Automatic avoidance method, automatic avoidance device and storage medium for tower crane

Abstract

The present invention discloses an automatic avoidance method, an automatic avoidance device and a storage medium for a tower crane, and relates to the field of electrical control technology. The method comprises: obtaining tower crane parameters of the tower crane; establishing a three-dimensional coordinate system based on the tower crane parameters; obtaining detection information of ground obstacles; creating a three-dimensional model of the ground obstacle in the three-dimensional coordinate system based on the tower crane parameters and the detection information; calculating the distance between the tower crane and the ground obstacle based on the tower crane parameters, the three-dimensional coordinate system and the three-dimensional model, performing a collision monitoring operation based on the distance, and generating an avoidance control instruction for the tower crane. During the operation of the tower crane, the tower crane hook and the ground obstacle are simulated in the three-dimensional coordinate system, and their actual distance is calculated, so that the tower crane is accurately controlled to avoid obstacles, thereby improving the safety of the tower crane operation.

Description

Technical Field

[0001] The present invention relates to the field of electrical control technology, and in particular to an automatic avoidance method for a tower crane, an automatic avoidance device for a tower crane and a computer-readable storage medium. Background Art

[0002] In modern construction sites, tower cranes are widely used. By using tower cranes, construction workers can transport materials and objects used for construction to any height of the building under construction for use by construction workers on site.

[0003] During the actual application process, technicians found that there was a risk of collision between tower cranes and ground objects or cargo during operation, so they proposed corresponding solutions. However, the existing technology did not pay attention to the problem of possible collision between multiple tower cranes during simultaneous operation, which caused certain troubles for technicians.

[0004] Although technicians can create a three-dimensional model of the tower crane to analyze and simulate the possible collisions of multiple tower cranes during operation, the cargo or ground objects on site will continue to change with time and workload. Therefore, collision analysis based only on the relevant installation parameters of the tower crane will deviate from the actual application situation and cannot meet actual needs. Summary of the invention

[0005] In order to overcome the above-mentioned technical problems existing in the prior art, an embodiment of the present invention provides an automatic avoidance method for a tower crane. During the operation of the tower crane, the tower crane hook and ground obstacles are simulated in a three-dimensional coordinate system, and their actual distance is calculated, so as to perform precise obstacle avoidance control on the tower crane and improve the safety of the tower crane operation.

[0006] In order to achieve the above-mentioned purpose, an embodiment of the present invention provides an automatic avoidance method for a tower crane, the method comprising: obtaining tower crane parameters of the tower crane; establishing a three-dimensional coordinate system based on the tower crane parameters; obtaining detection information of ground obstacles; creating a three-dimensional model of the ground obstacle in the three-dimensional coordinate system based on the tower crane parameters and the detection information; calculating the distance between the tower crane and the ground obstacle based on the tower crane parameters, the three-dimensional coordinate system and the three-dimensional model, performing a collision monitoring operation based on the distance, and generating an avoidance control instruction for the tower crane.

[0007] Preferably, the tower crane parameters include hook parameters, and the creating of a three-dimensional model of the ground obstacle in the three-dimensional coordinate system based on the tower crane parameters and the detection information includes: determining the distance information and angle information between the hook and the ground obstacle based on the hook parameters and the detection information; processing the distance information and the angle information based on the three-dimensional coordinate system to obtain a plurality of vertex coordinates of the ground obstacle in the three-dimensional coordinate system; determining the edge representation information and surface representation information of the ground obstacle based on the plurality of vertex coordinates; and generating a corresponding three-dimensional model based on the plurality of vertex coordinates, the edge representation information and the surface representation information.

[0008] Preferably, the avoidance control instruction includes a first avoidance control instruction and a second avoidance control instruction, which calculates the distance between the tower crane and the ground obstacle based on the tower crane parameters, the three-dimensional coordinate system and the three-dimensional model, performs a collision monitoring operation based on the distance, and generates an avoidance control instruction for the tower crane, including: determining the obstacle avoidance space of the ground obstacle based on the surface representation information; determining the hook coordinates of the hook in the three-dimensional coordinate system based on the hook parameters; calculating the first distance between the hook and the obstacle avoidance space based on the hook coordinates; judging whether the hook is located in the obstacle avoidance space based on the first distance; if the hook is located in the obstacle avoidance space, generating a corresponding first avoidance control instruction; if the hook is not located in the obstacle avoidance space, calculating the second distance between the hook and the edge representation information based on the hook coordinates and the edge representation information, and generating a corresponding second avoidance control instruction based on the second distance.

[0009] Preferably, determining the obstacle avoidance space of the ground obstacle based on the surface representation information includes: obtaining a preset obstacle avoidance space depth; determining the vertical space of the surface corresponding to each surface representation information based on the preset obstacle avoidance space depth; and generating the obstacle avoidance space of the ground obstacle based on the vertical space of each surface.

[0010] Preferably, the second distance between the hook and the edge characterization information is calculated based on the hook coordinates and the edge characterization information, and the corresponding second avoidance control instruction is generated based on the second distance, including: determining the second distance between the hook and the edge corresponding to each edge characterization information based on the hook coordinates and the edge characterization information; judging whether there is an unqualified point-line distance in the second distance whose distance value is less than a preset distance threshold; and generating a corresponding second avoidance control instruction in the case of an unqualified point-line distance.

[0011] Correspondingly, an embodiment of the present invention also provides an automatic avoidance device for a tower crane, the device comprising: a first acquisition unit, used to acquire tower crane parameters of the tower crane; a coordinate system establishment unit, used to establish a three-dimensional coordinate system based on the tower crane parameters; a second acquisition unit, used to acquire detection information of ground obstacles; a model establishment unit, used to create a three-dimensional model of the ground obstacle in the three-dimensional coordinate system based on the tower crane parameters and the detection information; an avoidance unit, used to calculate the distance between the tower crane and the ground obstacle based on the tower crane parameters, the three-dimensional coordinate system and the three-dimensional model, perform a collision monitoring operation based on the distance, and generate an avoidance control instruction for the tower crane.

[0012] Preferably, the tower crane parameters include hook parameters, and the model building unit includes: a calculation module, used to determine the distance information and angle information between the hook and the ground obstacle based on the hook parameters and the detection information; a processing module, used to process the distance information and the angle information based on the three-dimensional coordinate system to obtain multiple vertex coordinates of the ground obstacle in the three-dimensional coordinate system; a characterization module, used to determine the edge characterization information and surface characterization information of the ground obstacle based on the multiple vertex coordinates; a module creation module, used to generate a corresponding three-dimensional model based on the multiple vertex coordinates, the edge characterization information and the surface characterization information.

[0013] Preferably, the avoidance control instruction includes a first avoidance control instruction and a second avoidance control instruction, and the avoidance unit includes: an obstacle avoidance space determination module, used to determine the obstacle avoidance space of the ground obstacle based on the surface representation information; a coordinate determination module, used to determine the hook coordinates of the hook in the three-dimensional coordinate system based on the hook parameters; a first distance calculation module, used to calculate the first distance between the hook and the obstacle avoidance space based on the hook coordinates; a judgment module, used to judge whether the hook is located in the obstacle avoidance space based on the first distance; a first control module, used to generate a corresponding first avoidance control instruction when the hook is located in the obstacle avoidance space; a second control module, used to calculate the second distance between the hook and the edge representation information based on the hook coordinates and the edge representation information when the hook is not located in the obstacle avoidance space, and generate a corresponding second avoidance control instruction based on the second distance.

[0014] Preferably, the obstacle avoidance space determination module is specifically used to: obtain a preset obstacle avoidance space depth; determine the vertical space of the surface corresponding to each surface representation information based on the preset obstacle avoidance space depth; and generate the obstacle avoidance space of the ground obstacle based on the vertical space of each surface.

[0015] Preferably, the second control module is specifically used to: determine the second distance between the hook and the edge corresponding to each edge characterization information based on the hook coordinates and the edge characterization information; determine whether there is an unqualified point-line distance in the second distance whose distance value is less than a preset distance threshold; if there is an unqualified point-line distance, generate a corresponding second avoidance control instruction.

[0016] On the other hand, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which implements the method provided by the embodiment of the present invention when the program is executed by a processor.

[0017] Through the technical solution provided by the present invention, the present invention has at least the following technical effects:

[0018] By creating a three-dimensional coordinate system and virtually simulating the tower crane hook and ground obstacles, the actual distance between the hook and the ground obstacles can be monitored. In the subsequent operation process, accurate and timely obstacle avoidance operations can be performed according to the distance between the hook and the ground obstacles, thereby improving the safety of tower crane operation.

[0019] At the same time, in the process of calculating the distance, a point-surface combination method is adopted. On the one hand, the distance between the hook and each surface of the ground obstacle is calculated; on the other hand, the distance between the hook and each edge of the ground obstacle is also calculated, thereby realizing the calculation of the actual distance between the hook and the ground obstacle without blind spots, further improving the accuracy of avoidance monitoring between the hook and the ground obstacles.

[0020] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings:

[0022] Figure 1 It is a specific implementation flow chart of the automatic avoidance method of a tower crane provided by an embodiment of the present invention;

[0023] Figure 2 It is a schematic diagram of a three-dimensional coordinate system based on a tower crane in an automatic avoidance method of a tower crane provided by an embodiment of the present invention;

[0024] Figure 3 It is a specific implementation flow chart of the three-dimensional model in the automatic avoidance method of the tower crane provided by the embodiment of the present invention;

[0025] Figure 4It is a specific implementation flow chart of generating an avoidance control instruction in the automatic avoidance method of a tower crane provided in an embodiment of the present invention;

[0026] Figure 5 It is a structural schematic diagram of an automatic avoidance device for a tower crane provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0027] The specific implementation of the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present invention, and is not used to limit the embodiment of the present invention.

[0028] The terms "system" and "network" in the embodiments of the present invention can be used interchangeably. "Multiple" means two or more than two. In view of this, "multiple" can also be understood as "at least two" in the embodiments of the present invention. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / ", unless otherwise specified, generally indicates that the previous and subsequent associated objects are in an "or" relationship. In addition, it should be understood that in the description of the embodiments of the present invention, the words "first", "second", etc. are only used to distinguish the purpose of description, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying order.

[0029] See also Figure 1 The embodiment of the present invention provides an automatic avoidance method for a tower crane, the method comprising:

[0030] S10) obtaining tower crane parameters of the tower crane;

[0031] S20) establishing a three-dimensional coordinate system based on the tower crane parameters;

[0032] S30) obtaining detection information of ground obstacles;

[0033] S40) creating a three-dimensional model of the ground obstacle in the three-dimensional coordinate system based on the detection information;

[0034] S50) calculating the distance between the tower crane and the ground obstacle based on the tower crane parameters, the three-dimensional coordinate system and the three-dimensional model, performing a collision monitoring operation based on the distance, and generating an avoidance control instruction for the tower crane.

[0035] In a possible implementation manner, firstly, tower crane parameters of the tower crane are obtained. In this embodiment, tower crane parameters include but are not limited to tower crane boom length, tower crane boom height, tower crane boom operating angle and other parameters. After obtaining the above tower crane parameters, a corresponding three-dimensional coordinate system is established. For example, the intersection of the tower crane base and the tower crane boom is used as the coordinate origin, the tower crane base is used as the Z axis, the first operating state of the tower crane boom is used as the X axis, and the straight line perpendicular to the X axis in the horizontal plane is used as the Y axis to construct the three-dimensional coordinate system. Please refer to Figure 2 , which is a schematic diagram of a three-dimensional coordinate system based on a tower crane provided in an embodiment of the present invention.

[0036] At this time, the detection information of the ground obstacles is further obtained. For example, in this embodiment, a distance measuring device can be set on the hook of the tower crane, and the distance of the ground obstacles is measured by the distance measuring device. Combined with the orientation angle information of the distance measuring device in the three-dimensional coordinate system during detection, the distance between the hook and the ground obstacle and the corresponding angle (that is, the angle of the hook toward the obstacle) are obtained. After the detection information of the ground obstacle is obtained, it is converted into a three-dimensional model in the three-dimensional coordinate system.

[0037] See also Figure 3 In an embodiment of the present invention, the tower crane parameters include hook parameters, and the step of creating a three-dimensional model of the ground obstacle in the three-dimensional coordinate system based on the tower crane parameters and the detection information includes:

[0038] S41) determining the distance information and angle information between the hook and the ground obstacle based on the hook parameters and the detection information;

[0039] S42) processing the distance information and the angle information based on the three-dimensional coordinate system to obtain coordinates of multiple vertices of the ground obstacle in the three-dimensional coordinate system;

[0040] S43) determining the edge representation information and surface representation information of the ground obstacle based on the multiple vertex coordinates;

[0041] S44) Generate a corresponding three-dimensional model based on the multiple vertex coordinates, the edge representation information and the surface representation information.

[0042] In a possible implementation, the distance information and angle information between the hook and the ground obstacle are first calculated and determined based on the hook parameters and the detection information. For example, the distance information of the hook on the tower crane tower arm and the height information of the hook in the vertical direction can be obtained through the motor encoder configured for the hook. The distance information and angle information between the hook and the ground obstacle can be calculated and determined based on the above hook parameters and detection information. At this time, the above distance information and angle information are processed through the three-dimensional coordinate system to obtain multiple vertex coordinates of the ground obstacle in the three-dimensional coordinate system.

[0043] For example, in this embodiment, all ground obstacles are fitted as rectangular objects, and each ground obstacle includes 6 surfaces and 8 vertices. After obtaining the coordinates of the above multiple vertices, each surface of the rectangular block composed of the above multiple vertex coordinates can be further determined and represented by surface representation information, and the multiple edges composed of 8 vertices can also be represented by edge representation information. After determining the above multiple vertex coordinates, edge representation information and surface representation information, a corresponding three-dimensional model is generated. At this time, the collision monitoring operation between the tower crane and the ground obstacle can be performed. Once a collision risk is found, an avoidance control instruction for the tower crane is immediately generated to improve the operation safety of the tower crane.

[0044] See also Figure 4 In an embodiment of the present invention, the avoidance control instruction includes a first avoidance control instruction and a second avoidance control instruction, and the distance between the tower crane and the ground obstacle is calculated based on the tower crane parameters, the three-dimensional coordinate system and the three-dimensional model, and a collision monitoring operation is performed based on the distance to generate the avoidance control instruction for the tower crane, including:

[0045] S51) determining an obstacle avoidance space of the ground obstacle based on the surface representation information;

[0046] S52) determining the hook coordinates of the hook in the three-dimensional coordinate system based on the hook parameters;

[0047] S53) calculating a first distance between the hook and the obstacle avoidance space based on the hook coordinates;

[0048] S54) determining whether the hook is located in the obstacle avoidance space based on the first distance;

[0049] S551) generating a corresponding first avoidance control instruction when the hook is located in the obstacle avoidance space;

[0050] S552) When the hook is not located in the obstacle avoidance space, a second distance between the hook and the edge characterization information is calculated based on the hook coordinates and the edge characterization information, and a corresponding second avoidance control instruction is generated based on the second distance.

[0051] In a possible implementation, in order to effectively avoid obstacles during the operation of the tower crane, an obstacle avoidance space is set near the ground obstacle to identify and monitor it. Therefore, during the operation of the tower crane, after generating a three-dimensional model of the ground obstacle, the obstacle avoidance space of the ground obstacle is further determined based on the surface representation information.

[0052] Specifically, in an embodiment of the present invention, determining the obstacle avoidance space of the ground obstacle based on the surface representation information includes: obtaining a preset obstacle avoidance space depth; determining the vertical space of the surface corresponding to each surface representation information based on the preset obstacle avoidance space depth; and generating the obstacle avoidance space of the ground obstacle based on the vertical space of each surface.

[0053] For example, technicians can pre-set a preset obstacle avoidance space depth. After determining each plane of the three-dimensional model of the ground obstacle, of course, according to actual conditions, the other five planes except the bottom plane can be used as planes that need to determine the obstacle avoidance space. By adding a spatial model corresponding to the preset obstacle avoidance space depth in the vertical direction of each of the above-mentioned planes (that is, the spatial model formed after each plane is extended outward by the preset obstacle avoidance space depth), a vertical space corresponding to each plane is generated, and then an obstacle avoidance space corresponding to the ground obstacle is generated according to the above-mentioned ground obstacles and the vertical space of each plane. When the hook of the tower crane moves into the obstacle avoidance space, an alarm can be immediately sounded or avoidance can be performed, thereby effectively avoiding the collision between the tower crane and the ground obstacles and improving the safety of the tower crane operation.

[0054] Specifically, after determining the obstacle avoidance space, the hook coordinates of the hook in the three-dimensional coordinate system are further determined based on the hook parameters, and then it is determined whether the hook is located in the obstacle avoidance space based on the hook coordinates. For example, the first distance between the hook and the obstacle avoidance space can be calculated by calculating the hook coordinates. Specifically, the first distance between the hook and the closest point in the obstacle avoidance space can be calculated by PLC, and whether the hook is located in the obstacle avoidance space can be determined based on the first distance. In one embodiment, it is determined that the hook is running in the obstacle avoidance space through coordinate comparison, so the corresponding first avoidance control instruction is immediately generated. Of course, in order to further improve the accuracy of the avoidance control, when it is determined that the hook is running in the obstacle avoidance space, the distance between the hook and each surface can be further calculated, and the corresponding first obstacle avoidance control instruction is generated only when the distance is less than a preset distance threshold.

[0055] However, it can be understood by those skilled in the art that the tower crane is operated in three-dimensional space. If only the hook is collided and avoided in the vertical direction of each plane of the ground obstacle, there must be a monitoring blind spot. For example, in one embodiment, the hook is operated in the oblique direction of the ground obstacle and approaches the ground obstacle. At this time, the hook is located in the blind spot of the obstacle avoidance space and cannot be effectively monitored. Therefore, there is a certain safety risk, which reduces the operational safety. Therefore, in order to solve the above technical problems, it is necessary to further monitor the distance between the hook and the ridgeline of the obstacle to further ensure that there will be no collision accident between the hook and the obstacle.

[0056] In an embodiment of the present invention, the calculation of the second distance between the hook and the edge characterization information based on the hook coordinates and the edge characterization information, and the generation of a corresponding second avoidance control instruction based on the second distance, include: determining the second distance between the hook and the edge corresponding to each edge characterization information based on the hook coordinates and the edge characterization information; judging whether there is an unqualified point-line distance in the second distance whose distance value is less than a preset distance threshold; and generating a corresponding second avoidance control instruction in the case of an unqualified point-line distance.

[0057] In one possible implementation, by comparing the hook coordinates and the obstacle avoidance space of ground obstacles, it is found that the hook is not located in the obstacle avoidance space. Therefore, the second distance between the hook and each edge line of the ground obstacle is further calculated based on the hook coordinates and the edge characterization information, and it is determined whether the distance is less than the second distance threshold. For example, at a certain moment, it is monitored that the distance between the hook and a certain edge line is less than the second distance threshold, that is, there is an unqualified point-line distance at present, but the hook is not operating in the obstacle avoidance space, so the second avoidance control instruction is immediately generated to control the tower crane to avoid obstacles in a timely manner.

[0058] In the embodiment of the present invention, by regularizing the ground obstacles instead of monitoring and analyzing the prototypes of the ground obstacles, the computational complexity in the process of analyzing and calculating the collision risk between the tower crane and the ground obstacles is effectively reduced, and the amount of calculation is reduced. At the same time, by adopting a point-to-surface combination method according to the actual situation, whether there is a collision risk between the tower crane and the ground obstacles is comprehensively monitored, thereby effectively improving the monitoring accuracy and effectiveness, achieving accurate and reliable avoidance of the tower crane, and improving the safety of the tower crane operation.

[0059] The automatic avoidance device for a tower crane provided by an embodiment of the present invention will be described below in conjunction with the accompanying drawings.

[0060] See also Figure 5 Based on the same inventive concept, an embodiment of the present invention provides an automatic avoidance device for a tower crane, the device comprising: a first acquisition unit, used to acquire tower crane parameters of the tower crane; a coordinate system establishment unit, used to establish a three-dimensional coordinate system based on the tower crane parameters; a second acquisition unit, used to acquire detection information of ground obstacles; a model establishment unit, used to create a three-dimensional model of the ground obstacle in the three-dimensional coordinate system based on the tower crane parameters and the detection information; an avoidance unit, used to calculate the distance between the tower crane and the ground obstacle based on the tower crane parameters, the three-dimensional coordinate system and the three-dimensional model, perform a collision monitoring operation based on the distance, and generate an avoidance control instruction for the tower crane.

[0061] In an embodiment of the present invention, the tower crane parameters include hook parameters, and the model building unit includes: a calculation module, used to determine the distance information and angle information between the hook and the ground obstacle based on the hook parameters and the detection information; a processing module, used to process the distance information and the angle information based on the three-dimensional coordinate system to obtain multiple vertex coordinates of the ground obstacle in the three-dimensional coordinate system; a characterization module, used to determine the edge characterization information and surface characterization information of the ground obstacle based on the multiple vertex coordinates; a module creation module, used to generate a corresponding three-dimensional model based on the multiple vertex coordinates, the edge characterization information and the surface characterization information.

[0062] In an embodiment of the present invention, the avoidance control instruction includes a first avoidance control instruction and a second avoidance control instruction, and the avoidance unit includes: an obstacle avoidance space determination module, used to determine the obstacle avoidance space of the ground obstacle based on the surface representation information; a coordinate determination module, used to determine the hook coordinates of the hook in the three-dimensional coordinate system based on the hook parameters; a first distance calculation module, used to calculate the first distance between the hook and the obstacle avoidance space based on the hook coordinates; a judgment module, used to judge whether the hook is located in the obstacle avoidance space based on the first distance; a first control module, used to generate a corresponding first avoidance control instruction when the hook is located in the obstacle avoidance space; a second control module, used to calculate the second distance between the hook and the edge representation information based on the hook coordinates and the edge representation information when the hook is not located in the obstacle avoidance space, and generate a corresponding second avoidance control instruction based on the second distance.

[0063] In an embodiment of the present invention, the obstacle avoidance space determination module is specifically used to: obtain a preset obstacle avoidance space depth; determine the vertical space of the surface corresponding to each surface representation information based on the preset obstacle avoidance space depth; and generate the obstacle avoidance space of the ground obstacle based on the vertical space of each surface.

[0064] In an embodiment of the present invention, the second control module is specifically used to: determine the second distance between the hook and the edge corresponding to each edge characterization information based on the hook coordinates and the edge characterization information; determine whether there is an unqualified point-line distance in the second distance whose distance value is less than a preset distance threshold; if there is an unqualified point-line distance, generate a corresponding second avoidance control instruction.

[0065] Furthermore, an embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the method described in the embodiment of the present invention is implemented.

[0066] The optional implementation modes of the embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details in the above implementation modes. Within the technical concept of the embodiments of the present invention, various simple modifications can be made to the technical scheme of the embodiments of the present invention, and these simple modifications all belong to the protection scope of the embodiments of the present invention.

[0067] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the embodiments of the present invention will not further describe various possible combinations.

[0068] Those skilled in the art can understand that all or part of the steps in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including a number of instructions to enable a single-chip microcomputer, a chip or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0069] In addition, various implementation modes of the embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the embodiments of the present invention, they should also be regarded as the contents disclosed by the embodiments of the present invention.

Claims

1. A tower crane automatic avoidance method, characterized in that: The method comprises: Obtaining tower crane parameters of the tower crane; Establishing a three-dimensional coordinate system based on the tower crane parameters; Obtain detection information of ground obstacles; Creating a three-dimensional model of the ground obstacle in the three-dimensional coordinate system based on the tower crane parameters and the detection information; Calculating the distance between the tower crane and the ground obstacle based on the tower crane parameters, the three-dimensional coordinate system and the three-dimensional model, performing a collision monitoring operation based on the distance, and generating an avoidance control instruction for the tower crane; The tower crane parameters include hook parameters, and the step of creating a three-dimensional model of the ground obstacle in the three-dimensional coordinate system based on the tower crane parameters and the detection information includes: Determine the distance information and angle information between the hook and the ground obstacle based on the hook parameters and the detection information; Processing the distance information and the angle information based on the three-dimensional coordinate system to obtain coordinates of multiple vertices of the ground obstacle in the three-dimensional coordinate system; Determine the edge representation information and surface representation information of the ground obstacle based on the multiple vertex coordinates; Generate a corresponding three-dimensional model based on the multiple vertex coordinates, the edge representation information and the surface representation information; The avoidance control instruction includes a first avoidance control instruction and a second avoidance control instruction, and the distance between the tower crane and the ground obstacle is calculated based on the tower crane parameters, the three-dimensional coordinate system and the three-dimensional model, and a collision monitoring operation is performed based on the distance to generate an avoidance control instruction for the tower crane, including: Determining an obstacle avoidance space of the ground obstacle based on the surface representation information; Determining the hook coordinates of the hook in the three-dimensional coordinate system based on the hook parameters; Calculate a first distance between the hook and the obstacle avoidance space based on the hook coordinates; Determining whether the hook is located in the obstacle avoidance space based on the first distance; When the hook is located in the obstacle avoidance space, generating a corresponding first avoidance control instruction; When the hook is not located in the obstacle avoidance space, a second distance between the hook and the edge representation information is calculated based on the hook coordinates and the edge representation information, and a corresponding second avoidance control instruction is generated based on the second distance.

2. The method according to claim 1, characterized in that The determining the obstacle avoidance space of the ground obstacle based on the surface representation information includes: Get the preset obstacle avoidance space depth; Determine the vertical space of the surface corresponding to each of the surface representation information based on the preset obstacle avoidance space depth; An obstacle avoidance space for the ground obstacle is generated based on the vertical space of each surface.

3. The method according to claim 1, characterized in that The calculating a second distance between the hook and the edge representation information based on the hook coordinates and the edge representation information, and generating a corresponding second avoidance control instruction based on the second distance, comprises: Determine a second distance between the hook and an edge line corresponding to each edge line characterization information based on the hook coordinates and the edge line characterization information; Determine whether there is an unqualified point-to-line distance whose distance value is less than a preset distance threshold in the second distance; In the case of an unqualified point-to-line distance, a corresponding second avoidance control instruction is generated.

4. An automatic avoidance device for a tower crane, characterized in that: The device comprises: A first acquisition unit, used for acquiring tower crane parameters of the tower crane; A coordinate system establishing unit, used for establishing a three-dimensional coordinate system based on the tower crane parameters; A second acquisition unit, used to acquire detection information of ground obstacles; A model building unit, used for creating a three-dimensional model of the ground obstacle in the three-dimensional coordinate system based on the tower crane parameters and the detection information; An avoidance unit, configured to calculate the distance between the tower crane and the ground obstacle based on the tower crane parameters, the three-dimensional coordinate system and the three-dimensional model, perform a collision monitoring operation based on the distance, and generate an avoidance control instruction for the tower crane; The tower crane parameters include hook parameters, and the model building unit includes: A calculation module, used to determine the distance information and angle information between the hook and the ground obstacle based on the hook parameters and the detection information; A processing module, used for processing the distance information and the angle information based on the three-dimensional coordinate system to obtain coordinates of multiple vertices of the ground obstacle in the three-dimensional coordinate system; A characterization module, used to determine the edge characterization information and the surface characterization information of the ground obstacle based on the multiple vertex coordinates; A module creation module, used to generate a corresponding three-dimensional model based on the plurality of vertex coordinates, the edge representation information and the surface representation information; The avoidance control instruction includes a first avoidance control instruction and a second avoidance control instruction, and the avoidance unit includes: An obstacle avoidance space determination module, configured to determine the obstacle avoidance space of the ground obstacle based on the surface representation information; A coordinate determination module, used for determining the hook coordinates of the hook in the three-dimensional coordinate system based on the hook parameters; A first distance calculation module, used for calculating a first distance between the hook and the obstacle avoidance space based on the hook coordinates; A judging module, configured to judge whether the hook is located in the obstacle avoidance space based on the first distance; A first control module, configured to generate a corresponding first avoidance control instruction when the hook is located in the obstacle avoidance space; The second control module is used to calculate a second distance between the hook and the edge characterization information based on the hook coordinates and the edge characterization information when the hook is not located in the obstacle avoidance space, and generate a corresponding second avoidance control instruction based on the second distance.

5. The device according to claim 4, characterized in that The obstacle avoidance space determination module is specifically used for: Get the preset obstacle avoidance space depth; Determine the vertical space of the surface corresponding to each of the surface representation information based on the preset obstacle avoidance space depth; An obstacle avoidance space for the ground obstacle is generated based on the vertical space of each surface.

6. The device according to claim 4, characterized in that The second control module is specifically used for: Determine a second distance between the hook and an edge line corresponding to each edge line characterization information based on the hook coordinates and the edge line characterization information; Determine whether there is an unqualified point-to-line distance whose distance value is less than a preset distance threshold in the second distance; In the case of an unqualified point-to-line distance, a corresponding second avoidance control instruction is generated.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method described in any one of claims 1 to 2 is implemented.

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