A method and device for path planning of a hoisting operation, and a crane

Abstract

The application discloses a hoisting operation path planning method and device and a crane. The hoisting operation path planning method comprises the following steps: obtaining operation information of hoisting operation; calculating a loss value corresponding to a feasible path from a hoisting starting point to a hoisting ending point; wherein the feasible path comprises the hoisting starting point, the hoisting ending point and at least one intermediate point from the hoisting starting point to the hoisting ending point, and the loss value represents energy consumption and time consumption for hoisting a hoisted object from the hoisting starting point to the hoisting ending point; and finally selecting a feasible path with the minimum loss value as an optimal path. In the hoisting operation process, a plurality of feasible paths of the hoisting operation are obtained according to position information of the hoisting starting point and the hoisting ending point, energy consumption and time consumption for performing the hoisting operation according to each feasible path are calculated respectively, and a feasible path with the minimum energy consumption and time consumption is selected as the optimal path, so that the energy consumption and time consumption of the hoisting operation are comprehensively minimized, and low energy consumption and high efficiency of the hoisting operation are ensured.

Description

Technical Field

[0001] This application relates to the field of crane operation technology, specifically to a path planning method, device, and crane for hoisting operations. Background Technology

[0002] At the hoisting site, the usual operating procedure for cranes is as follows: first, the hoisting staff formulates a preliminary hoisting plan based on the scene of the hoisting site; then, the ground hoisting supervisor corrects the preliminary hoisting path based on the actual hoisting operation; and finally, the ground hoisting supervisor guides the completion of the hoisting operation based on the corrected hoisting path.

[0003] With societal development and the continuous advancement of crane electrification and automated driving technologies, more and more cranes are adopting intelligent control operations. Because cranes involve multiple dimensions of motion during operation, such as pitching and lifting, failure to plan the crane's operating path can lead to high operational efficiency and energy consumption. Existing operating paths are mostly based on the shortest path, but the shortest path does not necessarily correspond to the lowest energy consumption and time. Therefore, further optimization of crane operating paths is necessary. Summary of the Invention

[0004] To address the aforementioned technical problems, this application is proposed. Embodiments of this application provide a path planning method, apparatus, and crane for hoisting operations, solving the technical problems of high crane operating efficiency and energy consumption.

[0005] According to one aspect of this application, a path planning method for hoisting operations is provided, comprising: acquiring operation information of the hoisting operation; wherein the operation information includes the location of the hoisting start point and the location of the hoisting end point; calculating a loss value corresponding to a feasible path from the hoisting start point to the hoisting end point; wherein the feasible path includes the hoisting start point, the hoisting end point, and at least one intermediate point between the hoisting start point and the hoisting end point, and the loss value characterizes the energy consumption and time consumption consumed in hoisting the load from the hoisting start point to the hoisting end point; and selecting the feasible path with the minimum loss value as the optimal path for the hoisting operation.

[0006] In one embodiment, the hoisting operation includes pitch motion, slewing motion, and lifting motion; wherein, calculating the loss value corresponding to the feasible path from the hoisting start point to the hoisting end point includes: calculating the loss value corresponding to the pitch motion and / or the slewing motion and / or the lifting motion; wherein, adjacent points on the feasible path contain only one of the pitch motion, the slewing motion, and the lifting motion.

[0007] In one embodiment, the energy consumption includes kinetic energy consumption, potential energy consumption, and resistance consumption, and the time consumption includes the motion time spent during stable motion and the switching time spent during action switching; wherein, calculating the loss value corresponding to the feasible path from the hoisting start point to the hoisting end point includes: calculating the kinetic energy consumption and / or potential energy consumption and / or resistance consumption, motion time, and / or switching time corresponding to the feasible path from the hoisting start point to the hoisting end point.

[0008] In one embodiment, calculating the loss value corresponding to the feasible path from the hoisting start point to the hoisting end point includes: accumulating the loss value from the current point to the next point on the feasible path.

[0009] In one embodiment, the operation information further includes the location of obstacles within the area where the hoisting operation is located; wherein, before calculating the loss value corresponding to the feasible path from the hoisting start point to the hoisting end point, the path planning method for the hoisting operation further includes: dividing the safe area of ​​the hoisting operation according to the location of the obstacles; wherein, the safe area indicates that the hoisted object and the corresponding hoisting equipment will not collide with the obstacles when moving within the safe area; the calculation of the loss value corresponding to the feasible path from the hoisting start point to the hoisting end point includes: calculating the loss value corresponding to the feasible path from the hoisting start point to the hoisting end point; wherein, the feasible path is located within the safe area.

[0010] In one embodiment, defining the safety area for the hoisting operation based on the location of the obstacle includes: constructing a fan-shaped area containing the obstacle based on the location of the obstacle; and defining the safety area based on the fan-shaped area.

[0011] In one embodiment, defining the safe area for the hoisting operation based on the location of the obstacle includes defining the safe area for the hoisting operation based on the location of the obstacle and the size of the hoisted object.

[0012] In one embodiment, obtaining the operation information of the hoisting operation includes: obtaining image data of the area where the hoisting operation is located; and determining the operation information of the hoisting operation based on the image data.

[0013] According to another aspect of this application, a path planning device for hoisting operations is provided, comprising: an information acquisition module for acquiring operation information of the hoisting operation; wherein the operation information includes the location of the hoisting start point and the location of the hoisting end point; a loss calculation module for calculating the loss value corresponding to a feasible path from the hoisting start point to the hoisting end point; wherein the feasible path includes the hoisting start point, the hoisting end point, and at least one intermediate point between the hoisting start point and the hoisting end point, and the loss value characterizes the energy consumption and time consumption consumed in hoisting the load from the hoisting start point to the hoisting end point; and a path selection module for selecting the feasible path with the minimum loss value as the optimal path for the hoisting operation.

[0014] According to another aspect of this application, a crane is provided, comprising: lifting equipment; and a path planning device for lifting operations as described above.

[0015] This application provides a path planning method, device, and crane for hoisting operations. The method involves acquiring hoisting operation information, including the location of the hoisting start point and the location of the hoisting end point; calculating the loss value corresponding to feasible paths from the hoisting start point to the hoisting end point; wherein a feasible path includes the hoisting start point, the hoisting end point, and at least one intermediate point between the hoisting start point and the hoisting end point; and the loss value characterizing the energy and time consumption consumed in hoisting the object from the hoisting start point to the hoisting end point. Finally, the feasible path with the minimum loss value is selected as the optimal path for the hoisting operation. In other words, during the hoisting operation, multiple feasible paths for the hoisting operation are obtained based on the location information of the hoisting start point and the hoisting end point, and the energy and time consumption of performing the hoisting operation according to each feasible path are calculated. The feasible path with the minimum energy and time consumption is then selected as the optimal path to achieve the lowest overall energy and time consumption for the hoisting operation, thereby ensuring low energy consumption and high efficiency in the hoisting operation. Attached Figure Description

[0016] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0017] Figure 1 This is a flowchart illustrating a path planning method for hoisting operations provided in an exemplary embodiment of this application.

[0018] Figure 2This is a schematic diagram of the model state parameters of the hoisting equipment provided in an exemplary embodiment of this application in C-Space.

[0019] Figure 3 This is a structural schematic diagram of the basic operating principle of hoisting operations provided in an exemplary embodiment of this application.

[0020] Figure 4 This is a structural schematic diagram of the path planning principle for hoisting operations provided in an exemplary embodiment of this application.

[0021] Figure 5 This is a flowchart illustrating a path planning method for hoisting operations provided in another exemplary embodiment of this application.

[0022] Figure 6 This is a schematic diagram of the structure of a hoisting operation path planning device provided in an exemplary embodiment of this application.

[0023] Figure 7 This is a schematic diagram of the structure of a hoisting operation path planning device provided in another exemplary embodiment of this application.

[0024] Figure 8 This is a structural diagram of an electronic device provided in an exemplary embodiment of this application. Detailed Implementation

[0025] Hereinafter, exemplary embodiments according to this application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments of this application. It should be understood that this application is not limited to the exemplary embodiments described herein.

[0026] Figure 1 This is a flowchart illustrating a path planning method for hoisting operations provided in an exemplary embodiment of this application. Figure 1 As shown, the path planning method for this hoisting operation includes the following steps:

[0027] Step 110: Obtain the lifting operation information.

[0028] The operation information includes the location of the lifting start point and the location of the lifting end point. In one embodiment, step 110 can be implemented by acquiring image data of the area where the lifting operation is located, and determining the operation information of the lifting operation based on the image data. Specifically, high-resolution aerial images of the construction site can be acquired using UAV digital aerial photography, and a 3D model of the operation area can be built based on the aerial images. Then, differential correction and texture mapping are performed on the aerial images to generate a 3D tilted real-world model. Based on the generated 3D real-world model, obstacle information in the operation area is extracted, and the crane and the object to be lifted are placed according to the obstacle information. The location information of the crane, the lifting start point, and the lifting end point are determined, thereby determining the start and end positions of the lifting operation, and thus planning the operation path from the start position to the end position.

[0029] Step 120: Calculate the loss value corresponding to the feasible path from the lifting start point to the lifting end point.

[0030] The feasible path includes the hoisting start point, the hoisting end point, and at least one intermediate point between the hoisting start point and the hoisting end point. The loss value represents the energy and time consumed in hoisting the object from the hoisting start point to the hoisting end point.

[0031] Without considering the crane's motion characteristics, shorter distances generally correspond to lower energy consumption. However, since truck cranes have three degrees of freedom—pitch, slewing, and hoisting—if the motion characteristics of the truck crane are not considered during operation path planning, the planned path may not conform to the crane's motion patterns, thus including a large number of unnecessary movements. Furthermore, since truck cranes, in addition to the stable operation of each movement during lifting operations, also involve switching between movements, all of which consume energy and time, if operation planning is only aimed at minimizing distance, the resulting operation path may actually consume a lot of energy and time. Therefore, this application, after knowing the lifting start and end points of the lifting operation, plans multiple feasible paths from the lifting start to the lifting end point and calculates the corresponding energy consumption values ​​to determine the energy and time required for each feasible path, thereby selecting the optimal path.

[0032] In one embodiment, the hoisting operation includes pitching, slewing, and lifting movements. Step 120 can be implemented by calculating the loss values ​​corresponding to the pitching and / or slewing and / or lifting movements. Adjacent points on the feasible path contain only one of these movements. Since the hoisting operation may only require one of the crane's pitching, slewing, and lifting movements, or a combination of two or three movements, the loss values ​​can be calculated separately for each movement involved in the hoisting operation, and then all loss values ​​are summed to obtain the loss value for the corresponding feasible path. Since switching between different actions requires a certain amount of time and energy, and in order to achieve the action switching, it is necessary to decelerate to stop the current action and then accelerate to a smooth operation after switching to the next action, which also causes energy and time consumption, this application plans that adjacent points in the feasible path contain only one type of motion in order to minimize action switching. For example, if one feasible path includes pitch, rotation and lifting motion, two intermediate points can be planned to divide the feasible path into three segments: from the hoisting start point to the first intermediate point, from the first intermediate point to the second intermediate point, and from the second intermediate point to the hoisting end point. Each segment contains only one type of motion: pitch, rotation and lifting. This can reduce the number of action switching and transform the three-dimensional spatial action into three two-dimensional planar actions to simplify the calculation.

[0033] Step 130: Select the feasible path with the minimum loss value as the optimal path for the hoisting operation.

[0034] After calculating the loss values ​​corresponding to multiple feasible paths, the feasible path with the lowest loss value is selected for the hoisting operation to ensure optimal energy and time consumption. It should be understood that if a large number of feasible paths are obtained, a loss threshold can be set to save computation time and improve operational efficiency. When a calculated loss value is less than this threshold, the feasible path corresponding to that loss value is selected as the optimal path to save computing power. Preferably, to further improve computational efficiency, the loss value of feasible paths with shorter paths and fewer action switching operations can be preferentially calculated.

[0035] This application provides a path planning method for hoisting operations. The method involves acquiring operation information, including the location of the hoisting start point and the location of the hoisting end point; calculating the loss value corresponding to feasible paths from the hoisting start point to the hoisting end point; wherein a feasible path includes the hoisting start point, the hoisting end point, and at least one intermediate point between the hoisting start point and the hoisting end point; and the loss value characterizing the energy and time consumption consumed in hoisting the object from the hoisting start point to the hoisting end point. Finally, the feasible path with the minimum loss value is selected as the optimal path for the hoisting operation. In other words, during the hoisting operation, multiple feasible paths are obtained based on the location information of the hoisting start point and the hoisting end point. The energy and time consumption of executing the hoisting operation according to each feasible path are calculated, and the feasible path with the minimum energy and time consumption is selected as the optimal path, thereby achieving the lowest overall energy and time consumption for the hoisting operation and ensuring low energy consumption and high efficiency.

[0036] In one embodiment, the energy consumption includes kinetic energy consumption, potential energy consumption, and resistance consumption, and the time consumption includes the motion time spent during the stable motion process and the switching time spent during the action switching process; wherein, the specific implementation of the above step 120 may be: calculating the kinetic energy consumption and / or potential energy consumption and / or resistance consumption, motion time, and / or switching time corresponding to the feasible path from the hoisting start point to the hoisting end point.

[0037] Specifically, firstly, based on the specific trajectory of the crane's lifting operation, a crane operation model is established in C-Space, such as... Figure 2 As shown, each coordinate axis in this C-Space represents the crane's degrees of freedom for rotation, luffing (pitch), and lifting. Each point in the C-Space corresponds to a crane pose. The crane's pose can be described by the set C = {θ, σ, r}, where the luffing angle θ, the lateral rotation angle σ, and the sling length r are three-dimensional variables, corresponding to the crane's luffing, rotation, and lifting motions, respectively. The C-Space coordinate system can be converted to and from the Cartesian coordinate system using the following conversion formula:

[0038]

[0039]

[0040] Where (x, y, z) are the coordinates of a point in the Cartesian coordinate system, L b This is the length of the boom (a constant).

[0041] Then, based on the crane's operation model, an energy consumption and time consumption model of the crane during the lifting process is established to quantify the energy consumption and time consumption during the lifting operation.

[0042] 1) Energy consumption model:

[0043] A crane mainly consists of an upper section (boom and turntable) and a lower section (chassis), connected by the turntable. The main movements of a crane during lifting operations include pitching, slewing, and hoisting. The energy consumed by a crane during lifting operations mainly consists of three parts: kinetic energy consumption E... k Potential energy consumption E p and the resistance consumption E to overcome frictional resistance f ,Right now:

[0044] F e =E k +E p +E f

[0045] Among them, F e This represents the total energy consumption. Kinetic energy is primarily lost during the deceleration process of each movement. Let the steady-state speeds of the crane's pitching, slewing, and lifting movements be respectively... and The kinetic energy of the crane lifting operation can then be expressed as:

[0046]

[0047] Among them, I x and I y These are the pitching moment of inertia and rotational moment of inertia of the crane boom, respectively; m is the load; and n is the moment of inertia. θ n σ n r E represents the number of pitch, rotation, and rise / fall motions, respectively. θ E σ E r These represent the kinetic energy consumption for pitching, slewing, and lifting movements, respectively. The kinetic energy consumed by the crane during pitching, slewing, and lifting movements is constant; therefore, the total kinetic energy loss depends on the number of times the crane switches between pitching, slewing, and lifting.

[0048] The potential energy loss of a crane is related to its pitching and lifting motions. Potential energy loss can be expressed as:

[0049] E p =∫ sinθ (MgL C sinθ)+∫ sinθ mgL b sinθ+∫ r mgr

[0050] =(ML C+mL b )g∫ sinθ sinθ+mg∫ r r

[0051] Where M is the mass of the boom, L C The center of mass of the boom.

[0052] Due to frictional resistance, the crane consumes energy to overcome resistance during rotation, while the frictional resistance during pitching and lifting is negligible. Specifically, the crane's resistance consumption can be expressed as:

[0053]

[0054] The basic movements of a crane include slewing, pitching, and lifting, specifically left slewing, right slewing, increasing amplitude, decreasing amplitude, raising, and lowering—these are the six basic movements (e.g., Figure 3 The energy consumption shown can be described as follows:

[0055] E +θΔ =sE θ +k1(sin(θ c +θ Δ )-sinθ c )

[0056] E -θΔ =0

[0057] E +σΔ =sE σ +k2σ Δ cosθ c

[0058] E -σΔ =sE σ +k2σ Δ cosθ c

[0059] E +rΔ =0

[0060] E -rΔ =sE r +k3r △

[0061] Among them, E +θΔ and E -θΔ E represents the energy consumed by increasing and decreasing the amplitude, respectively. +σΔ and E -σΔ E represents the energy consumed during left turn and right turn, respectively. +rΔ and E -rΔ θ represents the energy consumed during descent and ascent, respectively. c and θΔ These represent the amplitude before the action and the change in amplitude, σ. Δ r is the change in rotation angle. Δ Let s be the change in sling length, and k1, k2, and k3 be coefficients.

[0062] From the above formula, we can see that the energy consumption E +σΔ E -σΔ It can be seen that energy consumption is inversely proportional to the pitch angle θ; the larger the pitch angle, the smaller the energy consumption. Therefore, in Figure 4 In the example, there are six basic paths from the starting point (start node) to the ending point (goal node):

[0063] Path 1: Start point - Node 1 - Node 6 - End point;

[0064] Path 2: Start point - Node 2 - Node 6 - End point;

[0065] Path 3: Start point - Node 1 - Node 5 - End point;

[0066] Path 4: Start point - Node 2 - Node 4 - End point;

[0067] Path 5: Start point - Node 3 - Node 4 - End point;

[0068] Path 6: Start point - Node 3 - Node 5 - End point.

[0069] If energy loss is not considered, the cost of these six paths is exactly the same (the distance is the same). Based on the above formula, it can be seen that the energy consumption of paths 1 and 3 is relatively small compared to paths 4 and 5 (paths 1 and 3 have larger pitch angles, that is, the side lengths corresponding to the pitch angles in paths 1 and 3 are longer).

[0070] 2) Time loss model:

[0071] The time loss of a crane during hoisting operations mainly consists of two parts: the time spent in steady motion (T1) and the additional time spent accelerating and decelerating when switching actions (T2).

[0072] The total time consumed is: T = T1 + T2; where,

[0073]

[0074] T2=n θ T θad +n σ T σad +n r T rad

[0075] Where θ, σ, and r represent the changes in amplitude angle, yaw angle, and sling length during operation, respectively. These refer to the stable operating speeds of the crane during pitching, slewing, and lifting movements, respectively; n θ n σ n r These represent the number of times the crane switches between pitch, slewing, and lifting movements; T θad T σad T rad These are the acceleration time (or deceleration time) consumed from rest to stable motion for the three types of motion: pitching, rotation, and rising / falling. Since the speed and acceleration of stable motion are fixed, the acceleration (deceleration) time is also the same.

[0076] Figure 5 This is a flowchart illustrating a path planning method for hoisting operations provided in another exemplary embodiment of this application. The operation information may further include the locations of obstacles within the hoisting operation area; such as... Figure 5 As shown, prior to step 120, the path planning method for the hoisting operation may further include:

[0077] Step 140: Delineate the safe zone for hoisting operations based on the location of obstacles.

[0078] The safety zone represents the area within which the hoisted object and corresponding hoisting equipment will not collide with obstacles. During hoisting operations, there is a possibility of collisions between the crane boom, obstacles, and the hoisted object. To avoid collisions, a safety zone needs to be planned when designing the hoisting operation path to ensure that the operation path is within this safety zone, meaning that the crane boom carrying the hoisted object will not cause collisions when moving along the operation path.

[0079] Specifically, if the radius R of the hoisted object l If the length is too large, the load may collide with the boom when the lifting height of the boom is too high (r is too short) or the boom pitch angle θ is too large. Therefore, the sling length r should satisfy the following:

[0080] r>R l ·tanθ+H l / 2

[0081] Among them, H l The height of the object being hoisted.

[0082] If the obstacle is too high, the boom and the obstacle may collide. Let H be the height of the obstacle in the direction of the rotation angle σ. oi (σ), the distance from the obstacle to the center of rotation is D. oi(σ), then at the rotation angle σ, the amplitude angle θ should satisfy:

[0083] θ(σ)>max(arctan(H oi (σ) / D oi (σ)))

[0084] If the sling length is too large, the load may collide with the surface of an obstacle. The height of the obstacle in the direction of the rotation angle σ is H. o (θ,σ),H o (θ, σ) is determined by both θ and σ, and the sling length r should satisfy:

[0085] r(θ,σ)<L b sinθ-H o (θ,σ)-H l / 2

[0086] Correspondingly, step 120 can be implemented by calculating the loss value corresponding to the feasible path from the lifting start point to the lifting end point; wherein the feasible path is located within the safe area. Specifically, the positions of multiple intermediate points on the feasible path can be planned to ensure that all intermediate points are located within the safe area.

[0087] In one embodiment, step 140 can be implemented by: constructing a sector-shaped region containing the obstacle based on the location of the obstacle; and dividing the safe area based on the sector-shaped region.

[0088] To simplify crane operation path planning and further reduce collision risk by using larger obstacles, this application proposes an obstacle model envelope model. During crane operation, pitch and slewing are circular trajectories along the boom origin in Cartesian coordinates. In this case, obstacles can be considered as a fan-shaped region, where the vertices of the fan are composed of the maximum and minimum coordinates of the obstacle. Specifically, the coordinates of the obstacle envelope region are:

[0089]

[0090] Where, (θ oo1 , σ oo1 ) and (θ oo2 , σ oo2 (θ) represents the maximum and minimum coordinates of the obstacle. eo1 , σ eo1 ), (θ eo2 , σ eo1 ), (θ eo1 , σ eo2 ) and (θ eo2 , σ eo2 ) represent the coordinates of the four vertices of the sector region.

[0091] In one embodiment, step 140 can be implemented by dividing the safety zone for the hoisting operation based on the location of the obstacle and the size of the hoisted object. This application also considers that the hoisted object is relatively large, and can be considered as a circular area with the maximum external dimensions of the hoisted object. Therefore, when dividing the fan-shaped area enclosed by the obstacle, the influence of the hoisted object's size is also considered to improve safety.

[0092] In one embodiment, step 120 can be implemented by accumulating the loss value from the current point to the next point on the feasible path.

[0093] Specifically, this application obtains the optimal work path (corresponding node) by searching for the optimal solution of the cost function based on energy and time loss. The cost function proposed in this application can be expressed as: f(k) = g(k) + h(k); where f(k) is the cost function of node k, g(k) is the actual cost from the starting point to node k, and h(k) is the estimated cost to the destination.

[0094] Furthermore, the actual loss from node k-1 to node k is:

[0095]

[0096] Among them, F e / k,k-1 For energy loss, F t / k,k-1 For time loss, s θ s σ s r These are the coefficients for pitch, rotation, and heave motions, respectively, γ. θiv γ σiv γ riv These are the correlation coefficients (a set of multiple coefficients, including angle changes) for pitch, rotation, and rise / fall motions, respectively, θ. iv / k,k-1 σ iv / k,k-1 r iv / k，k-1 These represent the changes in pitch, rotation, and vertical motion from k-1 to k, respectively.

[0097] g(k) can be expressed as:

[0098] g(k)=g(k-1)+c k，k-1 ,

[0099] Where g(k-1) is the actual loss of node k-1, and g(start) = 0, then we can deduce:

[0100] g(k)=c k，k-1 +c k-1，k-2 +c k-2，k-3 +...+c 1，start +g(start);

[0101] h(k) can be expressed as:

[0102]

[0103] Where, θ k θ g The pitch angles at node k and the endpoint are σ, respectively. k σ g The rotation angles at node k and the endpoint are r, respectively. k r g These are the cable lengths at node k and the endpoint, respectively.

[0104] To improve computational efficiency, this application proposes mapping a three-dimensional space (θ, σ, r) to a two-dimensional space (θ, σ) to reduce the algorithm's search time. Specifically, the crane's three-dimensional lifting operation path can be described as a set of multiple two-dimensional planar operation paths, where the range of the two-dimensional plane is determined by the range of the sling length r:

[0105] min(r s r g )≤r m ≤max (θ，σ) (L b sinθ-H o (θ,σ)-H l / 2)

[0106] Where, r s r g These are the lengths of the slings at the starting and ending points, respectively.

[0107] After completing the path planning in the two-dimensional plane, the hoisted object is lowered by increasing the sling length, ultimately reaching the three-dimensional target position. Specifically, this includes the following steps:

[0108] (1) Rasterize each dimension of the C-Space.

[0109] (2) Initialize the 3D raster map and set the 3D start and end points.

[0110] (3) Initialize the Closed table, i.e. obstacle nodes, according to the obstacle envelope model.

[0111] (4) The length of the sling is within Search within the specified range:

[0112] a. Based on the starting point (θ) in two-dimensional space s , σ s ) and endpoint (θ) g , σ g Initialize the two-dimensional grid map.

[0113] b. Add the starting point to the Open table.

[0114] c. Enter the loop:

[0115] If the Open table is empty, the program returns failure and terminates.

[0116] Otherwise, set node k as the parent node;

[0117] If node k is the endpoint, then return success and the program ends;

[0118] Otherwise, for node k's neighboring node m in the two-dimensional (θ, σ) plane:

[0119] If node m is not in the Open list, then add node m to the Open list.

[0120] If node m is in the Open list and g(m) > g(k) + Cm,k, where Cm,k is the loss from node k to node m, then node m is the better path, and the relevant parent node is updated to m.

[0121] (5) Find the parent node of the endpoint in the two-dimensional (θ, σ) plane, and search backward based on the parent node, and find each parent node in turn until the starting point of the two-dimensional (θ, σ) plane is reached, thus forming the optimal operation path of the two-dimensional plane.

[0122] (6) Find the optimal energy and time loss r during take-off and landing within the space accessible by the sling length. i * .

[0123] (7) Connect (θ) s , σ s r s ), (θ s , σ s r i * ), (θ g , σ g r i * ) and (θ g , σ g r g This yields the final 3D optimal job plan.

[0124] Figure 6 This is a schematic diagram of the structure of a path planning device for hoisting operations provided in an exemplary embodiment of this application. Figure 6As shown, the path planning device 60 for the hoisting operation includes: an information acquisition module 61, used to acquire the operation information of the hoisting operation; wherein the operation information includes the location of the hoisting start point and the location of the hoisting end point; a loss calculation module 62, used to calculate the loss value corresponding to the feasible path from the hoisting start point to the hoisting end point; wherein the feasible path includes the hoisting start point, the hoisting end point, and at least one intermediate point between the hoisting start point and the hoisting end point, and the loss value represents the energy consumption and time consumption consumed in hoisting the load from the hoisting start point to the hoisting end point; and a path selection module 63, used to select the feasible path with the minimum loss value as the optimal path for the hoisting operation.

[0125] This application provides a path planning device for hoisting operations. An information acquisition module 61 acquires hoisting operation information, including the location of the hoisting start point and the location of the hoisting end point. A loss calculation module 62 calculates the loss value corresponding to feasible paths from the hoisting start point to the hoisting end point. A feasible path includes the hoisting start point, the hoisting end point, and at least one intermediate point between the hoisting start point and the hoisting end point. The loss value represents the energy and time consumption consumed in hoisting the object from the hoisting start point to the hoisting end point. Finally, a path selection module 63 selects the feasible path with the minimum loss value as the optimal path for the hoisting operation. That is, during the hoisting operation, multiple feasible paths for the hoisting operation are acquired based on the location information of the hoisting start point and the hoisting end point. The energy and time consumption of executing the hoisting operation according to each feasible path are calculated, and the feasible path with the minimum energy and time consumption is selected as the optimal path to achieve the lowest overall energy and time consumption for the hoisting operation, thereby ensuring low energy consumption and high efficiency in the hoisting operation.

[0126] In one embodiment, the information acquisition module 61 can be further configured to: acquire image data of the area where the hoisting operation is located, and determine the operation information of the hoisting operation based on the image data.

[0127] In one embodiment, the hoisting operation includes pitching motion, slewing motion, and lifting motion; wherein, the aforementioned loss calculation module 62 can be further configured to: calculate the loss value corresponding to the pitching motion and / or slewing motion and / or lifting motion; wherein, adjacent points on the feasible path contain only one of the pitching motion, slewing motion, and lifting motion.

[0128] In one embodiment, the energy consumption includes kinetic energy consumption, potential energy consumption, and resistance consumption, and the time consumption includes the motion time spent during the stable motion process and the switching time spent during the action switching process; wherein, the loss calculation module 62 can be further configured to: calculate the kinetic energy consumption and / or potential energy consumption and / or resistance consumption, motion time, and / or switching time corresponding to the feasible path from the hoisting start point to the hoisting end point.

[0129] In one embodiment, the loss calculation module 62 can be further configured to: accumulate the loss value from the current point to the next point on the feasible path.

[0130] Figure 7 This is a structural schematic diagram of a path planning device for hoisting operations provided in another exemplary embodiment of this application. (See diagram below.) Figure 7 As shown, the path planning device 60 for the hoisting operation may further include: a collision avoidance module 74, used to divide the safe area of ​​the hoisting operation according to the location of the obstacle; wherein, the safe area indicates that the hoisted object and the corresponding hoisting equipment will not collide with the obstacle when moving within the safe area.

[0131] In one embodiment, the collision avoidance module 74 can be further configured to: construct a fan-shaped region containing the obstacle based on the location of the obstacle; and divide a safe area based on the fan-shaped region.

[0132] In one embodiment, the collision avoidance module 74 can be further configured to: divide the safety zone for the hoisting operation according to the location of the obstacle and the size of the hoisted object.

[0133] This application also provides a crane, including: lifting equipment; and a path planning device for lifting operations as described above.

[0134] This application provides a crane that acquires lifting operation information, including the location of the lifting start point and the location of the lifting end point; calculates the loss value corresponding to the feasible path from the lifting start point to the lifting end point; wherein the feasible path includes the lifting start point, the lifting end point, and at least one intermediate point between the lifting start point and the lifting end point, and the loss value represents the energy consumption and time consumption consumed in lifting the load from the lifting start point to the lifting end point; finally, the feasible path with the minimum loss value is selected as the optimal path for the lifting operation; that is, during the lifting operation, multiple feasible paths for the lifting operation are acquired based on the location information of the lifting start point and the lifting end point, and the energy consumption and time consumption of performing the lifting operation according to each feasible path are calculated respectively, and the feasible path with the minimum energy consumption and time consumption is selected as the optimal path, so as to achieve the lowest overall energy consumption and time consumption of the lifting operation, thereby ensuring low energy consumption and high efficiency of the lifting operation.

[0135] Below, for reference Figure 8 This application describes an electronic device according to embodiments thereof. The electronic device may be either or both of a first device and a second device, or a standalone device independent of them, which may communicate with the first device and the second device to receive acquired input signals from them.

[0136] Figure 8 A block diagram of an electronic device according to an embodiment of this application is illustrated.

[0137] like Figure 8 As shown, the electronic device 10 includes one or more processors 11 and memory 12.

[0138] The processor 11 may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.

[0139] The memory 12 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 11 may execute the program instructions to implement the methods of the various embodiments of this application described above and / or other desired functions. Various contents such as input signals, signal components, and noise components may also be stored in the computer-readable storage medium.

[0140] In one example, the electronic device 10 may also include an input device 13 and an output device 14, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0141] When the electronic device is a standalone device, the input device 13 can be a communication network connector for receiving the collected input signals from the first device and the second device.

[0142] In addition, the input device 13 may also include, for example, a keyboard, a mouse, etc.

[0143] The output device 14 can output various information to the outside, including determined distance information, direction information, etc. The output device 14 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0144] Of course, for the sake of simplicity, Figure 8 Only some of the components of the electronic device 10 relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the electronic device 10 may include any other suitable components depending on the specific application.

[0145] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0146] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0147] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A path planning method for hoisting operations, characterized in that, include: Obtain the operation information of the hoisting operation; wherein, the operation information includes the location of the hoisting start point and the location of the hoisting end point; Calculate the loss value corresponding to the feasible path from the lifting start point to the lifting end point; wherein the feasible path includes the lifting start point, the lifting end point, and at least one intermediate point between the lifting start point and the lifting end point, and the loss value represents the energy consumption and time consumption consumed in lifting the load from the lifting start point to the lifting end point; and The feasible path with the minimum loss value is selected as the optimal path for the hoisting operation; The energy consumption includes kinetic energy consumption, potential energy consumption, and resistance consumption; the time consumption includes the motion time spent during stable motion and the switching time spent during action switching; wherein, the calculation of the loss value corresponding to the feasible path from the hoisting start point to the hoisting end point includes: Calculate the kinetic energy consumption and / or potential energy consumption and / or resistance consumption, motion time and / or switching time corresponding to the feasible path from the lifting start point to the lifting end point; Accumulate the loss value from the current node to the next node on the feasible path; The optimal node for the optimal job path is obtained by searching for the optimal solution of a cost function based on energy and time loss; the cost function is expressed as: ； Where f(k) is the cost function of node k, g(k) is the actual cost from the starting point to node k, and h(k) is the estimated cost to the destination. The actual loss from node k-1 to node k is: ； in, For energy loss, For time loss, θ k θ k-1 The pitch angles of node k and node k-1 are respectively, σ k σ k-1 The rotation angles of node k and node k-1 are respectively, r k r k-1 The lengths of the slings at nodes k and k-1 are s, respectively. θ s σ s r E represents the coefficients for pitch, rotation, and heave motions, respectively. θ E σ E r T represents the kinetic energy consumed in pitch, rotation, and heave motions, respectively. θad T σad T rad These refer to the acceleration time or deceleration time from rest to a stable state for the three motions: pitch, rotation, and rise / fall. , , These are the correlation coefficients for changes in pitch, rotation, and rise / fall motion, respectively. , , These represent the changes in pitch, rotation, and heave motion from time k-1 to time k. , , These are the stable speeds of the crane's pitching, slewing, and lifting movements, respectively. g(k) is represented as: ； Where g(k-1) is the actual loss of node k-1, and g(start=0), ; h(k) is represented as: ； Where, θ g σ is the pitch angle at the endpoint. g r is the rotation angle at the endpoint. g The length of the sling at the endpoint.

2. The path planning method for hoisting operations according to claim 1, characterized in that, The hoisting operation includes pitching, slewing, and lifting movements; wherein, calculating the loss value corresponding to the feasible path from the hoisting start point to the hoisting end point includes: Calculate the loss value corresponding to the pitch motion and / or the rotation motion and / or the heave motion; wherein, adjacent points on the feasible path contain only one of the pitch motion, the rotation motion, and the heave motion.

3. The path planning method for hoisting operations according to any one of claims 1-2, characterized in that, The operation information also includes the location of obstacles within the area where the hoisting operation is located; wherein, before calculating the loss value corresponding to the feasible path from the hoisting start point to the hoisting end point, the path planning method for the hoisting operation further includes: Based on the location of the obstacle, a safe zone for the hoisting operation is defined; wherein, the safe zone indicates that the hoisted object and the corresponding hoisting equipment will not collide with the obstacle when moving within the safe zone; The calculation of the loss value corresponding to the feasible path from the lifting start point to the lifting end point includes: Calculate the loss value corresponding to the feasible path from the lifting start point to the lifting end point; wherein the feasible path is located within the safe area.

4. The path planning method for hoisting operations according to claim 3, characterized in that, The step of defining the safe zone for the hoisting operation based on the location of the obstacle includes: Based on the location of the obstacle, construct a fan-shaped region containing the obstacle; and The safety zone is defined based on the sector-shaped area.

5. The path planning method for hoisting operations according to claim 3, characterized in that, The step of defining the safe zone for the hoisting operation based on the location of the obstacle includes: The safety zone for the hoisting operation is defined based on the location of the obstacle and the size of the object being hoisted.

6. The path planning method for hoisting operations according to any one of claims 1-2, characterized in that, The acquisition of the lifting operation information includes: Acquire image data of the area where the hoisting operation is located; and Based on the image data, the operation information for the hoisting operation is determined.

7. A path planning device for hoisting operations, applied to the path planning method for hoisting operations as described in claim 1, characterized in that, include: The information acquisition module is used to acquire the operation information of the hoisting operation; wherein, the operation information includes the position of the hoisting start point and the position of the hoisting end point; A loss calculation module is used to calculate the loss value corresponding to a feasible path from the lifting start point to the lifting end point; wherein the feasible path includes the lifting start point, the lifting end point, and at least one intermediate point between the lifting start point and the lifting end point; and the loss value represents the energy consumption and time consumption consumed in lifting the object from the lifting start point to the lifting end point; and The path selection module is used to select the feasible path with the minimum loss value as the optimal path for the hoisting operation.

8. A crane, characterized in that, include: hoisting equipment; as well as The hoisting operation path planning device as described in claim 7.

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