A method and device for auxiliary operation of crane

Abstract

The purpose of this application is to provide a method and device for auxiliary operation of a crane, which obtains the working environment parameters of the crane, models a three-dimensional space model based on the working environment parameters, determines the data mapping relationship between the three-dimensional space model and the real coordinate data of the crane in the real environment, and determines the starting point coordinates and the end point coordinates in the three-dimensional space model based on the current position information of the hoisted object and the position information of the placement point of the hoisted object and the data mapping relationship; plans the operation path of the crane according to the starting point coordinates and the end point coordinates, determines the safe operation area according to the operation path, and renders the safe operation area; and provides alarm feedback by displaying the rendered safe operation area. This enables the crane to provide a recommended path after lifting the hoisted object, and to give a real-time alarm when the hoisted object is not within the recommended path range, thereby improving the operating efficiency of the crane and ensuring the safety of the hoisting operation.

Description

Technical Field

[0001] The present application relates to the field of computers, and more particularly to a method and device for auxiliary operation of a crane. Background Art

[0002] Currently, cranes play an irreplaceable role in cargo handling. Tower cranes commonly used on construction sites usually require manual operation. The driver operates the hook in the cab to hook up the items to be transported and transport them to the destination. Long-term driving puts a great physical burden on the driver. Therefore, remote control can be used to control the tower crane to transport goods.

[0003] During the remote operation of a tower crane, it is often difficult to intuitively feel the location of the hook through the remote interface. When the crane is lifting objects, there is no good planning for the obstacle avoidance route, which leads to redundant actions in the operation of the crane and there is no good alarm mechanism, which requires higher driving skills from the driver. Summary of the invention

[0004] One purpose of the present application is to provide a method and device for crane assisted operation, so as to solve the problems in the prior art of the lack of driving assistance leading to driving difficulties, low operating efficiency and untimely alarms.

[0005] According to one aspect of the present application, a method for crane assisted operation is provided, the method comprising:

[0006] Acquire working environment parameters of the crane, and obtain a three-dimensional space model based on the working environment parameters;

[0007] Determine a data mapping relationship between the three-dimensional space model and the real coordinate data of the crane in the real environment, and determine the starting point coordinates and the end point coordinates in the three-dimensional space model based on the current position information of the hanging object and the position information of the placement point of the hanging object and the data mapping relationship;

[0008] Planning an operation path of the crane according to the starting point coordinates and the end point coordinates, determining a safe operation area according to the operation path, and rendering the safe operation area;

[0009] Provide warning feedback by displaying the rendered safe operating area.

[0010] Optionally, the working environment parameters include terrain parameters, building parameters and obstacle parameters, and the three-dimensional space model is obtained by modeling based on the working environment parameters, including:

[0011] The preset model is used for modeling according to terrain parameters, building parameters and obstacle parameters, and a discrete three-dimensional space is established to determine the three-dimensional space model.

[0012] Optionally, before determining the data mapping relationship between the three-dimensional space model and the real coordinate data of the crane in the real environment, the method further includes:

[0013] A coordinate system is established based on the three-dimensional space model with the location of the crane as the origin, and a data mapping relationship between the three-dimensional space model and the real coordinate data of the crane in the real environment is determined based on the coordinate system.

[0014] Optionally, the operation path of the crane includes a lifting path, a translation path, and a descending path, and planning the operation path of the crane according to the starting point coordinates and the end point coordinates includes:

[0015] Determine the lifting height data based on the starting point coordinates and the end point coordinates, and determine the lifting path according to the lifting height data;

[0016] Determine the plane where the translation path is located according to the lifting height data, and determine whether there is an obstacle avoidance operation in the process of translation to the top of the end point coordinates based on the plane and the end point coordinates, and if so, select the shortest obstacle avoidance route as the translation path;

[0017] The path that moves to the point just above the end point coordinate and then descends to the end point coordinate is determined as the descending path.

[0018] Optionally, determining the safe operation area according to the operation path includes:

[0019] Acquire volume information of the hanging object, and determine a corresponding first distance threshold according to the volume information of the hanging object;

[0020] A safe operation area corresponding to the operation path is determined according to the first distance threshold, wherein the safe operation area is a cylindrical area with a discrete point on the operation path as a center and the first distance threshold as a radius.

[0021] Optionally, rendering the safe operation area includes:

[0022] Acquire the position information of the hanging object, and determine the nearest point on the running path based on the position information of the hanging object;

[0023] It is determined whether the distance between the hanging object and the nearest point is greater than a first distance threshold. If so, a safe operation area within a second preset distance threshold of the nearest point is rendered.

[0024] Optionally, the three-dimensional space model is obtained based on the working environment parameter modeling, further comprising:

[0025] The three-dimensional space model is determined using Unity 3D based on the working environment parameter modeling.

[0026] According to another aspect of the present application, a device for auxiliary operation of a crane is also provided, the device comprising:

[0027] A data modeling module, used to obtain working environment parameters of the crane, and to obtain a three-dimensional space model based on the working environment parameters;

[0028] A data processing module is used to determine a data mapping relationship between the three-dimensional space model and the real coordinate data of the crane in the real environment, and determine the starting point coordinates and the end point coordinates in the three-dimensional space model based on the current position information of the hanging object and the position information of the placement point of the hanging object and the data mapping relationship;

[0029] A rendering and display module, used for planning the operation path of the crane according to the starting point coordinates and the end point coordinates, determining a safe operation area according to the operation path, and rendering the safe operation area;

[0030] The alarm feedback module is used to provide alarm feedback by displaying the rendered safe operation area.

[0031] Optionally, the device comprises:

[0032] The data processing module is also used to establish a coordinate system based on the three-dimensional space model with the location of the crane as the origin, and determine the data mapping relationship between the three-dimensional space model and the real coordinate data of the crane in the real environment based on the coordinate system.

[0033] According to yet another aspect of the present application, a computer-readable medium is provided, on which computer-readable instructions are stored. The computer-readable instructions can be executed by a processor to implement any of the methods described above.

[0034] According to another aspect of the present application, a device for auxiliary operation of a crane is also provided, the device comprising:

[0035] one or more processors; and

[0036] A memory storing computer readable instructions, which, when executed, cause the processor to perform the operations of any of the methods described above.

[0037] Compared with the prior art, the present application obtains the working environment parameters of the crane, and obtains a three-dimensional space model based on the working environment parameters; determines the data mapping relationship between the three-dimensional space model and the real coordinate data of the crane in the real environment, and determines the starting point coordinates and the end point coordinates in the three-dimensional space model based on the current position information of the hoisted object and the position information of the placement point of the hoisted object and the data mapping relationship; plans the operation path of the crane according to the starting point coordinates and the end point coordinates, determines the safe operation area according to the operation path, and renders the safe operation area; and provides alarm feedback by displaying the rendered safe operation area. This enables the crane to provide a recommended path after lifting the hoisted object, and to give a real-time alarm when the hoisted object is not within the recommended path range, thereby improving the crane's operating efficiency and ensuring the safety of the hoisting operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0039] Figure 1 A schematic flow chart of a method for crane auxiliary operation provided according to one aspect of the present application is shown;

[0040] Figure 2 A schematic diagram of rendering and displaying a safe operation area in an actual application scenario in an optional embodiment of the present application is shown;

[0041] Figure 3 A structural diagram of a device frame for crane auxiliary operation according to another aspect of the present application is shown;

[0042] Figure 4 A schematic diagram of establishing a coordinate system in an actual application scenario according to an optional embodiment of the present application is shown.

[0043] The same or similar reference numerals in the drawings represent the same or similar components. DETAILED DESCRIPTION

[0044] The present application is described in further detail below in conjunction with the accompanying drawings.

[0045] In a typical configuration of the present application, the terminal, the device of the service network and the trusted party all include one or more processors (CPU), input / output interfaces, network interfaces and memories.

[0046] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0047] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include non-transitory media such as modulated data signals and carrier waves.

[0048] Figure 1 A schematic flow chart of a method for crane auxiliary operation provided according to one aspect of the present application is shown, the method comprising: S100 to S400, wherein, in S100, the working environment parameters of the crane are obtained, and a three-dimensional space model is obtained based on the working environment parameters; in S200, the data mapping relationship between the three-dimensional space model and the real coordinate data of the crane in the real environment is determined, and the starting point coordinates and the end point coordinates in the three-dimensional space model are determined based on the current position information of the hoisted object and the position information of the placement point of the hoisted object and the data mapping relationship; in S300, the operation path of the crane is planned according to the starting point coordinates and the end point coordinates, and the safe operation area is determined according to the operation path, and the safe operation area is rendered; in S400, an alarm feedback is performed by displaying the rendered safe operation area. Thereby, the crane provides a recommended path after lifting the hoisted object, and gives a real-time alarm when the hoisted object is not within the recommended path range, thereby improving the operation efficiency of the crane and ensuring the safety of the hoisting operation.

[0049] Specifically, in S100, the working environment parameters of the crane are obtained, and the three-dimensional space model is obtained by modeling based on the working environment parameters. Here, the crane can be a tower crane, and the working environment parameters of the crane are all building characteristic parameters and ground characteristic parameters in the working environment of the crane, such as the structural parameters of the tower crane itself, the geographical location information of the tower crane, the building structure data information and the obstacle structure data information, the operating range parameters of each motor of the tower crane, etc. The three-dimensional space model is obtained by modeling based on the working environment parameters.

[0050] In S200, the data mapping relationship between the three-dimensional space model and the real coordinate data of the crane in the real environment is determined, and the starting point coordinates and the end point coordinates in the three-dimensional space model are determined based on the current position information of the hanging object and the position information of the placement point of the hanging object and the data mapping relationship. Here, the real coordinate data of the crane in the real environment can be obtained by means of a global positioning system or a sensor, etc. Since the tower crane base is used as the origin of the relative coordinate system, it is necessary to determine the real coordinate data of the three-dimensional space model and the crane in the real environment. Then, the placement point of the hanging object is obtained. For example, the hanging object is lifted to the center of the roof of Building A, and the center of the roof of Building A is the placement point of the hanging object. The placement point position information of the hanging object can be obtained through the global positioning system, and the high-definition camera set on the tower crane can also be used to perform a three-dimensional reconstruction scan of the working environment to obtain the placement point position information of the hanging object, all terrain parameters and all building parameters. Then, based on the data mapping relationship, the coordinates corresponding to the current position of the hanging object in the established three-dimensional space model are determined as the starting point coordinates of the working operation path of the hanging object. It should be noted that the user can also set the starting point coordinates by himself. Then, based on the data mapping relationship, the coordinates corresponding to the placement point of the hanging object in the established three-dimensional space model are determined, and are determined as the end point coordinates of the hanging object working path.

[0051] In S300, the operation path of the crane is planned according to the starting point coordinates and the end point coordinates, the safe operation area is determined according to the operation path, and the safe operation area is rendered. Here, after determining the starting point coordinates and the end point coordinates, the operation path of the crane is planned according to the starting point coordinates, the end point coordinates and the tower crane origin coordinates of the crane, so that the crane can transport the suspended object to the end point coordinates. Among them, the operation path is a trajectory line composed of visualized discrete points in the model space, which is intuitive. The safe operation area is determined according to the operation path. Here, the safe operation area is a cylindrical area surrounding the operation path. It is safe to transport suspended objects along the planned operation path within the safe operation area. The safe operation area can be rendered to facilitate the intuitive display of the safe operation area corresponding to the operation path, thereby improving the driving efficiency of the crane and ensuring the safety of operation.

[0052] In S400, the rendered safe operation area is displayed for alarm feedback. Here, the safe operation area can be rendered and displayed only when the position of the hoisted object exceeds the range of the safe operation area, or when the position of the hoisted object exceeds the range of the safe operation area, the safe operation area is rendered and displayed using a specified color for alarm feedback, such as rendering the safe operation area in red and flashing for alarm feedback, and an alarm is intuitively given to ensure the driving safety of the crane.

[0053] In an optional embodiment of the present application, in S100, the working environment parameters include terrain parameters, building parameters and obstacle parameters, and a preset model is used to model according to the terrain parameters, building parameters and obstacle parameters, and a discrete three-dimensional space is established to determine the three-dimensional space model. Here, the terrain parameters, building parameters and obstacle parameters can be input into the preset model, and the terrain, buildings and obstacles in the working environment can be restored in the preset model. Since the tower crane is in a stationary state, the tower crane working environment does not require very high accuracy, and the tower crane base can be used as the origin of the relative coordinate system and a discrete three-dimensional space model can be established at intervals of 0.1 meters.

[0054] In an optional embodiment of the present application, before determining the data mapping relationship between the three-dimensional space model and the real coordinate data of the crane in the real environment, a coordinate system is established based on the three-dimensional space model with the location of the crane as the origin, and the data mapping relationship between the three-dimensional space model and the real coordinate data of the crane in the real environment is determined based on the coordinate system. Here, since the tower crane is in a stationary state during operation, the tower crane base can be used as the origin of the relative coordinate system and aligned with the northeast coordinate system in the real environment to establish a coordinate system, wherein the coordinate system is a three-axis coordinate system, for example, the tower crane body is set to be perpendicular to the ground, the initial eastward deflection angle θ0, the initial trolley distance d0, and the initial height h0. Then, based on the coordinate system, the data mapping relationship between the three-dimensional space model and the real coordinate data of the crane in the real environment is determined, for example, the data mapping relationship is determined based on the real coordinate data of the tower crane and the coordinates (0,0,0) of the tower crane in the three-dimensional space model, so as to realize that the running trajectory presented in the three-dimensional space model can operate normally in the real environment, improve accuracy, and improve the driving efficiency of the crane driver.

[0055] In an optional embodiment of the present application, in S300, the operation path of the crane includes a lifting path, a translation path and a descent path, the lifting height data is determined based on the starting point coordinates and the end point coordinates, and the lifting path is determined according to the lifting height data; the plane where the translation path is located is determined according to the lifting height data, and whether there is an obstacle avoidance operation in the process of translating to the end point coordinates directly above the end point coordinates is determined based on the plane and the end point coordinates, and if so, the shortest obstacle avoidance route is selected as the translation path; the path from translating to the end point coordinates directly above the end point coordinates to the end point coordinates is determined as the descent path. Here, the real coordinate position of the hanging object can be obtained by using a sensor, and the coordinates corresponding to the current position of the hanging object are determined based on the data mapping relationship between the three-dimensional space model and the real coordinate data of the crane in the real environment and used as the starting point coordinates, and the lifting height data is determined according to the larger value of the height data in the starting point coordinates and the end point coordinates, for example, the value after the larger value of the starting point coordinates and the end point coordinates is increased by a preset height increase value is used as the lifting height data, and the lifting path is determined according to the lifting height data. Next, based on the plane and the terminal coordinates, determine whether there is an obstacle avoidance operation in the process of translating to just above the terminal coordinates. If so, select the shortest obstacle avoidance route as the translation path. Here, when encountering an obstacle, you can perform an obstacle avoidance operation while maintaining a preset safety distance. Generally, there are two directions for movement selection when encountering an obstacle. For example, obstacle avoidance operations can be performed in both the left and right directions. Select the shortest obstacle avoidance route as the translation path. Then, after the hoisted object reaches the air above the destination, it descends to the target location, and the path that is translated to just above the terminal coordinates and descends to the terminal coordinates is determined as the descent path. The above method can quickly plan the specific operation path of the hoisted object, and the operation path can be visualized in the three-dimensional space model to improve the work efficiency of the crane and ensure safety.

[0056] In an optional embodiment of the present application, in S300, the volume information of the suspended object is obtained, and the corresponding first distance threshold is determined based on the volume information of the suspended object; the safe operation area corresponding to the operation path is determined based on the first distance threshold, wherein the safe operation area is a cylindrical area with a discrete point on the operation path as the center and the first distance threshold as the radius. Here, the volume information of the suspended object, such as the length, width and height, is obtained to determine the corresponding first distance threshold. The first distance threshold is the minimum distance between the suspended object and the obstacle during the obstacle avoidance operation. The corresponding first distance threshold can be determined by calculating the length, width and height combined with the preset safety distance of the crane operation. The safe operation area corresponding to the operation path is determined based on the first distance threshold, wherein the safe operation area is a cylindrical area with a discrete point on the operation path as the center and the first distance threshold as the radius.

[0057] In an optional embodiment of the present application, in S300, the position information of the hanging object is obtained, and the nearest point on the operation path is determined based on the position information of the hanging object; it is determined whether the distance between the hanging object and the nearest point is greater than the first distance threshold, and if so, the safe operation area within the second preset distance threshold of the nearest point is rendered. Here, when the distance between the hanging object and the nearest point is greater than the first distance threshold, the hanging object is located outside the safe operation area, and the alarm is completed by rendering the safe operation area within the second preset distance threshold of the nearest point. Among them, the rendering of the safe operation area within the second preset distance threshold of the nearest point can render a section of the safe operation area within the second preset distance threshold before and after the position of the hanging object, thereby avoiding the situation where all safe operation areas are displayed simultaneously in the three-dimensional space model to cause visual confusion.

[0058] In an optional embodiment of the present application, when the position of the hanging object does not exceed the range of the safe operating area, only the safe operating area within a preset second distance threshold before and after the nearest point of the hanging object's operating path may be rendered and displayed; when the position of the hanging object exceeds the range of the safe operating area, the rendered section of the safe operating area may be flashed or rendered in a specified color to complete the alarm. For example, the safe operating area may be rendered red and flash to issue an alarm, thereby avoiding the situation where the entire safe operating area is displayed, causing visual confusion for the crane driver, and ensuring the intuitiveness of the crane's assisted operation.

[0059] In an optional embodiment of the present application, in S100, Unity 3D is used to model the three-dimensional space model based on the working environment parameters. Here, the preset modeling provided by Unity 3D can be used to input the working environment parameters to complete the modeling of the three-dimensional space model. Similarly, Unity 3D can be used to complete the rendering processing of the safe operation area, such as color rendering or flickering rendering.

[0060] Figure 2The schematic diagram of rendering and displaying the safe operation area in an actual application scenario in an optional embodiment of the present application is shown. After completing the operation path planning, the trajectory is drawn in the Unity three-dimensional space according to the coordinate information of the operation path. The safe operation area is determined according to the volume information of the hanging object combined with the safe operation distance of the crane, that is, the channel around the trajectory. The dynamic rendering of the safe operation area can be completed using Unity 3D. Here, the safe distance of the trajectory is determined to be s, that is, a channel with a radius of s is drawn around the trajectory, which is usually in a transparent state. When performing a work task, an operator, such as a driver, controls the hanging object to move along the operation trajectory. The nearest point of the operation trajectory compared to the hanging object can be obtained by traversing. When the distance between the nearest point and the hanging object is greater than s, the cylindrical channel corresponding to the entire safe operation area is dynamically rendered to flash. When the distance between the nearest point and the hanging object is less than s, it is regarded as the hanging object returning to the safe operation area, and the channel is changed back to a transparent state.

[0061] Continuing with the above embodiment, when the distance between the nearest point and the suspended object is always less than s, the outer channel of the trajectory within 3 meters before and after the nearest point is dynamically rendered to form a local channel, so as to avoid the large-scale display of the channels corresponding to the entire safe operation area blocking other features in the page, such as obstacles, buildings, etc., thereby ensuring safety and visibility.

[0062] An embodiment of the present application also provides a computer-readable medium having computer-readable instructions stored thereon, and the computer-readable instructions can be executed by a processor to implement the aforementioned method of crane-assisted operation.

[0063] Corresponding to the method described above, the present application also provides a terminal, which includes a terminal capable of executing the above Figure 1 or Figure 2 The modules or units of the method steps described in the various embodiments may be implemented by hardware, software, or a combination of hardware and software, which is not limited in the present application. For example, in one embodiment of the present application, a device for auxiliary operation of a crane is also provided, wherein the device includes:

[0064] one or more processors; and

[0065] A memory storing computer readable instructions, which, when executed, cause the processor to perform the operations of the aforementioned method for crane assisted operation.

[0066] For example, the computer readable instructions, when executed, cause the one or more processors to:

[0067] Acquire the working environment parameters of the crane, and obtain a three-dimensional space model based on the working environment parameters; determine the data mapping relationship between the three-dimensional space model and the real coordinate data of the crane in the real environment, and determine the starting point coordinates and the end point coordinates in the three-dimensional space model based on the current position information of the hoisted object and the position information of the placement point of the hoisted object and the data mapping relationship; plan the operation path of the crane according to the starting point coordinates and the end point coordinates, determine the safe operation area according to the operation path, and render the safe operation area; and provide alarm feedback by displaying the rendered safe operation area.

[0068] Figure 3 A device framework structure diagram for crane auxiliary operation according to another aspect of the present application is shown, and the device includes: a data modeling module 100, which is used to obtain the working environment parameters of the crane, and obtain a three-dimensional space model based on the working environment parameters; a data processing module 200, which is used to determine the data mapping relationship between the three-dimensional space model and the real coordinate data of the crane in the real environment, and determine the starting point coordinates and the end point coordinates in the three-dimensional space model based on the current position information of the hanging object and the position information of the placement point of the hanging object and the data mapping relationship; a rendering display module 300, which is used to plan the operation path of the crane according to the starting point coordinates and the end point coordinates, determine the safe operation area according to the operation path, and render the safe operation area; an alarm feedback module 400, which is used to provide alarm feedback by displaying the rendered safe operation area. Thereby, the crane provides a recommended path after lifting the hanging object, and gives a real-time alarm when the hanging object is not within the recommended path range, thereby improving the operation efficiency of the crane and ensuring the safety of the hanging object operation.

[0069] It should be noted that the contents executed by the data modeling module 100, the data processing module 200, the rendering and display module 300 and the alarm feedback module 400 are respectively the same or correspondingly the same as the contents in the above steps S100, S200, S300 and S400, and are not repeated here for the sake of simplicity.

[0070] In an optional embodiment of the present application, the data processing module 200 is also used to establish a coordinate system based on the three-dimensional space model with the location of the crane as the origin, and determine the data mapping relationship between the three-dimensional space model and the real coordinate data of the crane in the real environment based on the coordinate system. Here, since the tower crane is in a stationary state during operation, the data processing module 200 can use the tower crane base as the origin of the relative coordinate system and align it with the northeast coordinate system in the real environment to establish a coordinate system, wherein the coordinate system is a three-axis coordinate system, for example, the tower crane body is set to be perpendicular to the ground, the initial eastward deflection angle θ0, the initial trolley distance d0, and the initial height h0. Then, the data processing module 200 determines the data mapping relationship between the three-dimensional space model and the real coordinate data of the crane in the real environment based on the coordinate system, for example, the data mapping relationship is determined based on the real coordinate data of the tower crane and the coordinates (0, 0, 0) of the tower crane in the three-dimensional space model, so as to realize that the running trajectory presented in the three-dimensional space model can operate normally in the real environment, improve accuracy, and improve the driving efficiency of the crane driver.

[0071] Figure 4 The figure shows a schematic diagram of establishing a coordinate system in an actual application scenario according to an optional embodiment of the present application, wherein O is the location of the tower crane, D is the hanging object, B is the boom of the crane, O is set as the origin, the X-axis is facing east in the real environment, and the Y-axis is perpendicular to the horizontal plane of the ground. Then the coordinate of the hanging object on the X-axis is d cosθ, the coordinate of the hanging object on the Y-axis is h, and the coordinate of the hanging object on the Z-axis is d sinθ. Here, the operating range of the rotary motor is [θ min ,θ max ], the operation range of the variable amplitude motor is [d min , d max ], the hoisting motor operation range is [h min ,h max ], and obstacles can also be described accordingly in this coordinate system.

[0072] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

[0073] It should be noted that the present application can be implemented in software and / or a combination of software and hardware, for example, can be implemented using an application specific integrated circuit (ASIC), a general purpose computer or any other similar hardware device. In one embodiment, the software program of the present application can be executed by a processor to implement the steps or functions described above. Similarly, the software program of the present application (including relevant data structures) can be stored in a computer-readable recording medium, for example, a RAM memory, a magnetic or optical drive or a floppy disk and similar devices. In addition, some steps or functions of the present application can be implemented using hardware, for example, as a circuit that cooperates with a processor to perform each step or function.

[0074] In addition, a part of the present application may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present application through the operation of the computer. The program instruction for calling the method of the present application may be stored in a fixed or removable recording medium, and / or transmitted through a data stream in a broadcast or other signal-bearing medium, and / or stored in a working memory of a computer device that runs according to the program instruction. Here, according to an embodiment of the present application, a device is included, the device including a memory for storing computer program instructions and a processor for executing program instructions, wherein, when the computer program instruction is executed by the processor, the device is triggered to run the method and / or technical solution based on the aforementioned multiple embodiments according to the present application.

[0075] It is obvious to those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and that the present application can be implemented in other specific forms without departing from the spirit or basic features of the present application. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present application is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present application. Any figure mark in the claims should not be regarded as limiting the claims involved. In addition, it is obvious that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. The words first, second, etc. are used to indicate names, and do not indicate any particular order.

Claims

1. A method for assisting crane operation, characterized in that: The method comprises: Acquire working environment parameters of the crane, and obtain a three-dimensional space model based on the working environment parameters; Determine a data mapping relationship between the three-dimensional space model and the real coordinate data of the crane in the real environment, and determine the starting point coordinates and the end point coordinates in the three-dimensional space model based on the current position information of the hanging object and the position information of the placement point of the hanging object and the data mapping relationship; Planning an operation path of the crane according to the starting point coordinates and the end point coordinates, determining a safe operation area according to the operation path, and rendering the safe operation area; Provide warning feedback by displaying the rendered safe operating area; Wherein, determining the safe operation area according to the operation path includes: Acquire volume information of the suspended object, and determine a corresponding first distance threshold according to the volume information of the suspended object, wherein the first distance threshold is a minimum distance between the suspended object and an obstacle during an obstacle avoidance operation of the suspended object; Determine a safe operation area corresponding to the operation path according to the first distance threshold, wherein the safe operation area is a cylindrical area with a discrete point on the operation path as a center and the first distance threshold as a radius; The step of rendering the safe operation area includes: Acquire the position information of the hanging object, and determine the nearest point on the running path based on the position information of the hanging object; It is determined whether the distance between the hanging object and the nearest point is greater than a first distance threshold. If so, a safe operation area within a second preset distance threshold of the nearest point is rendered.

2. The method according to claim 1, characterized in that: The working environment parameters include terrain parameters, building parameters and obstacle parameters. The three-dimensional space model is obtained based on the working environment parameters, including: The preset model is used for modeling according to terrain parameters, building parameters and obstacle parameters, and a discrete three-dimensional space is established to determine the three-dimensional space model.

3. The method according to claim 1, characterized in that Before determining the data mapping relationship between the 3D space model and the real coordinate data of the crane in the real environment, it also includes: A coordinate system is established based on the three-dimensional space model with the location of the crane as the origin, and a data mapping relationship between the three-dimensional space model and the real coordinate data of the crane in the real environment is determined based on the coordinate system.

4. The method according to claim 1, characterized in that: The operation path of the crane includes a lifting path, a translation path, and a descending path. The operation path of the crane is planned according to the starting point coordinates and the end point coordinates, including: Determine the lifting height data based on the starting point coordinates and the end point coordinates, and determine the lifting path according to the lifting height data; Determine the plane where the translation path is located according to the lifting height data, and determine whether there is an obstacle avoidance operation in the process of translation to the top of the end point coordinates based on the plane and the end point coordinates, and if so, select the shortest obstacle avoidance route as the translation path; The path that moves to the point just above the end point coordinate and then descends to the end point coordinate is determined as the descending path.

5. The method according to claim 1, characterized in that The three-dimensional space model is obtained based on the working environment parameter modeling, and further includes: The three-dimensional space model is determined using Unity 3D based on the working environment parameter modeling.

6. A device for auxiliary operation of a crane, characterized in that: The device comprises: A data modeling module, used to obtain working environment parameters of the crane, and to obtain a three-dimensional space model based on the working environment parameters; A data processing module is used to determine a data mapping relationship between the three-dimensional space model and the real coordinate data of the crane in the real environment, and determine the starting point coordinates and the end point coordinates in the three-dimensional space model based on the current position information of the hanging object and the position information of the placement point of the hanging object and the data mapping relationship; A rendering and display module, used for planning the operation path of the crane according to the starting point coordinates and the end point coordinates, determining a safe operation area according to the operation path, and rendering the safe operation area; An alarm feedback module is used to provide alarm feedback by displaying the rendered safe operation area; Wherein, the rendering and display module is used for: Acquire volume information of the suspended object, and determine a corresponding first distance threshold according to the volume information of the suspended object, wherein the first distance threshold is a minimum distance between the suspended object and an obstacle during an obstacle avoidance operation of the suspended object; Determine a safe operation area corresponding to the operation path according to the first distance threshold, wherein the safe operation area is a cylindrical area with a discrete point on the operation path as a center and the first distance threshold as a radius; Among them, the rendering display module is used for: Acquire the position information of the hanging object, and determine the nearest point on the running path based on the position information of the hanging object; It is determined whether the distance between the hanging object and the nearest point is greater than a first distance threshold. If so, a safe operation area within a second preset distance threshold of the nearest point is rendered.

7. The device according to claim 6, characterized in that The device comprises: The data processing module is also used to establish a coordinate system based on the three-dimensional space model with the location of the crane as the origin, and determine the data mapping relationship between the three-dimensional space model and the real coordinate data of the crane in the real environment based on the coordinate system.

8. A computer-readable medium having computer-readable instructions stored thereon, wherein the computer-readable instructions can be executed by a processor to implement the method according to any one of claims 1 to 5.

9. A device for auxiliary operation of a crane, characterized in that: The device comprises: one or more processors; and A memory storing computer readable instructions which, when executed, cause the processor to perform the operations of the method as claimed in any one of claims 1 to 5.

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