Method, device, equipment and medium for judging and analyzing collision between lifting equipment and obstacles

Abstract

The present invention relates to the field of hoisting technology, and discloses a method, device, equipment and medium for judging and analyzing the collision between a lifting device and an obstacle, including: obtaining the plane projection of the boom when the lifting device and the obstacle are lifted based on the structural parameters of the lifting device and the obstacle; constructing a geometric relationship between the geometric structure of the boom, the obstacle and the plane projection at a preset rotation angle to obtain the corresponding relationship between the lifting radius and the rotation angle of the boom; obtaining a smooth projection curve at the far end of the boom within the preset rotation angle range according to the corresponding relationship, and taking the closed area formed by the circle corresponding to the smooth projection curve and the maximum lifting radius as the lifting lever influence area; judging whether the lifting device will collide with the obstacle according to the lifting lever influence area. The present invention can simplify the cumbersome analysis steps in the lifting process into simple plane analysis problems, reduce the workload of manual calculations, and at the same time improve the efficiency of lifting analysis and reduce the error rate of analysis and calculation.

Description

Technical Field

[0001] The present invention relates to the field of hoisting technology, and in particular to a method, device, equipment and medium for judging and analyzing the collision between a lifting device and an obstacle. Background Art

[0002] In construction projects, lifting equipment is used to lift various heavy objects, cement, masonry and other materials. When there are other obstacles on the site, it is important to note that the lifting arm of the lifting equipment cannot collide with the obstacles, otherwise it will affect the lifting work of the lifting equipment. The traditional analysis method is to draw elevations of different working conditions based on the positional relationship between the crane and the obstacle, and observe whether a collision (i.e., a lifting rod) will occur in the elevation. However, when drawing the elevation, there is often no ready-made section drawing available, so the workload of redrawing the section drawing is relatively large, which will reduce the lifting efficiency of the lifting equipment. Summary of the invention

[0003] In view of this, the present invention provides a method, device, equipment and medium for judging and analyzing the collision between a lifting device and an obstacle, so as to solve the problem of low efficiency of lifting work.

[0004] In a first aspect, the present invention provides a method for determining and analyzing a collision between a lifting device and an obstacle, the method comprising:

[0005] Acquire the structural parameters between the lifting equipment and the obstacle, and acquire the plane projection of the lifting arm when the lifting arm of the lifting equipment and the obstacle are pulled apart at a preset rotation angle according to the structural parameters;

[0006] A geometric relationship is constructed according to the geometric structure between the boom, the obstacle and the plane projection at a preset rotation angle to obtain a corresponding relationship between the boom's hoisting radius and the rotation angle;

[0007] The projection points of the far end of the boom at different rotation angles within the preset rotation angle range are obtained according to the corresponding relationship, and a smooth projection curve is obtained based on the projection points, and the closed area formed by the smooth projection curve and the circle corresponding to the maximum lifting radius is used as the lever influence area;

[0008] Whether the lifting equipment will collide with obstacles is determined based on the lever influence area. If the lifting equipment is hoisted outside the lever influence area, the boom will not collide with the obstacle, otherwise a collision will occur.

[0009] The method for judging and analyzing the collision between a lifting device and an obstacle provided by an embodiment of the present invention performs plane projection and corresponding geometric structure analysis on the boom of the lifting device according to the structural parameters of the lifting device and the obstacle, obtains the corresponding relationship between the lifting radius and the rotation angle, obtains the smooth projection curve of the far end of the boom within the preset rotation angle range according to the corresponding relationship, and then uses the closed area formed by the smooth projection curve and the circle corresponding to the maximum lifting radius as the lever influence area, and judges whether the lifting device will collide with the obstacle based on the lever influence area. The present invention obtains the lever influence area where the boom of the lifting device may collide with the obstacle through geometric structure projection analysis, which can simplify the cumbersome analysis steps in the lifting process into simple plane analysis problems, reduce the workload of manual calculation, and at the same time improve the efficiency of lifting analysis, reduce the error rate of analysis and calculation, and further improve the quality of project construction, speed up the construction progress, facilitate on-site management, and improve construction safety.

[0010] In an optional embodiment, the structural parameters between the lifting equipment and the obstacle include: the length of the lifting arm and the vertical height of the lifting arm of the lifting equipment, the height and length of the obstacle, and the plane spacing distance between the lifting equipment and the obstacle.

[0011] The present invention can avoid the tedious workload of obtaining a cross-sectional view by obtaining known or easily obtainable structural parameters of the lifting equipment and the obstacle, thereby reducing the workload of manual calculation and improving the efficiency of lifting analysis.

[0012] In an optional embodiment, the plane projection is the lifting radius of the boom, which is determined by the structural parameters of the boom and the obstacle, and is marked by a preset number of projection points, including: a first projection point at the proximal end of the boom, a second projection point where the boom collides with the obstacle, and a third projection point at the far end of the boom.

[0013] The present invention performs plane analysis on the lifting equipment and obstacles to obtain the plane projection of the boom, thereby simplifying the complicated analysis steps in the lifting process into simple plane analysis problems, further reducing the workload of manual calculations, improving the efficiency of lifting analysis, and accelerating the construction progress.

[0014] In an optional implementation, the preset rotation angle range includes: [0, β max ] and the mirror image corresponding to [-β max ,0], where β max The maximum non-lifting angle for obstacles affecting the lifting equipment during lifting is determined by the structural parameters of the boom and the obstacle. The preset rotation angle is any angle within the preset rotation angle range.

[0015] The present invention obtains the range in which obstacles can affect the lifting of the lifting equipment according to the rotation angle of the lifting equipment boom, that is, obtains the maximum no-lifting angle of the boom. Outside this angle range, the boom and the obstacle will no longer collide. Therefore, it is only necessary to analyze the collision judgment within this angle range, which can further reduce the calculation workload and improve the efficiency of lifting analysis.

[0016] In an optional embodiment, the geometric structure between the boom, the obstacle and the plane projection at a preset rotation angle includes: a first triangle on the vertical plane formed by the boom length, the boom vertical height and the lifting radius corresponding to the boom plane projection at the preset rotation angle; a second triangle on the vertical plane formed by the height of the obstacle, the length from the tail end of the boom to the point where the obstacle collides with the obstacle at the preset rotation angle, and the corresponding plane spacing distance from the lifting equipment to the second projection point; a third triangle on the horizontal plane formed by the plane spacing distance between the lifting equipment and the obstacle at zero rotation angle, the plane spacing distance from the lifting equipment to the second projection point at the preset rotation angle, and the preset rotation angle.

[0017] In an optional implementation, the geometric relationship includes: a proportional relationship between the first triangle and the second triangle, a Pythagorean theorem relationship of the first triangle, and a side-angle relationship of the third triangle, and the formulas are as follows:

[0018]

[0019] R 2 +H 2 =L 2

[0020] r 0 = r·cosβ

[0021] Combining the geometric relationship, we can get the corresponding relationship between the lifting radius and the rotation angle of the boom, as shown below:

[0022]

[0023] Where β is the preset rotation angle, L is the boom length of the crane arm, H is the vertical height of the boom, R is the lifting radius corresponding to the plane projection of the boom, and r 0 is the plane distance between the lifting equipment and the obstacle at zero rotation angle, r is the plane distance between the lifting equipment and the second projection point at the preset rotation angle, and h is the height of the obstacle

[0024] The present invention is based on the horizontal plane structure of the lifting equipment and the obstacle, combined with the vertical plane structure to construct different triangles, wherein the triangle represents the relationship between various structural parameters of the lifting equipment and the obstacle. Therefore, different relationship formulas between the structural parameters can be constructed according to the triangles to perform collision analysis, which can simplify the analysis process, reduce the amount of calculation and improve the analysis efficiency.

[0025] In an optional implementation, after obtaining the corresponding relationship between the lifting radius and the rotation angle, it also includes: simplifying the corresponding relationship, and the analysis process includes: constructing a coordinate relationship between the third projection point (x, y) at the far end of the boom at a preset rotation angle and the lifting radius R corresponding to the projection plane, and the formula is as follows:

[0026] x=R·cosβ

[0027] y=R·sinβ

[0028] The corresponding relationship between the lifting radius and the rotation angle is combined with the coordinate relationship to obtain a simplified corresponding relationship, as follows:

[0029]

[0030] The simplified corresponding relationship is an ellipse formula. The short axis and long axis of the ellipse corresponding to the simplified corresponding relationship are determined according to the structural parameters between the lifting equipment and the obstacle to obtain the corresponding ellipse. The overlapping area between the ellipse and the circle corresponding to the maximum lifting radius close to the obstacle is used as the lever influence area where the lifting equipment collides with the obstacle.

[0031] The present invention can obtain an elliptical relationship between the lifting equipment and the obstacle by simplifying the analysis of the corresponding relationship between the lifting radius and the rotation angle. Therefore, in actual operation, the relevant structural parameters can be directly obtained according to the collision judgment analysis principle of the lifting equipment and the obstacle of the present invention, and then substituted into the elliptical relationship to obtain the lever influence area of ​​the boom. The simplified analysis is based on the analysis results, and the lever influence area result obtained is accurate and error-free, so it can further simplify the collision analysis process, improve the lifting analysis efficiency, and reduce the analysis and calculation error rate.

[0032] In a second aspect, the present invention provides a device for determining and analyzing a collision between a lifting device and an obstacle, the device comprising:

[0033] A plane projection construction module is used to obtain the structural parameters between the lifting equipment and the obstacle, and obtain the plane projection of the lifting arm when the lifting arm of the lifting equipment and the obstacle are connected at a preset rotation angle according to the structural parameters;

[0034] A corresponding relationship analysis module is used to construct a geometric relationship between the crane arm, the obstacle and the plane projection at a preset rotation angle to obtain a corresponding relationship between the crane arm's hoisting radius and the rotation angle;

[0035] The influence area determination module is used to obtain the projection points of the far end of the boom at different rotation angles within the preset rotation angle range according to the corresponding relationship, and obtain a smooth projection curve based on the projection points, and use the closed area formed by the smooth projection curve and the circle corresponding to the maximum lifting radius as the influence area of ​​the boom;

[0036] The collision judgment and analysis module is used to judge whether the lifting equipment will collide with an obstacle based on the lever influence area. If the lifting equipment is hoisted outside the lever influence area, the boom will not collide with the obstacle, otherwise a collision will occur.

[0037] The lifting equipment and obstacle collision judgment and analysis device provided by the embodiment of the present invention obtains the corresponding relationship between the lifting radius and the rotation angle by plane projection and corresponding geometric structure analysis of the lifting arm of the lifting equipment, obtains the lever influence area within the preset rotation angle range according to the corresponding relationship, and judges whether the lifting equipment will collide with the obstacle based on the lever influence area. The present invention obtains the lever influence area where the lifting arm of the lifting equipment may collide with the obstacle through geometric structure projection analysis, which can simplify the cumbersome analysis steps in the lifting process into simple plane analysis problems, reduce the workload of manual calculation, and at the same time improve the lifting analysis efficiency, reduce the analysis and calculation error rate, and further improve the project construction quality, speed up the construction progress, facilitate on-site management, and improve construction safety.

[0038] In a third aspect, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the method for determining and analyzing a collision between a lifting equipment and an obstacle according to the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0039] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the method for determining and analyzing a collision between a lifting equipment and an obstacle according to the first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 is a flow chart of a method for determining and analyzing a collision between a lifting device and an obstacle according to an embodiment of the present invention;

[0042] Figure 2 is a schematic diagram of a horizontal plane analysis of a method for determining and analyzing a collision between a lifting device and an obstacle according to an embodiment of the present invention;

[0043] Figure 3 is a schematic diagram of a handling plane analysis of a method for determining and analyzing a collision between a lifting device and an obstacle according to an embodiment of the present invention;

[0044] Figure 4 is a schematic diagram of a lever influence area of ​​a method for determining and analyzing a collision between a lifting device and an obstacle according to an embodiment of the present invention;

[0045] Figure 5 is a simplified schematic diagram of the lever influence area of ​​the method for determining and analyzing the collision between a lifting device and an obstacle according to an embodiment of the present invention;

[0046] Figure 6 is a structural block diagram of a device for determining and analyzing a collision between a lifting device and an obstacle according to an embodiment of the present invention;

[0047] Figure 7 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0049] The embodiment of the present invention is applicable to the scenario of cargo hoisting in a construction site. The embodiment of the present invention provides a method for analyzing the collision between a lifting device and an obstacle, which obtains the influence area of ​​the boom of the lifting device by performing a planar structural analysis on the lifting device and the obstacle to achieve the effect of simplifying the collision analysis process. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that here.

[0050] In this embodiment, a method for determining and analyzing the collision between a lifting device and an obstacle is provided, which can be used in the above-mentioned computer. Figure 1 FIG. 1 is a flow chart of a method for determining and analyzing a collision between a lifting device and an obstacle according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0051] Step S101, obtaining structural parameters between the lifting equipment and the obstacle, and obtaining, based on the structural parameters, a plane projection of the lifting arm when the lifting arm of the lifting equipment is in contact with the obstacle at a preset rotation angle.

[0052] Specifically, in the embodiment of the present invention, when hoisting is carried out in a certain construction site, when there are obstacles in the site, care must be taken not to cause collision during the hoisting work. For a single hoisting, the weight G of the hoisted object, the hoisting radius R, and the boom length L are known. By comparing the hoisting performance table of the crane, the maximum hoisting radius R that satisfies the hoisting can be obtained. max , the maximum lifting radius R max Introduced into the plane analysis diagram, as long as the end point of the far end of the boom (the end of the boom close to the crane is the near end, and the far end is the far end) is located at the maximum lifting radius R max To ensure that the crane can move, Figure 2 As shown, the maximum lifting radius R max Cranes can be used for lifting within any circle of any shape. However, when there are other obstacles on the site, the maximum lifting radius R max Or minimum lifting radius R min It will be reduced or increased by other obstacles. When the obstacle is above the crane, the boom elevation angle cannot reach the maximum value, and the minimum lifting radius increases. However, in most cases, the obstacle is between the crane and the lifting position, resulting in a reduction in the maximum lifting radius.

[0053] The embodiment of the present invention takes the maximum lifting radius R max For example, for the minimum lifting radius R minThe principle is the same as that of the case where the obstacle increases. The embodiment of the present invention takes the most common concrete beam in engineering as an example for analysis, and other obstacles are analyzed in the same way. Before the analysis, the structural parameters of the lifting equipment and the obstacle are obtained, including: the arm length L and the vertical height H of the lifting equipment, the height h and length l of the obstacle, and the plane spacing distance r between the lifting equipment and the obstacle. 0 .

[0054] In an optional implementation manner, the embodiment of the present invention constructs the following according to various structural parameters: Figure 2 The horizontal plane analysis diagram shown is used to obtain the plane projection of the boom, where the plane projection is the lifting radius of the boom, which is determined by the structural parameters of the boom and the obstacle, and is marked by a preset number of projection points, including: the first projection point at the near end of the boom, the second projection point where the boom collides with the obstacle, and the third projection point at the far end of the boom. In this plane, the maximum unloading angle β of the obstacle affecting the lifting of the lifting equipment is determined by the length of the boom and the length of the obstacle. max , and then confirm the rotation angle range of the boom [0, β max ], where the rotation angle when the boom and the concrete beam are perpendicular on the plane is taken as 0°. Based on this vertical line, the rotation angle range corresponding to the mirror image of the boom is obtained [-β max ,0], but still [0,β max ] is analyzed within the rotation angle range. When the rotation angle is 0°, the plane spacing distance r between the concrete beam and the crane in the boom direction is 0 =OA is the smallest, and the corresponding maximum lifting radius without lifting arm (i.e. the plane projection of the boom) is R 0 =OD. When the boom rotates by an angle β on the plane, the plane distance between the concrete beam and the crane in the direction of the boom is r 1 =OB, the corresponding maximum lifting radius without lifting pole is R 1 =OE. When the boom rotates on the plane by an angle β max , the plane distance between the concrete beam and the crane in the boom direction is r 2 =OC, the corresponding maximum lifting radius without lifting pole is R 2 =OF, then OF = R max , that is, the maximum lifting radius without lifting the rod is the maximum lifting radius.

[0055] Step S102, constructing a geometric relationship expression according to the geometric structure among the boom, the obstacle and the plane projection at a preset rotation angle to obtain a corresponding relationship expression between the hoisting radius of the boom and the rotation angle.

[0056] Specifically, in the embodiment of the present invention, the horizontal plane analysis diagram can show the projection of the boom in the entire rotation angle range. On this basis, the embodiment of the present invention constructs a vertical plane analysis diagram of the boom and the obstacle under the rotation angle β, such as Figure 3 As shown. Figure 2 and Figure 3 As shown, the geometric structure between the boom, the obstacle and the plane projection includes: a first triangle on the vertical plane formed by the boom length, the boom vertical height and the lifting radius corresponding to the boom plane projection at a preset rotation angle; a second triangle on the vertical plane formed by the height of the obstacle, the length from the tail end of the boom to the point where the obstacle collides with the obstacle at a preset rotation angle and the corresponding plane spacing distance from the lifting equipment to the second projection point; a third triangle on the horizontal plane formed by the plane spacing distance between the lifting equipment and the obstacle at a zero rotation angle, the plane spacing distance from the lifting equipment to the second projection point at a preset rotation angle and the preset rotation angle.

[0057] In an optional implementation, the embodiment of the present invention constructs the following relationship based on the obtained structural parameters: the proportional relationship between the first triangle and the second triangle, the Pythagorean theorem relationship of the first triangle, and the side-angle relationship of the third triangle, the formulas are as follows:

[0058]

[0059] R 2 +H 2 =L 2

[0060] r 0 = r·cosβ

[0061] Combining the geometric relationship, we can get the corresponding relationship between the lifting radius and the rotation angle of the boom, as shown below:

[0062]

[0063] Where β is the preset rotation angle, L is the boom length of the crane arm, H is the vertical height of the boom, R is the lifting radius corresponding to the plane projection of the boom, and r 0 is the plane distance between the lifting equipment and the obstacle at zero rotation angle, r is the plane distance between the lifting equipment and the second projection point at a preset rotation angle, and h is the height of the obstacle.

[0064] In an optional implementation, the horizontal plane analysis diagram is analyzed according to the corresponding relationship: when the rotation angle β=0, the calculated R is the smallest, that is, R 0 :

[0065]

[0066] When the rotation angle β=β max When R is the largest, it is R max :

[0067]

[0068] at this time:

[0069]

[0070] Step S103, obtaining the projection points of the far end of the boom at different rotation angles within the preset rotation angle range according to the corresponding relationship, and obtaining a smooth projection curve based on the projection points, and taking the closed area formed by the smooth projection curve and the circle corresponding to the maximum lifting radius as the lever influence area.

[0071] Specifically, in the embodiment of the present invention, Figure 4 As shown, a plane coordinate system is established with the crane position O as the origin and the OD direction as the x-axis. Points E and F are mirrored relative to the x-axis to obtain points E′ and F′, and the points before and after the mirroring and point D are connected with a smooth curve to obtain a smooth projection curve, where each point on the curve represents the projection point of the far end of the boom at the corresponding rotation angle. The smooth projection curve and the circle corresponding to the maximum lifting radius can form a closed area, such as Figure 4 As shown in the shaded area in the figure, this enclosed area is referred to as the lever influence area.

[0072] Step S104, judging whether the lifting equipment will collide with an obstacle according to the lever influence area, if the lifting equipment is hoisted outside the lever influence area, the boom will not collide with the obstacle, otherwise a collision will occur.

[0073] Specifically, in the embodiment of the present invention, in engineering practice, it is known that the obstacle distance r 0 , boom length L, obstacle height h, rotation angle β, R can be calculated through the corresponding relationship 0 , R 1 , and calculate the maximum unsupported angle β max The plane distance between the lower lifting equipment and the obstacle r 2 , extend r 2 Direction and maximum lifting radius R max The intersection of 2 Point, from which the obstacle's lever influence area can be drawn, that is, Figure 4 Alternatively, the elevation analysis diagrams at three rotation angles can be drawn by drawing methods, such as Figure 3 , we can get R 0 , R 1 and R 2 , thus drawn Figure 4 The embodiment of the present invention can provide guidance for hoisting work according to the obtained lever influence area, thereby preventing the arm of the lifting equipment from being hoisted in the lever influence area.

[0074] In addition, after obtaining the corresponding relationship between the lifting radius and the rotation angle, the embodiment of the present invention further includes: simplifying the corresponding relationship, and the analysis process includes:

[0075] Construct the coordinate relationship between the third projection point (x, y) at the far end of the boom under the preset rotation angle and the lifting radius R corresponding to the projection plane. The formula is as follows:

[0076] x=R·cosβ

[0077] y=R·sinβ

[0078] The corresponding relationship between the lifting radius and the rotation angle is combined with the coordinate relationship to obtain a simplified corresponding relationship, as follows:

[0079]

[0080] The simplified corresponding relationship is an ellipse formula. The ellipse minor axis and ellipse major axis corresponding to the simplified corresponding relationship are determined according to the structural parameters between the lifting equipment and the obstacle, and the corresponding ellipse is obtained. The overlapping area between the ellipse and the circle corresponding to the maximum lifting radius close to the obstacle is taken as the lever influence area where the lifting equipment collides with the obstacle, such as Figure 5 shown.

[0081] The method for judging and analyzing the collision between a lifting device and an obstacle provided by an embodiment of the present invention obtains the corresponding relationship between the lifting radius and the rotation angle by plane projection and corresponding geometric structure analysis of the lifting arm of the lifting equipment, obtains the lever influence area within the preset rotation angle range according to the corresponding relationship, and judges whether the lifting equipment will collide with the obstacle based on the lever influence area. The present invention obtains the lever influence area where the lifting arm of the lifting equipment may collide with the obstacle through geometric structure projection analysis, which can simplify the cumbersome analysis steps in the lifting process into simple plane analysis problems, reduce the workload of manual calculation, and at the same time improve the efficiency of lifting analysis, reduce the error rate of analysis and calculation, and further improve the quality of project construction, speed up the construction progress, facilitate on-site management, and improve construction safety.

[0082] This embodiment provides a device for determining and analyzing collision between a lifting device and an obstacle. Figure 6 As shown, including:

[0083] The plane projection construction module 601 is used to obtain the structural parameters between the lifting equipment and the obstacle, and obtain the plane projection of the lifting arm when the lifting arm of the lifting equipment and the obstacle are connected at a preset rotation angle according to the structural parameters;

[0084] The corresponding relationship analysis module 602 is used to construct a geometric relationship formula according to the geometric structure between the boom, the obstacle and the plane projection at a preset rotation angle to obtain a corresponding relationship formula between the hoisting radius of the boom and the rotation angle;

[0085] The influence area determination module 603 is used to obtain the projection points of the far end of the boom at different rotation angles within the preset rotation angle range according to the corresponding relationship, and obtain a smooth projection curve based on the projection points, and use the closed area formed by the smooth projection curve and the circle corresponding to the maximum lifting radius as the influence area of ​​the boom;

[0086] The collision judgment analysis module 604 is used to judge whether the lifting equipment will collide with an obstacle based on the lever influence area. If the lifting equipment is hoisted outside the lever influence area, the boom will not collide with the obstacle, otherwise a collision will occur.

[0087] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0088] The lifting equipment and obstacle collision judgment and analysis device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0089] The embodiment of the present invention also provides a computer device having the above Figure 6 The lifting equipment and obstacle collision judgment and analysis device shown.

[0090] See also Figure 7 , Figure 7 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Figure 7 As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 7 A processor 10 is taken as an example.

[0091] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0092] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment.

[0093] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0094] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0095] The computer device further comprises a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0096] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0097] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A method for determining and analyzing a collision between a lifting device and an obstacle, characterized in that: include: The structural parameters between the lifting equipment and the obstacle are obtained, and according to the structural parameters, the plane projection of the lifting arm when the lifting arm of the lifting equipment and the obstacle are pulled together at a preset rotation angle is obtained, wherein the structural parameters between the lifting equipment and the obstacle include: the length of the lifting arm and the vertical height of the lifting arm of the lifting equipment, the height and length of the obstacle, and the plane spacing distance between the lifting equipment and the obstacle. The preset rotation angle is any angle within a preset rotation angle range, and the preset rotation angle range includes: [0, β max ] and the mirror image corresponding to [-β max ,0], where β max The maximum unloaded angle of the lifting equipment for lifting due to obstacles is determined by the structural parameters of the boom and obstacles; According to the triangular geometric structure formed by the boom, the obstacle and the plane projection at a preset rotation angle on the vertical plane and the horizontal plane, a proportional relationship, a Pythagorean theorem relationship and an angle relationship between different triangles are constructed, and the proportional relationship, the Pythagorean theorem relationship and the angle relationship are combined to obtain a corresponding relationship between the hoisting radius of the boom and the rotation angle; According to the corresponding relationship, the projection points of the far end of the boom at different rotation angles within the preset rotation angle range are obtained, and a smooth projection curve is obtained based on the projection points, and the closed area formed by the smooth projection curve and the circle corresponding to the maximum lifting radius is used as the lever influence area; It is determined whether the lifting equipment will collide with the obstacle based on the lever influence area. If the lifting equipment is hoisted outside the lever influence area, the boom will not collide with the obstacle. Otherwise, a collision will occur.

2. The method according to claim 1, characterized in that The plane projection is the lifting radius of the boom, which is determined by the structural parameters of the boom and the obstacle, and is marked by a preset number of projection points, including: a first projection point at the proximal end of the boom, a second projection point where the boom collides with the obstacle, and a third projection point at the distal end of the boom.

3. The method according to claim 2, characterized in that The triangular geometric structure formed on the vertical and horizontal planes by the boom, the obstacle and the plane projection at the preset rotation angle includes: The first triangle on the vertical plane is formed by the boom length, the boom vertical height and the lifting radius corresponding to the boom plane projection at the preset rotation angle; A second triangle formed on the vertical plane by the height of the obstacle, the length from the tail end of the boom to the point where it collides with the obstacle at a preset rotation angle, and the plane spacing distance from the corresponding lifting equipment to the second projection point; A third triangle on the horizontal plane is formed by the plane distance between the lifting equipment and the obstacle at a zero rotation angle, the plane distance from the lifting equipment to the second projection point at a preset rotation angle, and the preset rotation angle.

4. The method according to claim 3, characterized in that The proportional relationship, Pythagorean theorem relationship and side-angle relationship between the different triangles include: the proportional relationship between the first triangle and the second triangle, the Pythagorean theorem relationship of the first triangle and the side-angle relationship of the third triangle, and the formulas are as follows: R 2 +H 2 =L 2 r0=r·cosβ The proportional relationship, the Pythagorean theorem relationship and the side-angle relationship are combined to obtain the corresponding relationship between the lifting radius and the rotation angle of the boom, and the formula is as follows: Among them, β is the preset rotation angle, L is the boom length of the crane boom, H is the vertical height of the boom, R is the lifting radius corresponding to the plane projection of the boom, r0 is the plane spacing distance between the crane and the obstacle at zero rotation angle, r is the plane spacing distance from the crane to the second projection point at the preset rotation angle, and h is the height of the obstacle.

5. The method according to claim 4, characterized in that After obtaining the corresponding relationship between the lifting radius and the rotation angle, the method further includes: simplifying and analyzing the corresponding relationship, wherein the analysis process includes: Construct the coordinate relationship between the third projection point (x, y) at the far end of the boom under the preset rotation angle and the lifting radius R corresponding to the projection plane. The formula is as follows: x=R·cosβ y=R·sinβ The corresponding relationship between the lifting radius and the rotation angle is combined with the coordinate relationship to obtain a simplified corresponding relationship, which is as follows: The simplified corresponding relationship is an ellipse formula. The minor axis and major axis of the ellipse corresponding to the simplified corresponding relationship are determined according to the structural parameters between the lifting equipment and the obstacle to obtain the corresponding ellipse. The overlapping area between the ellipse and the circle corresponding to the maximum lifting radius close to the obstacle side is used as the lever influence area where the lifting equipment collides with the obstacle.

6. A device for judging and analyzing collision between a lifting device and an obstacle, characterized in that: The device comprises: The plane projection construction module is used to obtain the structural parameters between the lifting equipment and the obstacle, and obtain the plane projection of the boom of the lifting equipment when the boom and the obstacle are pulled together at a preset rotation angle according to the structural parameters. The structural parameters between the lifting equipment and the obstacle include: the boom length and the vertical height of the boom of the lifting equipment, the height and length of the obstacle, and the plane spacing distance between the lifting equipment and the obstacle. The preset rotation angle is any angle within the preset rotation angle range, and the preset rotation angle range includes: [0, β max ] and the mirror image corresponding to [-β max ,0], where β max The maximum unloaded angle of the lifting equipment for lifting due to obstacles is determined by the structural parameters of the boom and obstacles; A corresponding relationship analysis module, for constructing proportional relationship expressions, Pythagorean theorem relationship expressions and side-angle relationship expressions between different triangles according to the triangular geometric structures formed by the boom, the obstacle and the plane projection at a preset rotation angle on the vertical plane and the horizontal plane, and combining the proportional relationship expression, the Pythagorean theorem relationship expression and the side-angle relationship expression to obtain a corresponding relationship expression between the hoisting radius of the boom and the rotation angle; An influence area determination module is used to obtain the projection points of the far end of the boom at different rotation angles within a preset rotation angle range according to the corresponding relationship, and obtain a smooth projection curve based on the projection points, and use the closed area formed by the smooth projection curve and the circle corresponding to the maximum lifting radius as the lever influence area; The collision judgment and analysis module is used to judge whether the lifting equipment will collide with the obstacle according to the influence area of ​​the lever. If the lifting equipment is hoisted outside the influence area of ​​the lever, the boom will not collide with the obstacle, otherwise a collision will occur.

7. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method for determining and analyzing the collision between a lifting equipment and an obstacle as described in any one of claims 1 to 5 by executing the computer instructions.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the method for determining and analyzing the collision between a lifting device and an obstacle according to any one of claims 1 to 5.

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