18 | Trimble Navigation Limited | Determining a crane tilt angle |
| CN104627842A (en) * | 2014-12-01 | 2015-05-20 | 长安大学 | Jib crane hoisting operation anti-collision method and system |
| EP3553015A1 (en) * | 2018-04-13 | 2019-10-16 | HMF Group A/S | Crane and method for operating a crane |
| CN108706479A (en) * | 2018-07-19 | 2018-10-26 | 苏州远征魂车船技术有限公司 | A kind of dynamic changes the intelligent barrier avoiding tower crane of counterweight |
| CN109292657A (en) * | 2018-12-05 | 2019-02-01 | 南通星云智能科技有限公司 | A kind of avoidance method for early warning of tower crane crane |
| CN114148930A (en) * | 2021-11-26 | 2022-03-08 | 西安理工大学 | Path planning and dynamic avoiding method of tower crane intelligent control system |
| CN116101908A (en) * | 2023-02-10 | 2023-05-12 | 国能黄骅港务有限责任公司 | Portal crane anti-collision method, device, equipment and storage medium |
Non-Patent Citations (2)
| Title |
|---|
| 范卿;徐柏科;曾科力;郭纪梅;: "起重机吊装路径规划算法", 建设机械技术与管理, no. 11, 20 November 2019 (2019-11-20) * |
| 龚结龙;吴海建;: "基于LoRa自组网的群塔防碰撞物联系统设计", 智能物联技术, no. 01, 18 July 2018 (2018-07-18) * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Fang et al. | A framework for real-time pro-active safety assistance for mobile crane lifting operations | |
| US10876307B2 (en) | Construction management system and method | |
| Hwang | Ultra-wide band technology experiments for real-time prevention of tower crane collisions | |
| Chang et al. | A fast path planning method for single and dual crane erections | |
| Paul et al. | Autonomous robot manipulator-based exploration and mapping system for bridge maintenance | |
| CN109231016B (en) | Anti-collision method for building construction tower crane | |
| CN109179228B (en) | Anti-collision system of building construction tower crane | |
| CN109993935B (en) | Device and method for positioning construction machinery and monitoring safety area of construction machinery | |
| CN111634636B (en) | Full-automatic material taking control system of bucket wheel machine | |
| Zhang et al. | Collaborative multi-agent systems for construction equipment based on real-time field data capturing | |
| Fang et al. | Vision-based load sway monitoring to improve crane safety in blind lifts | |
| CN109095355A (en) | Working space collision-proof method and system, detecting devices and control equipment | |
| JP2020097488A (en) | System and method for autonomous operation of heavy machinery | |
| CN103673972A (en) | Boom deflection measuring method, device and system and crane | |
| CN112279104B (en) | Crane collision avoidance control method, device, system, computer equipment and storage medium | |
| Ren et al. | Real-time anticollision system for mobile cranes during lift operations | |
| CN104528540B (en) | Hoisting Program Real-time Generation and system in arm derrick crane Vehicle Controller | |
| Kan et al. | A cyber–physical system (CPS) for planning and monitoring mobile cranes on construction sites | |
| KR102339320B1 (en) | Automated machine guidance system for crane and method for controlling the same | |
| CN113860178A (en) | System and method for identifying hoisting object of tower crane and measuring collision information | |
| KR20220155213A (en) | Collision Prevention system of Tower Crane Using Stereoscopic Scanning Sensor | |
| CN111168660B (en) | Redundant degree of freedom hydraulic heavy load robot arm initiative safety system | |
| CN111170184A (en) | Real-time monitoring and early warning system and method for tower crane | |
| Wu et al. | The real-time vision measurement of multi-information of the bridge crane’s workspace and its application | |
| CN117422835A (en) | Crane safety operation range evaluation method and system based on spherical polar coordinate system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |