Cargo lifting path planning method and electronic equipment applied to intelligent tower crane

Abstract

The present invention provides a cargo lifting path planning method applied to an intelligent tower crane. When the map is updated, the original map is used as the basis for path planning navigation. After the map is updated, the latest map data is used as the basis for providing secondary path planning to ensure that the cargo lifting can be completed according to the optimal path to the maximum extent. The method of the present invention will not terminate the path planning demand response when the map is updated, which greatly improves the response speed of the intelligent tower crane and can effectively improve the working efficiency of the intelligent tower crane equipment.

Description

Technical Field

[0001] The present invention relates to the field of intelligent engineering machinery, and in particular to a cargo lifting path planning method and electronic equipment applied to an intelligent tower crane. Background Art

[0002] The unmanned tower crane control system based on artificial intelligence obtains high-precision images of the construction site scene through drones. The tower crane senses the surrounding environment through cameras and laser radars, and uses the tower crane integrated control system to complete the operation path planning by itself based on the high-precision map of the environmental perception results. The working environment of the tower crane is constantly changing with the changes in the progress of the project. At the same time, the presence of building materials, engineering vehicles, on-site construction personnel, etc. at the construction site further complicates its working environment. The intelligent tower crane needs to frequently update the navigation map to select the optimal working path in the current scene. In the prior art, after receiving the map update command, the device will stop the current path planning and navigation, and quickly update the map data. After the map update is completed, the path planning and navigation will be restarted. Due to the rapid changes in the working environment, the tower crane path planning map is updated more frequently. The map update affects the working efficiency of the intelligent tower crane to a certain extent and prolongs the response time of the equipment. Therefore, a new method is needed to solve the above problems. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a cargo lifting path planning method and electronic device applied to an intelligent tower crane. When the device updates the map, it can still perform path planning, complete cargo lifting navigation, and improve the working efficiency of the intelligent tower crane.

[0004] The present invention is achieved through the following technical solutions:

[0005] The cargo lifting path planning method applied to the intelligent tower crane includes:

[0006] S1: When the device receives a map update command, the second map data is automatically generated according to the first map data;

[0007] The first map data is existing map data stored in the vehicle-mounted terminal, for example, it may be unupdated map data;

[0008] The second map data is generated based on the first map data. For example, the second map data may be a copy of the first map data. The second map data may be created when a map update command is received or at any time after the map update is completed.

[0009] S2: generating a second control command for controlling the navigation device to perform path planning;

[0010] The second control instruction is an instruction for performing path planning according to the second map data;

[0011] S3: The second control command obtains the path planning process information under the first control command;

[0012] Specifically, the first control command is an instruction for performing path planning based on the first map data, and the path planning process information under the first control command is the current command execution process information when performing path planning based on the first map data; the process information includes: path starting point, path end point, real-time location information of the goods, etc.; the process information can be understood as real-time operation data for path planning based on the first map data.

[0013] S4: The second control command synchronizes its own process information according to the path planning process information obtained under the first control command

[0014] After obtaining the path planning process information under the first control command, the second control command updates its own process to synchronize the current control process with the first control command process;

[0015] S5: The second control command performs path planning based on the current process based on the second map data to respond to the path planning and navigation request of the intelligent tower crane.

[0016] Specifically, after the second control command process information is synchronized with the first control command process information, the second control command may take over the first control command and perform path planning according to the second map data.

[0017] Preferably, this step also includes:

[0018] The first control command controls the first map data to be updated;

[0019] When the second control command process information is synchronized with the first control command process information, the first control command responds to the server's map update request and controls the update of the first map data.

[0020] S6: After the first map data is updated, the first control command automatically synchronizes the path planning process information of the second control command;

[0021] The relevant instructions for completing the update of the first map data trigger the device to automatically complete the synchronization of the first control command and the second control command.

[0022] When the second control command has the path planning process information, the first control command updates its own process after obtaining the path planning process information under the second control command, so that the current control process is synchronized with the second control command process;

[0023] S7: The first control command performs path planning based on the current process according to the updated first map data to respond to the path planning and navigation request of the intelligent tower crane.

[0024] After the first map data is updated, the intelligent tower crane initiates a new path planning and navigation request. The first control command performs path planning based on the updated first map data, and the second control command stops responding to the new path planning and navigation request of the intelligent tower crane.

[0025] An electronic device comprising the cargo lifting path planning method applied to an intelligent tower crane as described in claim 1, characterized in that it includes a memory and a processor, and the processor is used to run the cargo lifting path planning method applied to the intelligent tower crane.

[0026] Beneficial effects: The cargo lifting path planning method and electronic device of the intelligent tower crane in the present invention can improve the working efficiency of engineering equipment. When the map is updated, the path planning navigation is performed based on the original map. After the map is updated, the secondary path planning is provided based on the latest map data to ensure that the cargo lifting can be completed according to the optimal path to the maximum extent. The method of the present invention will not terminate the path planning demand response when the map is updated, which greatly improves the response speed of the intelligent tower crane. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the method flow of the present invention. DETAILED DESCRIPTION

[0028] The technical scheme of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] Description of applicable scenarios of this method: For example, when the smart tower crane is working normally, if the navigation device receives a map update command sent by the remote server, the navigation device will terminate the navigation task and update the data, affecting the normal operation of the smart tower crane.

[0030] The cargo lifting path planning method applied to an intelligent tower crane provided by the present invention comprises:

[0031] S1: using a first control command to control the navigation device to perform route planning, during which the first control command calls first map data; when a map update command is received, automatically generating second map data according to the first map data;

[0032] Under normal circumstances, the first control command is used to control the navigation device to perform path planning. In one embodiment, the normal situation may be when no map update command is received. In this method, the first control command may be a pre-set instruction to control the navigation device to perform path planning based on the first map data. In one embodiment, when the intelligent tower crane device receives a map data update instruction sent by a remote server, the intelligent tower crane controller automatically generates second map data based on the first map data.

[0033] The first map is an existing map stored in the vehicle-mounted terminal, for example, it may be unupdated map data;

[0034] The second map data is generated based on the first map data. For example, the second map may be a copy of the first map. The second map data may be created when a map update command is received or at any time after the map update is completed.

[0035] For example, when there is a lot of map data, it takes a certain amount of time to create the second map data, which in turn affects the system response time of path planning. To save its response time, the second map data can be automatically created synchronously after the map update is completed.

[0036] S2: generating a second control command for path planning;

[0037] The second control instruction is an instruction for performing path planning based on the second map data; for example, the second control instruction may be a related instruction automatically created in response to the intelligent tower crane controller when it receives a map data update instruction sent by a remote server. The instruction is used for path planning, and the map data called during the path planning process is the second map data.

[0038] S3: The second control command obtains the path planning process information under the first control command;

[0039] Specifically, the first control command is an instruction for performing path planning based on the first map data, and the map data called during the path planning process is the first map data; the path planning process information under the first control command is the current command execution process information when performing path planning based on the first map data; the process information includes at least: path starting point parameter information, path end point parameter information, real-time location information of the goods, etc.; the process information can be understood as real-time operation data for path planning based on the first map data.

[0040] In this embodiment, the second control command can actively call the path planning process information under the first control command to obtain the real-time process of the first control command; or the first control command can actively send its own process information in the form of process parameters to the second control command call.

[0041] S4: The second control command synchronizes its own process information according to the path planning process information obtained under the first control command;

[0042] Specifically, after obtaining the path planning process information under the first control command, the second control command updates its own process to synchronize the current control process with the first control command process;

[0043] For example, the process information that can be synchronized includes: cargo location information at time t, cargo starting location information, cargo end location information, cargo lifting path information, etc.

[0044] S5: The second control command performs path planning based on the current process based on the second map data to respond to the path planning and navigation request of the intelligent tower crane.

[0045] Specifically, when the second control command process information is synchronized with the first control command process information, the second control command can take over the first control command and perform path planning based on the second map data. For example, the second control command continues to provide navigation for cargo lifting based on the cargo lifting path information planned under the first control command. In another embodiment, the second control command can respond to new path planning requirements of the intelligent tower crane and perform new path planning and navigation based on the second map data.

[0046] Optionally, this step also includes:

[0047] S501: a first control command controls the first map data to be updated;

[0048] When the second control command process information is synchronized with the first control command process information, the first control command responds to the server's map update request and controls the update of the first map data.

[0049] During the updating process of the first map data, path planning and navigation are no longer performed, and the path planning and navigation requests of the intelligent tower crane are stopped.

[0050] S6: After the first map data is updated, the first control command automatically synchronizes the path planning process information of the second control command;

[0051] Specifically, the relevant instructions for completing the update of the first map data trigger the intelligent tower crane controller to automatically complete the synchronization of the first control command and the second control command.

[0052] Specifically, after the first map data is updated, the first control command actively calls the path planning process information under the second control command to obtain the real-time process of the second control command; the process information includes: path starting point, path end point, real-time location information of goods, etc.; the process information can be understood as real-time operation data for path planning based on the second map data. After obtaining the path planning process information under the second control command, the first control command updates its own process to synchronize the current control process with the second control command process;

[0053] In another embodiment, the synchronization of the process information between the first control command and the second control command may also be achieved by other means, for example, a third control command may be created, the third control command is used to monitor the first path planning process information and the second path planning process information, and according to corresponding needs, the path planning process information is called to control the synchronization of the first path planning process and the second path planning process information;

[0054] Furthermore, in another embodiment, step S601 is further included: when the second control command has no path planning process information, the first control command has no synchronized path planning process information and does not need to update its own process;

[0055] For example, when the first map data is updated, the second control command is not responding to external path planning requirements. In this case, the second control command has no path planning process information, and the first control command no longer updates its own process.

[0056] Furthermore, in another embodiment, step S602 is further included: when the second control command has path planning process information, the first control command updates its own process after obtaining the path planning process information under the second control command, so that the control process of the first control command is synchronized with the process of the second control command;

[0057] Specifically, the second control command has the path planning process information, which means that the second control command provides path planning and navigation information based on the second map at this time. For example, during the update process of the first map data, the second control command controls the navigation device to provide path planning and navigation based on the second map data to respond to the needs of the smart tower crane. When the first map data is updated, if the second control command is performing path planning in response to the needs of the smart tower crane, then the second control command has the path planning process information at this time;

[0058] When the second control command has path planning process information, the first control command updates its own process information according to the obtained second control command process information after obtaining the path planning process information under the second control command, so that the current control process is synchronized with the second control command process; the obtained path planning process information includes data such as the current cargo location and the target destination.

[0059] S7: The first control command performs path planning based on the current process according to the updated first map data to respond to the path planning and navigation request of the intelligent tower crane.

[0060] Specifically, in a specific embodiment, after the first map data is updated, the intelligent tower crane initiates a new path planning and navigation request. The first control command controls the navigation device to perform path planning based on the updated first map data. At this time, the second control command stops the tower crane's path planning and navigation request.

[0061] In another embodiment, after the first map data is updated, the second control command is responding to the path planning and navigation requirements initiated by the intelligent tower crane. After obtaining the path planning process information under the second control command, the first control command updates its own process to synchronize the current control process with the second control command process. The first control command performs secondary path planning based on the synchronized process based on the updated first map data; for example, assuming that the starting point of the cargo is point A and the target point is point C, the optimal lifting path obtained by the second control command according to the second map is ABDC in sequence, and the current cargo is located at point B. Then, after the first map data is updated, the first control command synchronizes the path planning process information of the second control command, and the first control command can obtain the current position of the cargo as point B. Since the map is updated, the optimal path for cargo lifting may have changed. For example, the optimal path from position B to position C is directly from position B to position C without passing through position D. Therefore, the first control command takes point B as the new starting point of the goods and point C as the target end point, and performs new path planning based on the updated first map data, that is, plans the best route from point B to point C in the updated map, thereby ensuring that the lifting of the goods can be completed according to the optimal path to the greatest extent.

[0062] Optionally, in a specific embodiment, the following steps are also included:

[0063] S8: terminating the second control command;

[0064] After the first control command automatically synchronizes the path planning process information of the second control command, the current path planning and navigation process data is reacquired, and the path planning requirements of the intelligent tower crane can continue to be responded to. At this time, the first control command terminates the second control command, that is, the second control command is controlled to no longer respond to the path planning and navigation requirements of the intelligent tower crane. For example, the command can be deleted, and the second map data can be deleted at the same time to increase the available storage space of the device. In another embodiment, the second control command can also be terminated by other means, such as generating other commands by the intelligent tower crane controller to terminate the second control command, and the specific method is not limited here.

[0065] In further embodiments, the present invention also provides:

[0066] The electronic device used for cargo lifting path planning of an intelligent tower crane includes a memory and a processor, and computer instructions stored in the memory and running on the processor. When the computer instructions are run by the processor, the cargo lifting path planning method described in Example 1 is completed. For the sake of brevity, it will not be described in detail here.

[0067] It should be understood that in this embodiment, the processor may be a central processing unit CPU, and the processor may also be other general-purpose processors, digital signal processors DSP, application-specific integrated circuits ASIC, off-the-shelf programmable gate arrays FPGA or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0068] The memory may include a read-only memory and a random access memory, and provide instructions and data to the processor. A portion of the memory may also include a non-volatile random access memory. For example, the memory may also store information about the device type.

[0069] A computer-readable storage medium is used to store computer instructions. When the computer instructions are executed by a processor, the cargo lifting path planning method described in Example 1 is completed.

[0070] The method in the embodiment can be directly embodied as being executed by a hardware processor, or being executed by a combination of hardware and software modules in the processor. The software module can be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in a memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware. To avoid repetition, it will not be described in detail here.

[0071] Those skilled in the art will appreciate that the units, i.e., algorithm steps, of the various examples described in conjunction with this embodiment can be implemented in electronic hardware or in a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0072] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention to be protected.

Claims

1. A cargo lifting path planning method applied to an intelligent tower crane, characterized in that: The steps include: S1: generating a first control command for controlling a navigation device to perform path planning; during the path planning process, the map data called by the first control command is the first map data; When a map update command is received, second map data is automatically generated based on the first map data; S2: generating a second control command for controlling the navigation device to perform path planning; during the path planning process, the map data called by the second control command is the second map data; S3: The second control command obtains the path planning process information under the first control command; S4: The second control command synchronizes its own process information according to the path planning process information obtained under the first control command; S5: The second control command performs path planning based on the current process according to the second map data; S6: After the first map data is updated, the first control command automatically synchronizes the path planning process information of the second control command; S7: The first control command performs path planning based on the current process based on the updated first map data to respond to the path planning and navigation request of the intelligent tower crane; Also includes: S8: terminating the second control command, wherein terminating the second control command is deleting the second control command; In S3, the path planning process information includes at least: path starting point parameter information, path ending point parameter information, and cargo real-time location information; In the above S5, the second control command continues to provide navigation for cargo lifting using the cargo lifting path information planned under the first control command; The S6 includes: When the second control command has no path planning process information, the first control command does not need to update its own process; When the second control command has the path planning process information, the first control command updates its own process after obtaining the path planning process information under the second control command, so that the control process of the first control command is synchronized with the process of the second control command; The S7 includes: after the first map data is updated, when the intelligent tower crane initiates a new path planning and navigation requirement, the first control command controls the navigation device to perform path planning based on the updated first map data, and at this time the second control command stops responding to the new path planning and navigation request of the intelligent tower crane; and also includes: after the first map data is updated, when the second control command is responding to the path planning and navigation requirement initiated by the intelligent tower crane, the first control command updates its own process after obtaining the path planning process information under the second control command, so that the current control process is synchronized with the second control command process, and the first control command controls the navigation device to perform secondary path planning based on the synchronized process based on the updated first map data.

2. An electronic device comprising the cargo lifting path planning method for an intelligent tower crane as claimed in claim 1, characterized in that: It includes a memory and a processor, wherein the memory stores computer instructions for a cargo lifting path planning method applied to an intelligent tower crane, and the processor is used to run the computer instructions in the memory to implement the cargo lifting path planning method applied to the intelligent tower crane.

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