Sling Running Anti-Collision Method, Device, Equipment and Crane

Abstract

The present application provides a method, device, equipment and crane for anti-collision of spreader operation. The first obstacle point cloud set is obtained by scanning obstacles in the running direction of the trolley, and the second obstacle point cloud set is obtained by scanning obstacles in the running direction of the gantry. Using the coordinate information corresponding to each obstacle point in the first obstacle point cloud set, a spreader operation protection area corresponding to each obstacle point is constructed. The obstacle points in the second obstacle point cloud set that invade the spreader operation protection area are used as adjacent bay obstacle points. According to the coordinate information corresponding to the adjacent bay obstacle points, the spreader operation protection area invaded by the adjacent bay obstacle points is updated, so as to determine the spreader operation path according to all the spreader operation protection areas, thereby avoiding obstacles in the spreader operation protection area, realizing anti-collision of spreaders or containers at adjacent bays during the spreader operation, and improving the safety of the spreader operation path.

Description

Technical Field

[0001] The present application relates to the technical field of quay crane anti-collision, and particularly relates to a method, device, equipment and crane for anti-collision of spreader operation. Background Art

[0002] The quay crane ship type scanning system is the core safety subsystem for the remote control and automation operation of the quay crane, mainly used to achieve anti-collision detection between the spreader (with or without a container) and the containers or other obstacles on the ship. However, only the anti-collision detection of the current bay is carried out to prevent the spreader from colliding with the container in the current operating bay.

[0003] During the remote control operation of the quay crane, after switching to manual operation below the safe height on the sea side, the driver may need to move the trolley to align the containers. When the driver moves the trolley, or when the perpendicularity between the main girder of the quay crane and the column where the container on the ship is located is poor, the containers in adjacent bays may intrude into the current operating bay. At this time, the spreader (with or without a container) will collide with the container in the adjacent bay that intrudes into the current operating bay, resulting in a low safety level of the trolley running path. Summary of the Invention

[0004] In view of this, the embodiments of the present application are committed to providing a method, device, equipment and crane for anti-collision of spreader operation, so as to solve the problem in the prior art that the spreader collides with the container in the adjacent bay that intrudes into the current operating bay, resulting in a low safety level of the trolley running path.

[0005] On the one hand, the present application provides a method for anti-collision of spreader operation, including:

[0006] Obtaining a first obstacle point cloud set by scanning obstacles in the running direction of the trolley, and obtaining a second obstacle point cloud set by scanning obstacles in the running direction of the trolley;

[0007] Using the coordinate information corresponding to each obstacle point in the first obstacle point cloud set to construct a spreader operation protection area corresponding to each obstacle point; wherein, the spreader operation protection area represents the spreader operable area in the bay where each obstacle point is located;

[0008] Detecting whether each obstacle point in the second obstacle point cloud set intrudes into the spreader operation protection area, and taking the obstacle points that intrude into the spreader operation protection area as adjacent bay obstacle points;

[0009] Updating the spreader operation protection area intruded by the adjacent bay obstacle points according to the coordinate information corresponding to the adjacent bay obstacle points, so as to determine the spreader operation path according to all the spreader operation protection areas.

[0010] Optionally, obtaining the first obstacle point cloud set by scanning obstacles in the running direction of the trolley and obtaining the second obstacle point cloud set by scanning obstacles in the running direction of the big vehicle includes:

[0011] Taking the measurement information of the obstacle points scanned by the first 2D laser as the measurement information of the first obstacle points, and taking the measurement information of the obstacle points scanned by the second 2D laser as the measurement information of the second obstacle points; wherein, the scanning direction of the first 2D laser is the running direction of the trolley, and the scanning direction of the second 2D laser is the running direction of the big vehicle;

[0012] Determining the coordinate information of each first obstacle point and the coordinate information of each second obstacle point according to the measurement information of each first obstacle point, the measurement information of each second obstacle point, the moving distance of the trolley, the installation position of the first 2D laser, and the installation position of the second 2D laser;

[0013] Using the coordinate information of all the first obstacle points to form the first obstacle point cloud set, and using the coordinate information of all the second obstacle points to form the second obstacle point cloud set.

[0014] Optionally, the measurement information of the first obstacle points includes: the vertical distance between the first obstacle points and the first 2D laser and the horizontal distance between the first obstacle points and the first 2D laser;

[0015] Determining the coordinate information of each first obstacle point according to the measurement information of each first obstacle point, the moving distance of the trolley, and the installation position of the first 2D laser includes:

[0016] Taking the distance deviation value between the installation position of the first 2D laser and the trolley movement center line as the first deviation distance, and taking the distance deviation value between the installation position of the first 2D laser and the trolley translation center line as the second deviation distance;

[0017] Determining the x-axis coordinate value of each first obstacle point according to the first deviation distance;

[0018] Calculating the y-axis coordinate value of each first obstacle point according to the horizontal distance corresponding to each first obstacle point, the moving distance of the trolley, and the second deviation distance;

[0019] Determining the z-axis coordinate value of each first obstacle point according to the vertical distance corresponding to each first obstacle point;

[0020] Wherein, the trolley movement center line is the trolley center line parallel to the running direction of the trolley, the trolley translation center line is the trolley center line parallel to the running direction of the big vehicle, and the trolley movement center line and the trolley translation center line are perpendicular to each other.

[0021] Optionally, the measurement information of the second obstacle point includes: the vertical distance between the second obstacle point and the second 2D laser, and the horizontal distance between the second obstacle point and the second 2D laser;

[0022] Determine the coordinate information of each second obstacle point according to the measurement information of each second obstacle point, the moving distance of the trolley, and the installation position of the second 2D laser, including:

[0023] Take the distance deviation value between the installation position of the second 2D laser and the center line of the trolley movement as the third deviation distance, and take the distance deviation value between the installation position of the second 2D laser and the center line of the trolley translation as the fourth deviation distance;

[0024] Calculate the x-axis coordinate value of each second obstacle point according to the horizontal distance corresponding to each second obstacle point and the third deviation distance;

[0025] Calculate the y-axis coordinate value of each second obstacle point according to the moving distance of the trolley and the fourth deviation distance;

[0026] Determine the z-axis coordinate value of each second obstacle point according to the vertical distance corresponding to each second obstacle point.

[0027] Optionally, use the coordinate information corresponding to each obstacle point in the first obstacle point cloud set to construct a spreader operation protection area corresponding to each obstacle point, including:

[0028] Determine the length range of the spreader operation protection area corresponding to each obstacle point according to the preset standard length of the container and the preset length protection threshold;

[0029] Determine the width range of the spreader operation protection area corresponding to each obstacle point according to the y-axis coordinate value of each obstacle point;

[0030] Determine the height range of the spreader operation protection area corresponding to each obstacle point according to the z-axis coordinate value of each obstacle point, the maximum spreader safety height, and the preset height protection threshold;

[0031] Among them, the length range is in the direction of the movement of the gantry crane, the width range is in the direction of the movement of the trolley, and the height range is in the direction perpendicular to the ground.

[0032] Optionally, the spreader operation protection area corresponding to the i-th obstacle point in the constructed first obstacle point cloud set is:

[0033]

[0034] where y p represents the width range of the spreader operation protection area, z pRepresents the height range of the spreader operation protection area, x p Represents the length range of the spreader operation protection area, y i Represents the y-axis coordinate value of the i-th obstacle point, δ y Represents the interval between two adjacent obstacle points in the trolley running direction, y i +δ y Represents the y-axis coordinate value of the (i + 1)-th obstacle point, z i Represents the z-axis coordinate value of the i-th obstacle point, z i+1 Represents the z-axis coordinate value of the (i + 1)-th obstacle point, z max Represents the maximum spreader safety height, δ z Represents the height protection threshold, L represents the standard length of the container, δ x Represents the length protection threshold.

[0035] Optionally, before detecting whether each obstacle point in the second obstacle point cloud set invades the spreader operation protection area, it further includes:

[0036] Eliminate the obstacle points in the second obstacle point cloud set that do not conform to the filtering rule according to the preset filtering rule;

[0037] Wherein, the filtering rule is a filtering range determined according to the preset standard length of the container and the preset filtering threshold, and the preset filtering threshold is greater than the preset length protection threshold.

[0038] Optionally, according to the coordinate information corresponding to the adjacent bay obstacle points, updating the spreader operation protection area invaded by the adjacent bay obstacle points includes:

[0039] Determine the target spreader operation protection area where the adjacent bay obstacle points are located according to the coordinate information corresponding to the adjacent bay obstacle points;

[0040] Replace the z-axis coordinate value of the obstacle point corresponding to the target spreader operation protection area with the z-axis coordinate value of the adjacent bay obstacle point to obtain the updated coordinate information after replacement;

[0041] Update the target spreader operation protection area by using the updated coordinate information.

[0042] According to another aspect of the present application, a spreader operation anti-collision device is provided, including:

[0043] An acquisition module, configured to obtain a first obstacle point cloud set by scanning obstacles in the trolley running direction, and obtain a second obstacle point cloud set by scanning obstacles in the crane running direction;

[0044] A building module, configured to construct a spreader operation protection area corresponding to each obstacle point by using the coordinate information corresponding to each obstacle point in the first obstacle point cloud set; wherein, the spreader operation protection area represents the spreader operable area in the bay where each obstacle point is located.

[0045] A detection module, configured to detect whether each obstacle point in the second obstacle point cloud set intrudes into the spreader operation protection area, and use the obstacle points that intrude into the spreader operation protection area as adjacent bay obstacle points.

[0046] An update module, configured to update the spreader operation protection area intruded by the adjacent bay obstacle points according to the coordinate information corresponding to the adjacent bay obstacle points, so as to determine the spreader operation path according to all the spreader operation protection areas.

[0047] According to another aspect of the present application, a spreader operation anti-collision device is provided, including a memory and a processor;

[0048] Wherein, the memory is connected to the processor and is used to store programs;

[0049] The processor is configured to implement the above-mentioned spreader operation anti-collision method by running the program in the memory.

[0050] According to another aspect of the present application, a crane is provided, including: the above-mentioned spreader operation anti-collision device.

[0051] According to the spreader operation anti-collision method provided by the present application, a first obstacle point cloud set is obtained by scanning obstacles in the trolley running direction, and a second obstacle point cloud set is obtained by scanning obstacles in the crane running direction; the coordinate information corresponding to each obstacle point in the first obstacle point cloud set is used to construct a spreader operation protection area corresponding to each obstacle point; it is detected whether each obstacle point in the second obstacle point cloud set intrudes into the spreader operation protection area, and the obstacle points that intrude into the spreader operation protection area are used as adjacent bay obstacle points; according to the coordinate information corresponding to the adjacent bay obstacle points, the spreader operation protection area intruded by the adjacent bay obstacle points is updated, so as to determine the spreader operation path according to all the spreader operation protection areas. By adopting the technical solution of the present application, the spreader operation protection area of the bay where the trolley is located can be constructed, so as to detect whether there are obstacles in the adjacent bay that intrude into the spreader operation protection area, and update the spreader operation protection area according to the adjacent bay obstacles, avoiding the existence of obstacles in the spreader operation protection area, realizing anti-collision between the spreaders or containers in adjacent bays during the spreader operation, and improving the safety of the spreader operation path. Description of the Drawings

[0052] Figure 1It is a schematic diagram of the working structure on the sea side of the quay crane provided by an embodiment of the present application.

[0053] Figure 2 It is a schematic flow chart of a method for preventing collision during spreader operation provided by an embodiment of the present application.

[0054] Figure 3 It is a schematic flow chart of the process for obtaining the first obstacle point cloud set and the second obstacle point cloud set provided by an embodiment of the present application.

[0055] Figure 4 It is a schematic diagram of the setting of the first 2D laser and the second 2D laser provided by an embodiment of the present application.

[0056] Figure 5 It is a schematic diagram of a container provided by an embodiment of the present application.

[0057] Figure 6 It is a schematic flow chart of the process for constructing a spreader operation protection area provided by an embodiment of the present application.

[0058] Figure 7 It is a schematic diagram of a spreader operation protection area provided by an embodiment of the present application.

[0059] Figure 8 It is a schematic flow chart of another method for preventing collision during spreader operation provided by an embodiment of the present application.

[0060] Figure 9 It is a schematic flow chart of the process for updating a spreader operation protection area provided by an embodiment of the present application.

[0061] Figure 10 It is a schematic diagram of the structure of a spreader operation anti-collision device provided by an embodiment of the present application.

[0062] Figure 11 It is a schematic diagram of the structure of a spreader operation anti-collision device provided by an embodiment of the present application. Detailed implementation manners

[0063] The technical solution of the embodiment of the present application is applicable to the application scenario of preventing collision during spreader operation of the quay crane. By adopting the technical solution of the embodiment of the present application, it is possible to achieve anti-collision between spreaders or containers at adjacent bays during spreader operation, and improve the safety of the spreader operation path.

[0064] Figure 1 It is a schematic diagram of the working structure on the sea side of the quay crane provided by an embodiment of the present application. As Figure 1As shown in the figure, the trolley 2 is connected to the spreader 4, and the spreader 4 can carry the container 6. The trolley 2 moves along the quay crane girder 1 in the direction of the arrow in the figure (the trolley running direction), so as to realize the left and right movement of the spreader 4 carrying the container 6, so as to place the container 6 at the corresponding position of the cargo ship 5 according to the pre-set container bay information. When the trolley 2 moves with the spreader 4 to the position corresponding to the container bay information, it is necessary to lower the height of the spreader 4 to place the container 6. When the height of the spreader 4 is lowered below the safe height on the sea side, manual operation needs to be switched. At this time, in order to ensure that the container 6 can be accurately placed at the corresponding position, it may be necessary to move the trolley 3 to complete the container alignment work. Among them, the trolley running direction is parallel to the ground and perpendicular to the trolley running direction.

[0065] During the remote control operation of the quay crane, if the driver moves the trolley 3 for alignment work, the trolley 2 will shift simultaneously with the trolley 3, so that the current working bay corresponding to the trolley 2 is shifted from the corresponding position on the cargo ship 5 of the current working bay, and it is very likely that the containers in adjacent bays will intrude into the current working bay. In addition, when the cargo ship 5 docks at the shore, the docking position may shift and cannot be parallel to the shore. At this time, the quay crane girder 1 cannot be perpendicular to the direction of the column where the container is located in the cargo ship 5 (that is, the direction from the bow to the stern). When the perpendicularity between the quay crane girder 1 and the direction of the column where the container is located in the cargo ship 5 is poor, it may also cause the containers in adjacent bays to intrude into the current working bay corresponding to the trolley 2.

[0066] When the containers in adjacent bays intrude into the current working bay corresponding to the trolley 2, if the running path of the spreader is still planned only according to the historical obstacle height of the current working bay, the accuracy of the running path of the spreader will be low, which will affect the safety of the running path of the spreader, resulting in the spreader 4 being prone to collide with the containers in adjacent bays during operation.

[0067] Therefore, the present application proposes a spreader running anti-collision method, which can construct a spreader running protection area for the bay where the trolley is located, and update the spreader running protection area according to the adjacent bay obstacles that intrude into the spreader running protection area, so as to avoid obstacles in the spreader running protection area, so as to determine the spreader running path according to the spreader running protection area, realizing the anti-collision of the spreader or container in adjacent bays during the spreader running process and improving the safety of the spreader running path.

[0068] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0069] An embodiment of the present application proposes a method for preventing collision during spreader operation, which can be exemplarily applied to devices such as servers and quay crane controllers. Figure 2 It is a schematic flowchart of a method for preventing collision during spreader operation provided by an embodiment of the present application. As Figure 2 shown, the method includes:

[0070] S201. Obtain a first obstacle point cloud set by scanning obstacles in the trolley running direction, and obtain a second obstacle point cloud set by scanning obstacles in the gantry running direction.

[0071] Specifically, a laser can be set on the trolley of the quay crane to scan obstacles on the cargo ship during the movement of the trolley, where the loaded containers on the cargo ship belong to the obstacles on the cargo ship. The laser facing the trolley running direction is used to scan obstacles in the trolley running direction, and the laser facing the gantry running direction is used to scan obstacles in the gantry running direction. The trolley running direction and the gantry running direction are both parallel to the ground, and the trolley running direction and the gantry running direction are perpendicular to each other.

[0072] In this embodiment, the coordinate information of each obstacle can be determined through the measurement information of the obstacles scanned by the laser, and the coordinate information corresponding to all the obstacles scanned in the trolley running direction is used as the first obstacle point cloud set, and the coordinate information corresponding to all the obstacles scanned in the gantry running direction is used as the second obstacle point cloud set. Among them, the coordinate information in this embodiment is preferably three-dimensional coordinates, and the laser can be a 2D laser or a 3D laser, etc. Among them, the 3D laser can directly obtain the three-dimensional coordinates of the obstacle points through scanning, while the 2D laser needs to calculate the three-dimensional coordinates of the obstacle points by combining the measurement information of the scanned obstacle points with relevant parameters.

[0073] S202. Use the coordinate information corresponding to each obstacle point in the first obstacle point cloud set to construct a spreader operation protection area corresponding to each obstacle point.

[0074] Specifically, in this embodiment, it is necessary to establish a spreader operation protection area corresponding to each obstacle point in the first obstacle point cloud set. Among them, the height range of the spreader operation protection area needs to be determined according to the height of the obstacle point, that is, the height of the spreader operation needs to be higher than the height of the obstacle point, so that the spreader will not collide with the obstacle during operation. Therefore, constructing a spreader operation protection area corresponding to each obstacle point needs to be constructed according to the coordinate information corresponding to each obstacle point. In this embodiment, the spreader operation protection area represents the area where the spreader can operate in the bay where each obstacle point is located.

[0075] During the operation of the trolley, each time it transports a container, it runs along the positions corresponding to the same bay. Therefore, when the trolley runs at the position corresponding to a certain bay, it can obtain the coordinate information of each obstacle point corresponding to this bay. Then, by constructing the spreader operation protection areas corresponding to all the obstacle points, the spreader operation protection area of this bay can be combined. The trolley can then plan the spreader operation path through the spreader operation protection area of this bay, where the spreader operation path is within the spreader operation protection area.

[0076] S203. Detect whether each obstacle point in the second obstacle point cloud set invades the spreader operation protection area, and regard the obstacle points that invade the spreader operation protection area as adjacent bay obstacle points.

[0077] Specifically, in this embodiment, the spreader operation protection areas corresponding to each obstacle point in the first obstacle point cloud set are constructed. However, when the driver moves the trolley for container alignment work or the perpendicularity between the quay crane girder and the direction of the container column in the cargo ship (i.e., the bay column direction of the container in the cargo ship) is poor, containers in the adjacent bays of the current working bay may invade the spreader operation protection area, forming obstacles that affect the spreader operation. Therefore, it is necessary to determine whether there are obstacles in the adjacent bays that invade the spreader operation protection area, so as to update the spreader operation protection area in time when there are obstacles invading the spreader operation protection area, and avoid the spreader colliding with the obstacles in the spreader operation protection area when moving within the spreader operation protection area.

[0078] In this embodiment, it can be determined whether there are obstacles in the spreader operation protection area by detecting whether the obstacle points in the pre-scanned trolley running direction invade the spreader operation protection area. Therefore, in this embodiment, it is judged whether the coordinate information of each obstacle point in the second obstacle point cloud set is within the spreader operation protection area. If it is judged that the coordinate information of a certain obstacle point is within the spreader operation protection area, then this obstacle point is regarded as an adjacent bay obstacle point. By detecting each obstacle point in the second obstacle point cloud set, all the adjacent bay obstacle points in the second obstacle point cloud set can be obtained.

[0079] S204. Update the spreader operation protection area invaded by the adjacent bay obstacle points according to the coordinate information corresponding to the adjacent bay obstacle points.

[0080] Specifically, after determining the adjacent bay obstacles, it is necessary to determine the spreader operation protection area invaded by the adjacent bay obstacles, and update the spreader operation protection area by using the coordinate information of the adjacent bay obstacles invading the spreader operation protection area, so that there are no obstacles in the updated spreader operation protection area. In this way, after there are obstacles in the spreader operation protection area, the spreader operation protection area can be updated to ensure that there are always no obstacles in the spreader operation protection area. Then, there will be no obstacles in the spreader operation path planned by using the spreader operation protection area, improving the safety of the spreader operation path and avoiding collisions between containers or between containers and spreaders.

[0081] As can be seen from the above introduction, in the spreader operation anti-collision method of the embodiment of the present application, a first obstacle point cloud set is obtained by scanning obstacles in the running direction of the trolley, and a second obstacle point cloud set is obtained by scanning obstacles in the running direction of the gantry crane; using the coordinate information corresponding to each obstacle point in the first obstacle point cloud set, a spreader operation protection area corresponding to each obstacle point is constructed; it is detected whether each obstacle point in the second obstacle point cloud set invades the spreader operation protection area, and the obstacle points invading the spreader operation protection area are used as adjacent bay obstacle points; according to the coordinate information corresponding to the adjacent bay obstacle points, the spreader operation protection area invaded by the adjacent bay obstacle points is updated, so as to determine the spreader operation path according to all spreader operation protection areas. By adopting the technical solution of the present application, the spreader operation protection area of the bay where the trolley is located can be constructed, so as to detect whether there are obstacles in the adjacent bay that invade the spreader operation protection area, and update the spreader operation protection area according to the adjacent bay obstacles, avoiding obstacles in the spreader operation protection area, and realizing anti-collision between the spreaders or containers in adjacent bays during the spreader operation, improving the safety of the spreader operation path.

[0082] Figure 3 It is a schematic processing flow diagram for obtaining the first obstacle point cloud set and the second obstacle point cloud set provided by the embodiment of the present application. As a preferred implementation manner, as Figure 3 shown, step S201 includes:

[0083] S301. Take the measurement information of the obstacle points scanned by the first 2D laser as the measurement information of the first obstacle points, and take the measurement information of the obstacle points scanned by the second 2D laser as the measurement information of the second obstacle points.

[0084] Specifically, in this embodiment, it is preferably to use a 2D laser to scan the obstacles, and the 2D laser with the scanning direction being the running direction of the trolley is used as the first 2D laser, and the 2D laser with the scanning direction being the running direction of the large vehicle is used as the second 2D laser. And the obstacle points scanned by the first 2D laser are used as the first obstacle points, and the obstacle points scanned by the second 2D laser are used as the second obstacle points, that is, the obstacle points in the first obstacle point cloud set are all first obstacle points, and the obstacle points in the second obstacle point cloud set are all second obstacle points. The first 2D laser can scan the measurement information of the first obstacle points, and the second 2D laser can scan the measurement information of the second obstacle points.

[0085] S302. Determine the coordinate information of each first obstacle point and the coordinate information of each second obstacle point according to the measurement information of each first obstacle point, the measurement information of each second obstacle point, the moving distance of the trolley, the installation position of the first 2D laser, and the installation position of the second 2D laser.

[0086] Specifically, the measurement information obtained by the 2D laser scanning is two-dimensional coordinates. Therefore, in order to determine the three-dimensional coordinates of each obstacle point, it is also necessary to calculate in combination with the moving distance of the trolley and the installation positions of the first 2D laser and the second 2D laser. Therefore, it is necessary to determine the coordinate information of each first obstacle point according to the measurement information of each first obstacle point, the moving distance of the trolley, and the installation position of the first 2D laser, and determine the coordinate information of each second obstacle point according to the measurement information of each second obstacle point, the moving distance of the trolley, and the installation position of the second 2D laser.

[0087] Furthermore, the measurement information of the first obstacle point includes: the vertical distance between the first obstacle point and the first 2D laser and the horizontal distance between the first obstacle point and the first 2D laser. Determining the coordinate information of each first obstacle point according to the measurement information of each first obstacle point, the moving distance of the trolley, and the installation position of the first 2D laser specifically includes the following steps:

[0088] First, take the distance deviation between the installation position of the first 2D laser and the center line of the trolley movement as the first deviation distance, and take the distance deviation value between the installation position of the first 2D laser and the center line of the trolley translation as the second deviation distance.

[0089] Figure 4 is a schematic diagram of the settings of the first 2D laser and the second 2D laser provided in the embodiment of the present application. The first 2D laser 21 and the second 2D laser 22 can be set on the trolley 2 at the positions as Figure 4 shown, where two first 2D lasers 21 can be set, and one of the first 2D lasers 21 is used as a backup. Figure 4In this case, A is the center line of the trolley movement, parallel to the trolley running direction, B is the center line of the trolley translation, parallel to the gantry crane running direction, and A is perpendicular to B. The distance deviation between the installation position of the first 2D laser 21 and the trolley movement center line A is taken as the first deviation distance a1, and the distance deviation value between the installation position of the first 2D laser 21 and the trolley translation center line B is taken as the second deviation distance b1.

[0090] Second, according to the first deviation distance, determine the x-axis coordinate values of each first obstacle point.

[0091] Specifically, in this embodiment, since each first obstacle point is obtained by scanning of the first 2D laser, the x-axis coordinate value of the first 2D laser is the x-axis coordinate value of all first obstacle points, and the x-axis coordinate values of each first obstacle point can be determined through the first deviation distance.

[0092] Figure 5 This is a schematic diagram of a container provided by an embodiment of the present application. As Figure 5 shown, in this embodiment, the direction of the x-axis is the same as the direction of the trolley translation center line B, the direction of the y-axis is the same as the direction of the trolley movement center line A, and the plane where the y-axis and the trolley movement center line A are located is perpendicular to the ground. Among them, taking the x-axis coordinate of the trolley movement center line A as 0, then the x-axis coordinate of the first 2D laser 21 at this time is -a1, and the x-axis coordinate value of the first obstacle point Pi scanned by the first 2D laser 21 is also -a1.

[0093] Third, according to the horizontal distance, trolley movement distance, and second deviation distance corresponding to each first obstacle point, calculate the y-axis coordinate values of each first obstacle point.

[0094] Specifically, in this embodiment, taking the origin of the y-axis coordinate of the trolley translation center line B when the trolley 2 is at the initial position on the quay crane girder, that is, the y-axis coordinate value is 0. Therefore, the y-axis coordinate values of each first obstacle point need to be calculated using the second deviation distance, trolley movement distance, and the horizontal distance corresponding to each first obstacle point. Among them, the trolley movement distance refers to the distance between the current position of the trolley and the initial position of the trolley.

[0095] Taking Figure 4 and Figure 5Taking the settings in [as an example], the arrow direction of the center line A of the trolley movement is the seaside direction (Seaside), that is, the positive direction of the y-axis. At this time, the y-axis coordinate value of the first 2D laser is the trolley movement distance plus the second deviation distance b1. If the first 2D laser scans in the positive direction of the y-axis at this time, then the y-axis coordinate value of the first obstacle point scanned at this time is the y-axis coordinate value of the first 2D laser plus the horizontal distance corresponding to the first obstacle point. If the first 2D laser scans in the negative direction of the y-axis at this time, then the y-axis coordinate value of the first obstacle point scanned at this time is the y-axis coordinate value of the first 2D laser minus the horizontal distance corresponding to the first obstacle point.

[0096] Fourth, according to the vertical distances corresponding to each first obstacle point, determine the z-axis coordinate values of each first obstacle point.

[0097] Specifically, the z-axis coordinates of each first obstacle point can be calculated based on the vertical distances between the first 2D laser scanned by the first 2D laser and each first obstacle point.

[0098] For example, if the sea level is the origin of the z-axis coordinate, that is, the z-axis coordinate value of the sea level is 0. Then it is necessary to pre-obtain the distance from the first 2D laser to the sea level, and the z-axis coordinate value of each first obstacle point is the distance from the first 2D laser to the sea level minus the vertical distance corresponding to each first obstacle point.

[0099] By determining the x-axis coordinate values, y-axis coordinate values and z-axis coordinate values of each first obstacle point as described above, the coordinate information of each first obstacle point can be obtained.

[0100] Furthermore, the measurement information of the second obstacle point includes: the vertical distance between the second obstacle point and the second 2D laser and the horizontal distance between the second obstacle point and the second 2D laser. According to the measurement information of each second obstacle point, the trolley movement distance, and the installation position of the second 2D laser, determine the coordinate information of each second obstacle point, which specifically includes the following steps:

[0101] First, take the distance deviation value between the installation position of the second 2D laser and the center line of the trolley movement as the third deviation distance, and take the distance deviation value between the installation position of the second 2D laser and the translation center line of the trolley as the fourth deviation distance.

[0102] Such as Figure 4As shown in the figure, the distance deviation between the installation position of the second 2D laser 22 and the center line A of the trolley movement is used as the third deviation distance, and the distance deviation value between the installation position of the second 2D laser 22 and the center line B of the trolley translation is used as the fourth deviation distance b2. In this embodiment, two second 2D lasers can be set. One uses the positive direction of the trolley running direction (i.e., the arrow direction of the center line B of the trolley translation) as the scanning direction, and the other uses the reverse direction of the trolley running direction as the scanning direction.

[0103] Second, according to the horizontal distance corresponding to each second obstacle point and the third deviation distance, calculate the x-axis coordinate value of each second obstacle point.

[0104] Specifically, in this embodiment, the scanning direction of the second 2D laser is the direction of the center line B of the trolley translation, that is, the x-axis direction. Therefore, the x-axis coordinate value of each second obstacle point needs to be calculated according to the third deviation distance corresponding to the installation position of the second 2D laser and the horizontal distance corresponding to each second obstacle point.

[0105] Take Figure 4 and Figure 5 as an example. The second 2D laser 22 is preferably set at the edge center position on the sea side of the trolley, that is, the second 2D laser 22 is set on the center line A of the trolley movement. Therefore, the third deviation distance at this time is 0. If the scanning direction of the second 2D laser 22 is the reverse direction of the arrow in the center line B of the trolley translation (i.e., the negative x-axis direction), then the x-axis coordinate value of each second obstacle point scanned at this time is the opposite number of the sum of the third deviation distance and the horizontal distance corresponding to each second obstacle point (i.e., the opposite number of the horizontal distance). If the scanning direction of the second 2D laser 22 is the arrow direction of the center line B of the trolley translation (i.e., the positive x-axis direction), then the x-axis coordinate value of each second obstacle point scanned at this time is the sum of the third deviation distance and the horizontal distance corresponding to each second obstacle point (i.e., the value of the horizontal distance).

[0106] Third, according to the trolley movement distance and the fourth deviation distance, calculate the y-axis coordinate value of each second obstacle point.

[0107] Specifically, in this embodiment, the origin of the y-axis coordinate of the center line B of the trolley translation when the trolley 2 is at the initial position on the shore bridge girder is used, that is, the y-axis coordinate value is 0. The y-axis coordinate value of each second obstacle point needs to be calculated using the fourth deviation distance and the trolley movement distance. Among them, the trolley movement distance refers to the distance between the current position of the trolley and the initial position of the trolley.

[0108] Take Figure 4 and Figure 5Taking the settings in as an example, since the arrow direction of the center line A of the trolley movement is the positive direction of the y-axis, when the trolley is at the initial position, the y-axis coordinate value of the second 2D laser is the fourth deviation distance b2. After the trolley moves to the current position, the y-axis coordinate value of the second 2D laser is the sum of the trolley movement distance and the fourth deviation distance. Since the scanning direction of the second 2D laser is the direction of the trolley translation center line B, the y-axis coordinate value of the second 2D laser is the y-axis coordinate value of each second obstacle point.

[0109] Fourth, according to the vertical distances corresponding to each second obstacle point, determine the z-axis coordinate values of each second obstacle point.

[0110] Specifically, the z-axis coordinate values of each second obstacle point can be calculated based on the vertical distances between the second 2D laser scanned by the second 2D laser and each second obstacle point. For example, taking the sea level as the origin of the z-axis coordinate, the z-axis coordinate value of each second obstacle point is the distance from the second 2D laser to the sea level minus the vertical distance corresponding to each second obstacle point.

[0111] By determining the x-axis coordinate values, y-axis coordinate values, and z-axis coordinate values of each second obstacle point as described above, the coordinate information of each second obstacle point can be obtained.

[0112] S303. Use the coordinate information of all first obstacle points to form a first obstacle point cloud set, and use the coordinate information of all second obstacle points to form a second obstacle point cloud set.

[0113] After calculating the coordinate information of each first obstacle point and the coordinate information of each second obstacle point through the above steps, use the coordinate information of all first obstacle points to form a first obstacle point cloud set, and use the coordinate information of all second obstacle points to form a second obstacle point cloud set.

[0114] Figure 6 It is a schematic diagram of the processing flow for constructing the spreader operation protection area provided by the embodiments of the present application. As a preferred implementation, as Figure 6 shown, step S202 includes:

[0115] S601. According to the preset standard length of the container and the preset length protection threshold, determine the length range of the spreader operation protection area corresponding to each obstacle point.

[0116] For each obstacle point in the first obstacle point cloud set, that is, the length range of the spreader operation protection area of each first obstacle point is the range in the x-axis direction, and the length range needs to be determined according to the standard length of the container and the preset length protection threshold.

[0117] Figure 7It is a schematic diagram of the spreader operation protection area provided by an embodiment of the present application. As Figure 5 and Figure 7 shown, the shaded spreader operation protection area represents the spreader operation protection area corresponding to the i-th first obstacle point P i . In this embodiment, the center line B of the trolley translation is used as the x-axis, and the center line A of the trolley movement is used as the y-axis. In the standard working state (the cargo ship is parked in the standard position, and the middle line of the trolley's working bay is parallel to the center line A of the trolley movement and the plane where they are located is perpendicular to the sea level), taking the i-th first obstacle point P i (x i , y i , z i ) as a reference, the edge points in the long side direction of the container are P ilower (x ilo , y i , z i ) and P iupper (x iup , y i , z i ). Through Figure 7 it can be seen that the distances from the origin of the x-axis to the two edge points are both half of the standard length of the container. Thus, it can be known that x ilo = -L / 2, x iup = L / 2, where L represents the pre-set standard length of the container. The length protection threshold is a pre-set threshold. In order to slightly expand the protection range of the spreader operation protection area to cause friction between adjacent bay containers. Therefore, the length range of the spreader operation protection area corresponding to each first obstacle point is -L / 2 - δ x , L / 2 + δ x , where δ x represents the pre-set length protection threshold. Figure 7 In, the distance between a and P iupper and the distance between b and P ilower are both δ x .

[0118] S602. Determine the width range of the spreader operation protection area corresponding to each obstacle point according to the y-axis coordinate value of each obstacle point.

[0119] Specifically, in this embodiment, for each obstacle point scanned by the first 2D laser, the interval between every two adjacent obstacle points in the y-axis direction is a pre-set interval threshold. For example, the i-th first obstacle point is P i (x i , y i , z i ), and the (i + 1)-th first obstacle point is P i+1 (xi+1 , y i+1 , z i+1 ), y i+1 = y i + δ y , where δ y is a preset interval threshold. The width range of the spreader operation protection area corresponding to an obstacle point is the range between the y-axis coordinate value of the current obstacle point and the y-axis coordinate value of the obstacle point adjacent to the current obstacle point. As Figure 7 shown, the width range of the spreader operation protection area corresponding to the i-th first obstacle point is [y i , y i + δ y .

[0120] S603. Determine the height range of the spreader operation protection area corresponding to each obstacle point according to the z-axis coordinate value of each obstacle point, the maximum spreader safety height, and the preset height protection threshold.

[0121] Specifically, to determine each obstacle point in the first obstacle point cloud set, that is, the height range of the spreader operation protection area of each first obstacle point, it is necessary to first determine the maximum value between the z-axis coordinate value of the current obstacle point and the z-axis coordinate value of the obstacle point adjacent to the current obstacle point. Then, in order to prevent the bottom of the spreader and / or the container from rubbing against the top of the obstacle on the current working bay when the spreader runs to the current working bay, the minimum value in the height range needs to be set to a value slightly larger than the maximum value of the two z-axis coordinate values determined above. For example, the value obtained by adding the preset height protection threshold to the above maximum value can be used as the minimum value in the height range. The maximum spreader safety height is used as the maximum value in the height range, where the maximum spreader safety height is determined based on the origin position of the z-axis in this embodiment. That is, if the origin of the z-axis is the sea level, then the maximum spreader safety height is the vertical distance between the sea level and the highest position that the spreader can rise to. As Figure 7 shown, the height range of the spreader operation protection area corresponding to the i-th first obstacle point is [max(z i , z i+1 ) + δ z , z max , where z max represents the maximum spreader safety height. The distance between b and c is δ z .

[0122] According to the above content, it can be obtained that the spreader operation protection area corresponding to the i-th obstacle point in the constructed first obstacle point cloud set is:[[]]

[0123]

[0124] Among them, y p represents the width range of the spreader operation protection area, and z p represents the height range of the spreader operation protection area, and x p represents the length range of the spreader operation protection area. Figure 7 The shaded part in Figure 7 is the spreader operation protection area corresponding to the i-th obstacle point in the first obstacle point cloud set.

[0125] Figure 8 FIG. is a flowchart of another spreader operation anti-collision method provided by an embodiment of the present application. As a preferred implementation manner, as shown in Figure 8 , before performing the step of "detecting whether each obstacle point in the second obstacle point cloud set invades the spreader operation protection area", it further includes:

[0126] S803. According to a preset filtering rule, remove the obstacle points in the second obstacle point cloud set that do not conform to the filtering rule.

[0127] To improve the intrusion detection rate, all obstacle points in the second obstacle point cloud set can be directly filtered. The filtering rule is preset, and the obstacle points in the second obstacle point cloud set that do not conform to the filtering rule are all removed to ensure that only the obstacle points that conform to the filtering rule are included in the second obstacle point cloud set. Among them, the filtering rule is a rule set based on the x-axis coordinate values of each obstacle point, that is, to determine whether the x-axis coordinate values of each obstacle point conform to the filtering rule. In this embodiment, it is necessary to determine the filtering range according to the preset standard length of the container and the preset filtering threshold, and use this filtering range as the filtering rule. Among them, the preset filtering threshold is greater than the preset length protection threshold. The filtering rule can be expressed as the x-axis coordinate values of each obstacle point in the second obstacle point cloud set ∈ [-L / 2 - δ f , L / 2 + δ f , where δ f represents the preset filtering threshold, and δ f > δ x . In this embodiment, it is preferably set as δ f = 2δ x .

[0128] Figure 8 The steps S801 to S802 in the embodiment shown in Figure 2 correspond to the steps S201 to S202 in the method embodiment shown in Figure 8 , and the steps S804 to S805 in the embodiment shown in Figure 2 correspond to the steps S203 to S204 in the method embodiment shown in Figure 2The content of the method embodiment shown is not described in detail here.

[0129] Figure 9 It is a schematic diagram of the processing flow for updating the spreader operation protection area provided by the embodiment of the present application. As a preferred implementation, as Figure 9 shown, step S204 includes:

[0130] S901. Determine the target spreader operation protection area where the adjacent bay obstacle points are located according to the coordinate information corresponding to the adjacent bay obstacle points.

[0131] Specifically, since the spreader operation protection areas corresponding to each obstacle point in the first obstacle point cloud set are constructed in this embodiment, after detecting the adjacent bay obstacle points in the second obstacle point cloud set, it is necessary to use the spreader operation protection area invaded by the adjacent bay obstacle points as the target spreader operation protection area.

[0132] S902. Replace the z-axis coordinate value of the obstacle point corresponding to the target spreader operation protection area with the z-axis coordinate value of the adjacent bay obstacle point to obtain the updated coordinate information after replacement.

[0133] In this embodiment, it is necessary to determine which first obstacle point in the first obstacle point cloud set the target spreader operation protection area corresponds to, and then use the z-axis coordinate value of the adjacent bay obstacle point in the target spreader operation protection area to replace the z-axis coordinate value of the first obstacle point corresponding to the target spreader operation protection area. Thus, the updated coordinate information after replacement is obtained.

[0134] S903. Update the target spreader operation protection area using the updated coordinate information.

[0135] Update the target spreader operation protection area using the updated coordinate information after replacement, that is, construct the spreader operation protection area corresponding to the updated coordinate information, and use this spreader operation protection area to replace the target spreader operation protection area. The updated target spreader operation protection area no longer contains the coordinate information corresponding to the adjacent bay obstacle points, avoiding obstacles in the spreader operation protection area. Planning the spreader operation path according to the spreader operation protection area improves the safety of the spreader operation path and realizes the anti-collision of spreaders or containers at adjacent bays during the spreader operation process.

[0136] Corresponding to the above spreader operation anti-collision method, the embodiment of the present application also proposes a spreader operation anti-collision device. Figure 10 It is a schematic structural diagram of a spreader operation anti-collision device provided by the embodiment of the present application. As Figure 10 shown, the device includes:

[0137] An acquisition module 100 is configured to obtain a first set of obstacle point clouds by scanning obstacles in the running direction of the trolley, and obtain a second set of obstacle point clouds by scanning obstacles in the running direction of the gantry crane; wherein, the running direction of the trolley is perpendicular to the running direction of the gantry crane;

[0138] A construction module 110 is configured to construct a spreader operation protection area corresponding to each obstacle point by using the coordinate information corresponding to each obstacle point in the first set of obstacle point clouds; wherein, the spreader operation protection area represents the area where the spreader can operate in the bay where each obstacle point is located;

[0139] A detection module 120 is configured to detect whether each obstacle point in the second set of obstacle point clouds invades the spreader operation protection area, and use the obstacle points that invade the spreader operation protection area as adjacent bay obstacle points;

[0140] An update module 130 is configured to update the spreader operation protection area invaded by the adjacent bay obstacle points according to the coordinate information corresponding to the adjacent bay obstacle points, so as to determine the spreader operation path according to all the spreader operation protection areas.

[0141] The spreader operation anti-collision device proposed in the embodiment of the present application can use the construction module 110 to construct the spreader operation protection area of the bay where the trolley is located, so as to use the detection module 120 to detect whether there are obstacles in the adjacent bay that invade the spreader operation protection area, and use the update module 130 to update the spreader operation protection area according to the adjacent bay obstacles, avoiding obstacles in the spreader operation protection area, realizing anti-collision of spreaders or containers in adjacent bays during the spreader operation, and improving the safety of the spreader operation path.

[0142] As an optional implementation manner, another embodiment of the present application further discloses that the acquisition module 100 includes: a determination unit, a coordinate calculation unit, and a set construction unit.

[0143] The determination unit is configured to use the measurement information of the obstacle points scanned by the first 2D laser as the measurement information of the first obstacle points, and use the measurement information of the obstacle points scanned by the second 2D laser as the measurement information of the second obstacle points; wherein, the scanning direction of the first 2D laser is the running direction of the trolley, and the scanning direction of the second 2D laser is the running direction of the gantry crane;

[0144] The coordinate calculation unit is configured to determine the coordinate information of each first obstacle point and the coordinate information of each second obstacle point according to the measurement information of each first obstacle point, the measurement information of each second obstacle point, the moving distance of the trolley, the installation position of the first 2D laser, and the installation position of the second 2D laser;

[0145] A set construction unit for constructing a first obstacle point cloud set using the coordinate information of all first obstacle points and constructing a second obstacle point cloud set using the coordinate information of all second obstacle points.

[0146] As an alternative implementation, another embodiment of the present application also discloses that the measurement information of the first obstacle point includes: the vertical distance between the first obstacle point and the first 2D laser and the horizontal distance between the first obstacle point and the first 2D laser.

[0147] A coordinate calculation unit, specifically used for:

[0148] Taking the distance deviation value between the installation position of the first 2D laser and the center line of the vehicle movement as the first deviation distance, and taking the distance deviation value between the installation position of the first 2D laser and the center line of the vehicle translation as the second deviation distance;

[0149] Determining the x-axis coordinate value of each first obstacle point according to the first deviation distance;

[0150] Calculating the y-axis coordinate value of each first obstacle point according to the horizontal distance corresponding to each first obstacle point, the vehicle movement distance and the second deviation distance;

[0151] Determining the z-axis coordinate value of each first obstacle point according to the vertical distance corresponding to each first obstacle point;

[0152] Wherein, the center line of the vehicle movement is the center line of the vehicle parallel to the vehicle running direction, the center line of the vehicle translation is the center line of the vehicle parallel to the running direction of the large vehicle, and the center line of the vehicle movement and the center line of the vehicle translation are perpendicular to each other.

[0153] As an alternative implementation, another embodiment of the present application also discloses that the measurement information of the second obstacle point includes: the vertical distance between the second obstacle point and the second 2D laser and the horizontal distance between the second obstacle point and the second 2D laser.

[0154] The coordinate calculation unit is specifically further used for:

[0155] Taking the distance deviation value between the installation position of the second 2D laser and the center line of the vehicle movement as the third deviation distance, and taking the distance deviation value between the installation position of the second 2D laser and the center line of the vehicle translation as the fourth deviation distance;

[0156] Calculating the x-axis coordinate value of each second obstacle point according to the horizontal distance corresponding to each second obstacle point and the third deviation distance;

[0157] Calculating the y-axis coordinate value of each second obstacle point according to the vehicle movement distance and the fourth deviation distance;

[0158] Determine the z-axis coordinate values of each second obstacle point according to the corresponding vertical distance of each second obstacle point.

[0159] As an alternative implementation, another embodiment of the present application also discloses that the construction module 110 is specifically configured to: determine the length range of the spreader operation protection area corresponding to each obstacle point according to the preset standard length of the container and the preset length protection threshold;

[0160] Determine the width range of the spreader operation protection area corresponding to each obstacle point according to the y-axis coordinate value of each obstacle point;

[0161] Determine the height range of the spreader operation protection area corresponding to each obstacle point according to the z-axis coordinate value of each obstacle point, the maximum spreader safety height, and the preset height protection threshold;

[0162] Among them, the length range is in the direction of the trolley movement, the width range is in the direction of the crab movement, and the height range is in the direction perpendicular to the ground.

[0163] As an alternative implementation, another embodiment of the present application also discloses that the spreader operation protection area corresponding to the i-th obstacle point in the constructed first obstacle point cloud set is:

[0164]

[0165] where y p represents the width range of the spreader operation protection area, z p represents the height range of the spreader operation protection area, x p represents the length range of the spreader operation protection area, y i represents the y-axis coordinate value of the i-th obstacle point, δ y represents the interval between two adjacent obstacle points in the direction of the crab movement, y i +δ y represents the y-axis coordinate value of the (i + 1)-th obstacle point, z i represents the z-axis coordinate value of the i-th obstacle point, z i+1 represents the z-axis coordinate value of the (i + 1)-th obstacle point, z max represents the maximum spreader safety height, δ z represents the height protection threshold, L represents the preset standard length of the container, δ x represents the length protection threshold.

[0166] As an alternative implementation, another embodiment of the present application also discloses that the anti-collision device for spreader operation further includes: a filtering module, configured to remove the obstacle points in the second obstacle point cloud set that do not conform to the filtering rule according to the preset filtering rule; wherein, the filtering rule is a filtering range determined according to the preset standard length of the container and a preset filtering threshold, and the preset filtering threshold is greater than the preset length protection threshold.

[0167] As an alternative implementation, another embodiment of the present application also discloses that the updating module 130 is specifically configured to: determine the target spreader operation protection area where the adjacent bay obstacle points are located according to the coordinate information corresponding to the adjacent bay obstacle points;

[0168] Replace the z-axis coordinate value of the obstacle point corresponding to the target spreader operation protection area with the z-axis coordinate value of the adjacent bay obstacle point to obtain the updated coordinate information after replacement;

[0169] Update the target spreader operation protection area by using the updated coordinate information.

[0170] Specifically, for the specific working content of each unit of the above-mentioned anti-collision device for spreader operation, please refer to the introduction in the above method embodiment, which will not be repeated here.

[0171] Figure 11 is a schematic structural diagram of an anti-collision device for spreader operation provided by an embodiment of the present application. As Figure 11 shown, the device includes: a memory 200 and a processor 210;

[0172] Among them, the memory 200 is connected to the processor 210 and is used to store programs;

[0173] The processor 210 is configured to implement the anti-collision method for spreader operation disclosed in any of the above embodiments by running the program stored in the memory 200.

[0174] Specifically, the above-mentioned anti-collision device for spreader operation may further include: a bus, a communication interface 220, an input device 230, and an output device 240.

[0175] The processor 210, the memory 200, the communication interface 220, the input device 230, and the output device 240 are interconnected through the bus. Among them: The bus may include a path for transmitting information between various components of the computer system.

[0176] The processor 210 may be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the solution of the present invention. It may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0177] The processor 210 may include a main processor, and may also include a baseband chip, a modem, etc.

[0178] The memory 200 stores the program for implementing the technical solution of the present invention, and may also store an operating system and other critical services. Specifically, the program may include program code, and the program code includes computer operation instructions. More specifically, the memory 200 may include a read-only memory (ROM), other types of static storage devices that can store static information and instructions, a random access memory (RAM), other types of dynamic storage devices that can store information and instructions, a disk memory, a flash memory, etc.

[0179] The input device 230 may include a device for receiving data and information input by a user, such as a keyboard, a mouse, a camera, a scanner, a light pen, a voice input device, a touch screen, a pedometer or a gravity sensor, etc.

[0180] The output device 240 may include a device for allowing information to be output to a user, such as a display screen, a printer, a speaker, etc.

[0181] The communication interface 220 may include a device of any transceiver type for communicating with other devices or communication networks, such as an Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc.

[0182] The processor 2102 executes the program stored in the memory 200 and calls other devices, and can be used to implement each step of the spreader operation anti-collision method provided by the embodiments of the present application.

[0183] Another embodiment of the present application further provides a crane, which includes the spreader running anti-collision device in the above embodiment. In this embodiment, a crane refers to a multi-action lifting machine that vertically lifts and horizontally transports heavy objects within a certain range. For example, overhead cranes, hoists, gantry cranes, etc. The spreader running anti-collision device in the crane can construct a spreader running protection area for the bay where the trolley is located, so as to detect whether there are obstacles invading the spreader running protection area in the adjacent bay, and update the spreader running protection area according to the obstacles in the adjacent bay, avoiding the existence of obstacles in the spreader running protection area, realizing the anti-collision of the spreader or container in the adjacent bay during the spreader running process, and improving the safety of the spreader running path planned by the crane.

[0184] Another embodiment of the present application further provides a storage medium, on which a computer program is stored. When the computer program is executed by a processor, it realizes each step of the spreader running anti-collision method provided in any of the above embodiments.

[0185] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are only examples and not limitations. It cannot be considered that these advantages, benefits, effects, etc. are essential for each embodiment of the present application. In addition, the above-disclosed specific details are only for the purpose of illustration and facilitating understanding, rather than limitations. The above details do not limit the present application to necessarily adopt the above specific details to implement.

[0186] The block diagrams of the devices, apparatuses, equipment, and systems involved in the present application are only illustrative examples and do not intend to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any way. Words such as "including", "comprising", "having", etc. are open-ended words, meaning "including but not limited to", and can be used interchangeably with them. The word "or" and "and" used here refer to the word "and / or", and can be used interchangeably with it, unless the context clearly indicates otherwise. The word "such as" used here refers to the phrase "such as but not limited to", and can be used interchangeably with it.

[0187] It should also be noted that in the devices, equipment, and methods of the present application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of the present application.

[0188] The above description of the disclosed aspects enables any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

[0189] It should be understood that the qualifiers "first", "second", "third", "fourth", "fifth", and "sixth" used in the description of the embodiments of this application are only for more clearly elaborating the technical solutions and cannot be used to limit the protection scope of this application.

[0190] The above description has been given for purposes of illustration and description. In addition, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A method for preventing collision of a lifting appliance during operation, characterized in that, it includes: obtaining a first obstacle point cloud set by scanning obstacles in the running direction of the trolley, and obtaining a second obstacle point cloud set by scanning obstacles in the running direction of the gantry; using the coordinate information corresponding to each obstacle point in the first obstacle point cloud set to construct a lifting appliance operation protection area corresponding to each obstacle point; wherein, the lifting appliance operation protection area represents the area where the lifting appliance can operate in the bay where each obstacle point is located; detecting whether each obstacle point in the second obstacle point cloud set invades the lifting appliance operation protection area, and taking the obstacle points that invade the lifting appliance operation protection area as adjacent bay obstacle points; updating the lifting appliance operation protection area invaded by the adjacent bay obstacle points according to the coordinate information corresponding to the adjacent bay obstacle points, so as to determine the lifting appliance operation path according to all the lifting appliance operation protection areas.

2. The method according to claim 1, characterized in that, the obtaining a first obstacle point cloud set by scanning obstacles in the running direction of the trolley, and obtaining a second obstacle point cloud set by scanning obstacles in the running direction of the gantry includes: taking the measurement information of the obstacle points scanned by the first 2D laser as the measurement information of the first obstacle points, and taking the measurement information of the obstacle points scanned by the second 2D laser as the measurement information of the second obstacle points; wherein, the scanning direction of the first 2D laser is the running direction of the trolley, and the scanning direction of the second 2D laser is the running direction of the gantry; determining the coordinate information of each first obstacle point and the coordinate information of each second obstacle point according to the measurement information of each first obstacle point, the measurement information of each second obstacle point, the moving distance of the trolley, the installation position of the first 2D laser and the installation position of the second 2D laser; constituting a first obstacle point cloud set by using the coordinate information of all the first obstacle points, and constituting a second obstacle point cloud set by using the coordinate information of all the second obstacle points.

3. The method according to claim 2, characterized in that, the measurement information of the first obstacle points includes: the vertical distance between the first obstacle point and the first 2D laser and the horizontal distance between the first obstacle point and the first 2D laser; determining the coordinate information of each first obstacle point according to the measurement information of each first obstacle point, the moving distance of the trolley and the installation position of the first 2D laser includes: taking the distance deviation value between the installation position of the first 2D laser and the center line of the trolley movement as the first deviation distance, and taking the distance deviation value between the installation position of the first 2D laser and the center line of the trolley translation as the second deviation distance; determining the x-axis coordinate value of each first obstacle point according to the first deviation distance; calculating the y-axis coordinate value of each first obstacle point according to the horizontal distance corresponding to each first obstacle point, the moving distance of the trolley and the second deviation distance; determining the z-axis coordinate value of each first obstacle point according to the vertical distance corresponding to each first obstacle point; Wherein, the center line of the trolley movement is the center line of the trolley parallel to the trolley running direction, the center line of the trolley translation is the center line of the trolley parallel to the gantry running direction, and the center line of the trolley movement is perpendicular to the center line of the trolley translation.

4. The method according to claim 3, characterized in that the measurement information of the second obstacle point includes: the vertical distance between the second obstacle point and the second 2D laser and the horizontal distance between the second obstacle point and the second 2D laser; Determine the coordinate information of each second obstacle point according to the measurement information of each second obstacle point, the trolley movement distance, and the installation position of the second 2D laser, including: Take the distance deviation value between the installation position of the second 2D laser and the center line of the trolley movement as the third deviation distance, and take the distance deviation value between the installation position of the second 2D laser and the center line of the trolley translation as the fourth deviation distance; Calculate the x-axis coordinate value of each second obstacle point according to the horizontal distance corresponding to each second obstacle point and the third deviation distance; Calculate the y-axis coordinate value of each second obstacle point according to the trolley movement distance and the fourth deviation distance; Determine the z-axis coordinate value of each second obstacle point according to the vertical distance corresponding to each second obstacle point.

5. The method according to claim 1, characterized in that Using the coordinate information corresponding to each obstacle point in the first obstacle point cloud set, construct a spreader operation protection area corresponding to each obstacle point, including: Determine the length range of the spreader operation protection area corresponding to each obstacle point according to the preset standard length of the container and the preset length protection threshold; Determine the width range of the spreader operation protection area corresponding to each obstacle point according to the y-axis coordinate value of each obstacle point; Determine the height range of the spreader operation protection area corresponding to each obstacle point according to the z-axis coordinate value of each obstacle point, the maximum spreader safety height, and the preset height protection threshold; Wherein, the length range is in the gantry movement direction, the width range is in the trolley movement direction, and the height range is in the direction perpendicular to the ground.

6. The method according to claim 5, characterized in that The spreader operation protection area corresponding to the i-th obstacle point in the constructed first obstacle point cloud set is: Among them, y p represents the width range of the spreader operation protection area, z p represents the height range of the spreader operation protection area, x p represents the length range of the spreader operation protection area, y i represents the y-axis coordinate value of the i-th obstacle point, δ y represents the interval between two adjacent obstacle points in the trolley operation direction, y i +δ y represents the y-axis coordinate value of the (i + 1)-th obstacle point, z i represents the z-axis coordinate value of the i-th obstacle point, z i+1 represents the z-axis coordinate value of the (i + 1)-th obstacle point, z max represents the maximum spreader safety height, δ z represents the height protection threshold, L represents the standard length of the container, δ x represents the length protection threshold.

7. The method according to claim 1, characterized in that Before detecting whether each obstacle point in the second obstacle point cloud set invades the spreader operation protection area, it further includes: Eliminate the obstacle points in the second obstacle point cloud set that do not conform to the filtering rule according to the preset filtering rule; Wherein, the filtering rule is a filtering range determined according to the preset standard length of the container and the preset filtering threshold, and the preset filtering threshold is greater than the preset length protection threshold.

8. The method according to claim 1, characterized in that Update the spreader operation protection area invaded by the adjacent bay obstacle points according to the coordinate information corresponding to the adjacent bay obstacle points, including: Determine a target spreader operation protection area where the adjacent bay obstacle points are located according to the coordinate information corresponding to the adjacent bay obstacle points; Replace the z-axis coordinate value of the obstacle point corresponding to the target spreader operation protection area with the z-axis coordinate value of the adjacent bay obstacle point to obtain updated coordinate information after replacement; Update the target spreader operation protection area by using the updated coordinate information.

9. A spreader operation anti-collision device, characterized in that, it includes: An acquisition module, configured to obtain a first obstacle point cloud set by scanning obstacles in the trolley running direction and a second obstacle point cloud set by scanning obstacles in the crane running direction; A construction module, configured to construct a spreader operation protection area corresponding to each obstacle point by using the coordinate information corresponding to each obstacle point in the first obstacle point cloud set; wherein, the spreader operation protection area represents the spreader operable area in the bay where each obstacle point is located; A detection module, configured to detect whether each obstacle point in the second obstacle point cloud set invades the spreader operation protection area, and take the obstacle points that invade the spreader operation protection area as adjacent bay obstacle points; An update module, configured to update the spreader operation protection area invaded by the adjacent bay obstacle points according to the coordinate information corresponding to the adjacent bay obstacle points, so as to determine the spreader operation path according to all the spreader operation protection areas.

10. A spreader operation anti-collision device, characterized in that, it includes a memory and a processor; wherein, the memory is connected to the processor and is used to store programs; The processor is configured to implement the spreader operation anti-collision method according to any one of claims 1 to 8 by running the programs in the memory.

11. A crane, characterized in that, it includes: The spreader operation anti-collision device according to claim 10.

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