Hoisting path planning method, device, computer equipment and storage medium

Abstract

The invention relates to the technical field of building construction, and discloses a hoisting path planning method, device, computer equipment and storage medium, including: obtaining working condition data of the initial point of the hoisting object, lifting equipment data and obstacle data in the area where the lifting equipment is located; traversing the working condition points in the area where the lifting equipment is located based on the working condition data of the hoisting object, the lifting equipment data and the obstacle data in the area where the lifting equipment is located; taking the coordinate point position of the working condition point that meets the hoisting condition as the feasible point in the area where the lifting equipment is located, and taking the direction of the working condition point as the feasible direction in the area where the lifting equipment is located; based on the feasible points and feasible directions in the area where the lifting equipment is located, determining the optimal hoisting path of the hoisting object from the initial point to the location. The invention greatly reduces the calculation workload, improves the efficiency of hoisting analysis work, ensures the accuracy of calculation, improves safety, improves the construction quality of the project engineering, and makes hoisting safer.

Description

Technical Field

[0001] The present invention relates to the technical field of building construction, and in particular to a method, a device, a computer device and a storage medium for planning a hoisting path. Background Art

[0002] Before lifting and hoisting operations with lifting equipment, a lifting analysis must be carried out to determine whether the lifting equipment can be lifted and whether a collision will occur during the lifting process. The accuracy of the lifting analysis is of vital importance to the safety of the lifting operation.

[0003] In the related technology, for double-machine lifting, because the two lifting equipment rarely rotate at the same time without raising and lowering the boom, every time the lifting equipment moves, at least one of the lifting equipment will be in a more unfavorable working condition than the previous second, resulting in a huge workload for lifting analysis of double-machine lifting. It is necessary to draw more than ten sets of lifting analysis drawings, including plan drawings and elevation drawings. Manual lifting analysis is cumbersome, drawing lifting analysis drawings takes a long time, and the work efficiency is low. At present, lifting analysis is not only collision analysis, but also requires planning and analysis of the lifting path. The current manual path calculation also has the problem of being time-consuming and labor-intensive. Summary of the invention

[0004] In view of this, the present invention provides a hoisting path planning method, device, computer equipment and storage medium to solve the problem of low work efficiency of existing manual hoisting analysis.

[0005] In a first aspect, the present invention provides a method for hoisting path planning, the method comprising:

[0006] Obtaining the working condition data of the initial point of the hoisted object, the lifting equipment data, and the obstacle data in the area where the lifting equipment is located;

[0007] Based on the working condition data of the hoisted object, the lifting equipment data and the obstacle data in the area where the lifting equipment is located, traverse the working condition points in the area where the lifting equipment is located;

[0008] The coordinate position of the working point that meets the lifting conditions is taken as the feasible point in the area where the lifting equipment is located, and the direction of the working point is taken as the feasible direction in the area where the lifting equipment is located;

[0009] Based on the feasible points and feasible directions in the area where the lifting equipment is located, the optimal lifting path from the initial point to the location is determined.

[0010] In the present invention, through the working condition data of the hoisted object, the lifting equipment data and the data of obstacles in the area where the lifting equipment is located, all working condition points in the area where the lifting equipment is located are traversed, and the feasible points and feasible directions that meet the lifting conditions are determined, and then the optimal lifting path of the hoisted object from the initial point to the location is determined. There is no need to manually draw a hoisting analysis diagram or manually calculate the path, which greatly reduces the manpower and material resources required for the hoisting analysis and the calculation workload, thereby greatly improving the efficiency of the hoisting analysis work, ensuring the accuracy of the hoisting analysis calculation, improving the safety of the hoisting, further improving the construction quality of the project, accelerating the construction progress, facilitating on-site management, making the hoisting safer, and having high scalability.

[0011] In an optional implementation, based on the working condition data of the hoisted object, the lifting equipment data and the obstacle data in the area where the lifting equipment is located, traversing the working condition points in the area where the lifting equipment is located includes:

[0012] Traverse all the operating points in the area where the lifting equipment is located, and perform the following steps for each operating point:

[0013] Based on the working condition data of the hoisted object and the lifting equipment data, determine whether the lifting equipment can lift the hoisted object at the working condition point;

[0014] Based on the working condition data of the hoisted object, the lifting equipment data and the obstacle data in the area where the lifting equipment is located, determine whether a collision occurs at the working condition point;

[0015] When the lifting equipment is able to lift the load at the operating point and no collision occurs at the operating point, it is determined that the operating point meets the lifting conditions.

[0016] In this method, by judging whether the lifting equipment can lift the load and whether a collision occurs during the lifting process, the points that can lift the load and not collide during the lifting process and the corresponding directions of the load are taken as feasible points and feasible directions. This ensures that the lifting equipment can lift the load and not collide during the lifting process, further ensuring the feasibility and safety of lifting path planning, making lifting safer and more generalizable.

[0017] In an optional implementation, the working condition data of the hoisted object includes the weight of the hoisted object and the coordinates of the hoisted object;

[0018] Based on the working condition data of the hoisted object and the lifting equipment data, it is determined whether the lifting equipment can lift the hoisted object at the working condition point, including:

[0019] Determine the maximum lifting radius of the lifting equipment based on the weight of the hoisted object and the lifting equipment data;

[0020] Determine the coordinates of the lifting point of the lifting object based on the working condition data of the lifting object;

[0021] Determine whether the coordinates of the lifting point are within the circular area formed by the maximum lifting radius of the lifting equipment;

[0022] When the coordinates of the lifting point are within the circular area formed by the maximum lifting radius of the lifting equipment, it is determined that the lifting equipment can lift the lifting object at the working point.

[0023] In this method, by simply calculating the lifting radius of the lifting equipment, it is possible to simply determine whether the lifting object can be lifted by the lifting equipment at the working point, thereby ensuring that the lifting object can be lifted by the lifting equipment at the working point, facilitating subsequent feasible judgment of the working point, and further facilitating planning of the optimal lifting path.

[0024] In an optional implementation, judging whether a collision occurs at a working point based on working condition data of a hoisted object, lifting equipment data, and obstacle data in an area where the lifting equipment is located includes:

[0025] Based on the working condition data of the hoisted object and the lifting equipment data, determine whether the hoisted object collides with the lifting equipment at the working condition point;

[0026] Based on the working condition data of the hoisted object, the lifting equipment data and the obstacle data in the area where the lifting equipment is located, it is determined whether the hoisted object collides with the obstacle at the working condition point;

[0027] When the hoisted object collides with the lifting equipment at the operating point, and / or when the hoisted object collides with an obstacle at the operating point, it is confirmed that the operating point has collided.

[0028] In this method, by judging whether the hoisted object collides with the lifting equipment at the working point, and whether the hoisted object collides with the obstacle at the working point, it is ensured that the hoisted object will not collide on the hoisting path at the working point, and the judgment of whether the working point collides is realized, which facilitates the planning of the hoisting path, further improves the safety of the hoisting path, makes the hoisting safer, and has high scalability.

[0029] In an optional embodiment, the working condition data of the hoisted object includes the coordinates and contour data of the hoisted object, and the lifting equipment data includes the coordinates of the lifting equipment and the length of the boom;

[0030] Based on the working condition data of the hoisted object and the lifting equipment data, determine whether the hoisted object collides with the lifting equipment at the working condition point, including:

[0031] Determine the reference point of the hoisted object based on the coordinates of the lifting equipment and the length of the boom;

[0032] Determine a first distance based on the coordinates of the lifting equipment, the length of the boom, the reference point and the coordinates of the hoisted object;

[0033] Determine a second distance based on the reference point, the contour data, the coordinates of the hoisted object and the length of the boom;

[0034] It is determined whether the second distance is greater than the first distance. When the second distance is not greater than the first distance, it is confirmed that the hoisted object collides with the lifting equipment.

[0035] In this method, by utilizing the working condition data of the hoisted object and the working condition data of the lifting equipment, it is possible to simply calculate whether the hoisted object will collide with the lifting equipment at the working point. There is no need to manually draw a hoisting analysis diagram, which facilitates the subsequent judgment of whether a collision occurs at the working point, further improving the feasibility and safety of the hoisting planning path.

[0036] In an optional implementation, judging whether the hoisted object collides with an obstacle at a working point based on working condition data of the hoisted object, lifting equipment data, and obstacle data in an area where the lifting equipment is located includes:

[0037] Based on the lifting equipment data and the obstacle data in the area where the lifting equipment is located, a plane projection of the lifting equipment boom when the lifting equipment boom collides with the obstacle at a preset rotation angle is obtained;

[0038] Based on the relationship between the lifting equipment data, the obstacle data and the plane projection, determining the corresponding relationship between the rotation angle and the collision radius of the lifting equipment;

[0039] Based on the corresponding relationship, the collision radius of the lifting equipment is determined;

[0040] Based on the collision radius of the lifting equipment, it is determined whether the hoisted object is within the collision radius at the working point. When the hoisted object is within the collision radius, it is confirmed that the hoisted object collides with the obstacle.

[0041] In this method, by utilizing the working condition data of the hoisted object, the working condition data of the lifting equipment and the obstacle data, it is possible to simply calculate whether the hoisted object collides with the obstacles in the area at the working point without the need for manual drawing of the hoisting analysis diagram, thereby facilitating the subsequent judgment of whether a collision occurs at the working point, further improving the feasibility and safety of the hoisting planning path.

[0042] In an optional implementation, based on feasible points and feasible directions in the area where the lifting equipment is located, determining the optimal lifting path for the lifting object from the initial point to the placement point includes:

[0043] Determine whether the feasible directions between adjacent feasible points are the same;

[0044] When the feasible directions of adjacent feasible points are the same, the shortest path with continuous feasible directions from the initial point to the location of the hoisted object is determined as the optimal hoisting path.

[0045] In this way, by connecting the feasible points with the shortest path in continuous feasible directions, the optimal lifting path from the initial point to the installation point can be obtained more easily without manual calculation and drawing of lifting analysis diagrams, which greatly improves the work efficiency of lifting path planning.

[0046] In a second aspect, the present invention provides a hoisting path planning device, the device comprising:

[0047] A data acquisition module is used to acquire the working condition data of the initial point of the hoisted object, the lifting equipment data and the obstacle data in the area where the lifting equipment is located;

[0048] A traversal judgment module, used to traverse the working condition points in the area where the lifting equipment is located based on the working condition data of the hoisted object, the lifting equipment data and the obstacle data in the area where the lifting equipment is located;

[0049] A feasible determination module is used to use the coordinate point of the working point that meets the hoisting conditions as a feasible point in the area where the lifting equipment is located, and the feasible direction of the working point as the feasible direction of the feasible point;

[0050] The path determination module is used to determine the optimal lifting path for the hoisted object from the initial point to the placement point based on the feasible points and feasible directions in the area where the lifting equipment is located.

[0051] In a third aspect, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor are communicatively connected to each other, computer instructions are stored in the memory, and the processor executes the lifting path planning method of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0052] 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 hoisting path planning method of the first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] 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.

[0054] Figure 1 It is a flowchart of a method for hoisting path planning according to an embodiment of the present invention.

[0055] Figure 2 It is a flowchart of a local exhaustive algorithm according to an embodiment of the present invention.

[0056] Figure 3 It is a schematic diagram of calculation results calculated by using the local exhaustive method according to an embodiment of the present invention.

[0057] Figure 4 It is a schematic diagram of initialization parameters of a certain hoisting project according to an embodiment of the present invention.

[0058] Figure 5 It is a schematic diagram of calculating the calculation result of a certain lifting project by using the local exhaustive method according to an embodiment of the present invention.

[0059] Figure 6 It is a schematic diagram of the shortest lifting path of a certain lifting project according to an embodiment of the present invention.

[0060] Figure 7 It is a flowchart of another hoisting path planning method according to an embodiment of the present invention.

[0061] Figure 8 It is a flowchart of another lifting path planning method according to an embodiment of the present invention.

[0062] Fig. 9 4 is a structural block diagram of a hoisting path planning device according to an embodiment of the present invention.

[0063] Fig.10 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0064] 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.

[0065] In the related technology, for double-machine lifting, because the two lifting equipment rarely rotate at the same time without raising and lowering the boom, every time the lifting equipment moves, at least one of the lifting equipment will be in a more unfavorable working condition than the previous second, resulting in a huge workload for lifting analysis of double-machine lifting. It is necessary to draw more than ten sets of lifting analysis drawings, including plan drawings and elevation drawings. Manual lifting analysis is cumbersome, drawing lifting analysis drawings takes a long time, and the work efficiency is low. At present, lifting analysis is not only collision analysis, but also requires planning and analysis of the lifting path. The current manual path calculation also has the problem of being time-consuming and labor-intensive.

[0066] In order to solve the above problems, a method for hoisting path planning is provided in an embodiment of the present invention, which is used in a computer device. It should be noted that its execution subject can be a hoisting path planning device, which can be implemented as part or all of the computer device through software, hardware, or a combination of software and hardware. The computer device can be a terminal, a client, or a server. The server can be a single server or a server cluster composed of multiple servers. The terminal in the embodiment of the present application can be a smart phone, a personal computer, a tablet computer, or other intelligent hardware devices. In the following method embodiments, the execution subject is a computer device as an example for explanation.

[0067] The computer device in this embodiment is suitable for use scenarios in which the lifting path is analyzed in the scenario of double-machine lifting. The present invention provides a lifting path planning method, which traverses all working points in the area where the lifting equipment is located through the working condition data of the hoisted object, the lifting equipment data and the data of obstacles in the area where the lifting equipment is located, determines the feasible points and feasible directions that meet the lifting conditions, and then determines the optimal lifting path from the initial point to the location of the hoisted object. There is no need to manually draw a lifting analysis diagram or manually calculate the path, which greatly reduces the manpower and material resources required for the lifting analysis, greatly reduces the calculation workload, and then greatly improves the efficiency of the lifting analysis work, ensures the accuracy of the lifting analysis calculation, improves the safety of the lifting, further improves the construction quality of the project, speeds up the construction progress, facilitates on-site management, makes the lifting safer, and has high scalability.

[0068] According to an embodiment of the present invention, an embodiment of a lifting path planning method is provided. 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 shown here.

[0069] In this embodiment, a method for planning a lifting path is provided, which can be used for the above-mentioned computer equipment. Figure 1 is a flow chart of a method for hoisting path planning according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0070] Step S101, obtaining the working condition data of the initial point of the hoisted object, the lifting equipment data and the obstacle data in the area where the lifting equipment is located.

[0071] In one example, the lifting equipment is a double crane, including crane 1 and crane 2. The working condition data of the initial point of the hoisted object may include: the plane shape of the hoisted object, the hoisting height, the initial position of the hoisted object, and the initial direction of the hoisted object; the lifting equipment data may include: the arm length of crane 1 and crane 2, the distance and vector from the centroid of the hoisted object to the hoisting point of crane 1, the distance and vector from the centroid of the hoisted object to the hoisting point of crane 2, and the maximum hoisting radius of crane 1 and crane 2; the obstacle data may include: obstacle coordinates and obstacle height.

[0072] Step S102, traversing the working condition points in the area where the lifting equipment is located based on the working condition data of the hoisted object, the lifting equipment data and the obstacle data in the area where the lifting equipment is located.

[0073] In one example, by traversing the coordinates and each direction of each operating point in the area where the lifting equipment (i.e., crane 1 and crane 2) is located, it is determined whether the coordinates and each direction of each operating point meet the lifting conditions.

[0074] Step S103, taking the coordinate position of the working point that meets the hoisting condition as a feasible point in the area where the lifting equipment is located, and taking the direction of the working point as the feasible direction of the feasible point.

[0075] In one example, when the coordinates and direction of the working point meet the hoisting conditions, the coordinates of the working point are taken as feasible points, and the direction of the hoisted object at the working point is taken as the feasible direction.

[0076] Step S104, based on the feasible points and feasible directions in the area where the lifting equipment is located, determine the optimal lifting path for the lifting object from the initial point to the installation point.

[0077] In one example, by using the feasible direction of each hoisted object at each point in the area where the lifting equipment (ie, crane 1 and crane 2) is located, the optimal hoisting path of the hoisted object from the initial point to the placement point can be determined.

[0078] In one implementation scenario, Figure 2 is a flow chart of a local exhaustive algorithm according to an embodiment of the present invention, such as Figure 2 As shown, the process of calculating each feasible point and feasible direction by local exhaustive method includes: Step 1: Initialize the necessary parameters, including crane position, initial position of hoisted object, initial direction of hoisted object, position of hoisted object, direction of hoisted object, hoisting height, boom length, distance and vector from centroid of hoisted object to hoisting point of crane 1, distance and vector from centroid of hoisted object to hoisting point of crane 2, maximum hoisting radius, obstacle distance, obstacle height, and plane shape of hoisted object.

[0079] Step 2: Calculate the lever area caused by the obstacle.

[0080] Step 3: Traverse each point and each direction in the area, and perform the following calculations for each point and each direction.

[0081] Step 3.1: Calculate the plane coordinates of the boom endpoints of crane 1 and crane 2 and the maximum lifting radius of crane 1 and crane 2.

[0082] Step 3.2: Calculate the boom radius of crane 1 and crane 2 (i.e., the collision radius of the hoisted object colliding with the boom of crane 1 and the collision radius of the hoisted object colliding with the boom of crane 2).

[0083] Step 3.3: Calculate the plane profile of the hoisted object.

[0084] Step 3.4: Determine whether the lifting is feasible, including: determining whether the lifting object will collide with the crane boom, determining whether the lifting object is within the lever area of ​​the obstacle, and determining whether the lifting object is within the maximum lifting radius of the two cranes.

[0085] Step 4: Generate the calculation results for each point, that is, the feasible points and feasible directions in the area where the lifting equipment is located.

[0086] The calculation results generated by the program written in Python should include all feasible points and the feasible direction of each feasible point. When two adjacent feasible points have the same feasible direction, it is judged that the hoisted object can be moved between the two points. Figure 3 is a schematic diagram of the calculation results calculated by using the local exhaustive method according to an embodiment of the present invention, such as Figure 3 As shown, Figure 3 There are two points in the figure, which means that both points are within the lifting range. The arrow in the figure indicates that the point can be lifted when it is in the direction of the corresponding lifting object. Figure 3 At the middle left point, the object can be hoisted when its direction is -90°, -15°, 0°, or 15°. At this point, the object can be rotated between -15° and 15°, but cannot be rotated from -15° to -90°. Figure 3 The two points have the same hoisting direction of -15°~15°, which means that when the hoisting object is in the direction of the arrow of -15°~15° in the figure, the hoisting object can move between the two points. While the hoisting object can move between the two points, the hoisting object angle can be rotated between -15°~15°.

[0087] In another implementation scenario, Figure 4 is a schematic diagram of initialization parameters of a certain hoisting project according to an embodiment of the present invention, such as Figure 4As shown in the figure, the roof of a certain project uses an arc-shaped welded ball grid with a span of 36 meters, a plane size of 35.15×27m, and a double-layer grid in some parts. Due to the insufficient bearing capacity of the floor below the grid and the narrow site, after comprehensive comparison, a double-machine lifting method is selected as the grid hoisting method. The grid is assembled on the floor. The plane coordinates during assembly are the initial point (0, 0), the grid direction is 0°, and the plane coordinates during installation are (-7527, -2427), and the grid direction is -90 degrees. The two cranes are located on the south and west sides of the grid, both of which are 500-ton truck cranes with a boom length of 65000mm and a hoisting height of 20000mm. There is an east-west concrete cantilever beam on the north side of the grid with a y coordinate of 16300mm. There are concrete beams on the south and west sides of the grid with a height of 18000mm. The x-coordinate or y-coordinate is -24027mm and -23017mm respectively.

[0088] Figure 5 is a schematic diagram of a calculation result of a certain lifting project using a local exhaustive method according to an embodiment of the present invention. By using the above local exhaustive method algorithm, the calculation result is as follows Figure 5 As shown, during hoisting, it can be directly hoisted from the initial point to the installation point, but the grid angle can only be rotated to -15°. Figure 6 is a schematic diagram of the shortest hoisting path for a hoisting project according to an embodiment of the present invention, such as Figure 6 As shown in the figure, the shortest lifting path is obtained by analysis and the path is represented by a thick dotted line.

[0089] The hoisting path planning method provided in this embodiment traverses all working points in the area where the lifting equipment is located through the working condition data of the hoisted object, the lifting equipment data and the data of obstacles in the area where the lifting equipment is located, determines the feasible points and feasible directions that meet the hoisting conditions, and then determines the optimal hoisting path from the initial point to the location of the hoisted object. There is no need to manually draw a hoisting analysis diagram or manually calculate the path, which greatly reduces the manpower and material resources required for the hoisting analysis, greatly reduces the calculation workload, and thus greatly improves the efficiency of the hoisting analysis work, ensures the accuracy of the hoisting analysis calculation, improves the safety of hoisting, further improves the construction quality of the project, speeds up the construction progress, facilitates on-site management, makes hoisting safer, and has high scalability.

[0090] In this embodiment, a method for planning a lifting path is provided, which can be used for the above-mentioned computer equipment. Figure 7 is a flow chart of another method for hoisting path planning according to an embodiment of the present invention. Figure 7 As shown, the process includes the following steps:

[0091] Step S201, obtain the working condition data of the initial point of the hoisted object, the lifting equipment data and the obstacle data in the area where the lifting equipment is located. Figure 1Step S101 of the illustrated embodiment will not be described in detail here.

[0092] Step S702, based on the working condition data of the hoisted object, the lifting equipment data and the obstacle data in the area where the lifting equipment is located, traverse the working condition points in the area where the lifting equipment is located.

[0093] Specifically, the above step S702 includes:

[0094] Step S7021, based on the working condition data of the hoisted object and the lifting equipment data, determine whether the lifting equipment can lift the hoisted object at the working condition point.

[0095] In some optional implementations, the working condition data of the hoisted object includes the weight of the hoisted object and the coordinates of the hoisted object. The above step S7021 includes:

[0096] Step a1, determining the maximum lifting radius of the lifting equipment based on the weight of the lifting object and the lifting equipment data.

[0097] Step a2, determining the coordinates of the lifting point of the lifting object based on the working condition data of the lifting object.

[0098] Step a3, determining whether the coordinates of the lifting point are within the circular area formed by the maximum lifting radius of the lifting equipment.

[0099] Step a4, when the coordinates of the lifting point are within the circular area formed by the maximum lifting radius of the lifting equipment, it is determined that the lifting equipment can lift the lifting object at the working point.

[0100] Step S7022, based on the working condition data of the hoisted object, the lifting equipment data and the obstacle data in the area where the lifting equipment is located, determine whether a collision occurs at the working condition point.

[0101] In some optional implementations, the above step S7022 includes:

[0102] Step b1, based on the working condition data of the hoisted object and the lifting equipment data, determine whether the hoisted object collides with the lifting equipment at the working condition point.

[0103] In one example, the working condition data of the hoisted object includes the coordinates and profile data of the hoisted object, and the lifting equipment data includes the coordinates of the lifting equipment and the length of the boom. Based on the working condition data of the hoisted object and the data of the lifting equipment, it is determined whether the hoisted object collides with the lifting equipment at the working condition point, including: step b11, based on the coordinates of the lifting equipment and the length of the boom, determine the reference point of the hoisted object; step b12, based on the coordinates of the lifting equipment, the length of the boom, the reference point and the coordinates of the hoisted object, determine the first distance; step b13, based on the reference point, the profile data, the coordinates of the hoisted object and the length of the boom, determine the second distance; step b14, determine whether the second distance is greater than the first distance, and when the second distance is not greater than the first distance, confirm that the hoisted object collides with the lifting equipment.

[0104] Step b2, based on the working condition data of the hoisted object, the lifting equipment data and the obstacle data in the area where the lifting equipment is located, determine whether the hoisted object collides with the obstacle at the working condition point.

[0105] In one example, based on the working condition data of the hoisted object, the lifting equipment data and the obstacle data in the area where the lifting equipment is located, it is determined whether the hoisted object collides with an obstacle at the working condition point, including: step b21, based on the lifting equipment data and the obstacle data in the area where the lifting equipment is located, obtaining the plane projection of the lifting equipment boom when the lifting equipment boom collides with an obstacle at a preset rotation angle; step b22, based on the relationship between the lifting equipment data, the obstacle data and the plane projection, determining the correspondence between the rotation angle and the collision radius of the lifting equipment; step b23, based on the correspondence, determining the collision radius of the lifting equipment; based on the collision radius of the lifting equipment, determining whether the hoisted object is within the collision radius at the working condition point, and when the hoisted object is within the collision radius, confirming that the hoisted object collides with the obstacle.

[0106] Step b3, when the hoisted object collides with the lifting equipment at the working point, and / or when the hoisted object collides with an obstacle at the working point, confirming that the working point has collided.

[0107] Step S7023, when the lifting equipment is able to lift the load at the operating point and no collision occurs at the operating point, it is determined that the operating point meets the lifting condition.

[0108] Step S703: The coordinate position of the working point that meets the lifting condition is used as a feasible point in the area where the lifting equipment is located, and the direction of the working point is used as a feasible direction in the area where the lifting equipment is located. Figure 1 Step S103 of the illustrated embodiment will not be described in detail here.

[0109] Step S704: Determine the optimal lifting path from the initial point to the location of the lifting object based on the feasible points and feasible directions in the area where the lifting equipment is located. Figure 1Step S104 of the illustrated embodiment will not be described in detail here.

[0110] The hoisting path planning method provided in this embodiment determines whether the lifting equipment can lift the hoisted object and whether a collision occurs during the lifting process, and uses the points that can lift the hoisted object and do not collide during the lifting process and the corresponding hoisting object direction as feasible points and feasible directions, thereby ensuring that the lifting equipment can lift the hoisted object and does not collide during the lifting process, further ensuring the feasibility and safety of the hoisting path planning, making the lifting safer and having high applicability. By simply calculating the lifting radius of the lifting equipment, it is possible to simply determine whether the hoisted object can be lifted by the lifting equipment at the working point, ensuring that the hoisted object can be lifted by the lifting equipment at the working point, facilitating the subsequent feasible judgment of the working point, and then facilitating the planning of the optimal lifting path. By judging whether the hoisted object collides with the lifting equipment at the working point, and whether the hoisted object collides with the obstacle at the working point, it is ensured that the hoisted object will not collide with the obstacles on the hoisting path at the working point, and the judgment of whether the working point collides is realized, which is convenient for planning the hoisting path, further improving the safety of the hoisting path, making the hoisting safer and having high scalability. By using the working condition data of the hoisted object and the working condition data of the lifting equipment, it is possible to simply calculate whether the hoisted object collides with the lifting equipment at the working point, without the need for manual drawing of the hoisting analysis diagram, which is convenient for subsequent judgment of whether the working point collides, and further improves the feasibility and safety of the hoisting planning path. By using the working condition data of the hoisted object, the working condition data of the lifting equipment and the obstacle data, it is possible to simply calculate whether the hoisted object collides with the obstacles in the area at the working point, without the need for manual drawing of the hoisting analysis diagram, which is convenient for subsequent judgment of whether the working point collides, and further improves the feasibility and safety of the hoisting planning path.

[0111] In this embodiment, a method for planning a lifting path is provided, which can be used for the above-mentioned computer equipment. Figure 8 is a flow chart of another method for hoisting path planning according to an embodiment of the present invention. Figure 8 As shown, the process includes the following steps:

[0112] Step S801, obtain the working condition data of the initial point of the hoisted object, the lifting equipment data and the obstacle data in the area where the lifting equipment is located. Figure 7 Step S701 of the illustrated embodiment will not be described in detail here.

[0113] Step S802: Based on the working condition data of the hoisted object, the lifting equipment data and the obstacle data in the area where the lifting equipment is located, traverse the working condition points in the area where the lifting equipment is located. Figure 7 Step S702 of the illustrated embodiment will not be described in detail here.

[0114] Step S803: The coordinate position of the working point that meets the lifting conditions is used as a feasible point in the area where the lifting equipment is located, and the direction of the working point is used as a feasible direction in the area where the lifting equipment is located. Figure 7 Step S703 of the illustrated embodiment will not be described in detail here.

[0115] Step S804, based on the feasible points and feasible directions in the area where the lifting equipment is located, determine the optimal lifting path for the lifting object from the initial point to the installation point.

[0116] Specifically, the above step S804 includes:

[0117] Step S8041, determine whether the feasible directions between adjacent feasible points are the same.

[0118] Step S8042, when the feasible directions of adjacent feasible points are the same, determine the shortest path with continuous feasible directions from the initial point to the installation point as the optimal installation path.

[0119] In one example, when two adjacent feasible points have the same feasible direction, it is determined that the hoisted object can be moved between the two points. Figure 3 is a schematic diagram of the calculation results calculated by using the local exhaustive method according to an embodiment of the present invention, such as Figure 3 As shown, Figure 3 There are two points in the figure, which means that both points are within the lifting range. The arrow in the figure indicates that the point can be lifted when it is in the direction of the corresponding lifting object. Figure 3 At the middle left point, the object can be hoisted when its direction is -90°, -15°, 0°, or 15°. At this point, the object can be rotated between -15° and 15°, but cannot be rotated from -15° to -90°. Figure 3 The two points have the same hoisting direction of -15°~15°, which means that when the hoisting object is in the direction of the arrow of -15°~15° in the figure, the hoisting object can move between the two points. While the hoisting object can move between the two points, the hoisting object angle can be rotated between -15°~15°.

[0120] The hoisting path planning method provided in this embodiment can more easily obtain the optimal hoisting path from the initial point to the installation point of the hoisting object by connecting the feasible points with the shortest path in continuous feasible directions. There is no need for manual calculations and drawing of hoisting analysis diagrams, which greatly improves the work efficiency of hoisting path planning.

[0121] In this embodiment, a hoisting path planning device is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0122] This embodiment provides a lifting path planning device, such as Fig. 9 As shown, including:

[0123] The data acquisition module 901 is used to obtain the working condition data of the initial point of the hoisted object, the lifting equipment data and the obstacle data in the area where the lifting equipment is located. Figure 1 Step S101 of the illustrated embodiment will not be described in detail here.

[0124] The traversal judgment module 902 is used to traverse the working condition points in the area where the lifting equipment is located based on the working condition data of the hoisted object, the lifting equipment data and the obstacle data in the area where the lifting equipment is located. Figure 1 Step S102 of the illustrated embodiment will not be described in detail here.

[0125] The feasible determination module 903 is used to use the coordinate point of the working point that meets the hoisting conditions as the feasible point in the area where the lifting equipment is located, and the feasible direction of the working point as the feasible direction of the feasible point. Figure 1 Step S103 of the illustrated embodiment will not be described in detail here.

[0126] The path determination module 904 is used to determine the optimal path for lifting the hoisted object from the initial point to the placement point based on the feasible points and feasible directions in the area where the lifting equipment is located.

[0127] For details, please see Figure 1 Step S104 of the illustrated embodiment will not be described in detail here.

[0128] In some optional implementations, the traversal determination module 902 includes:

[0129] The lifting judgment unit is used to judge whether the lifting equipment can lift the lifting object at the working condition point based on the working condition data of the lifting object and the lifting equipment data.

[0130] The collision judgment unit is used to judge whether a collision occurs at the working point based on the working condition data of the hoisted object, the lifting equipment data and the obstacle data in the area where the lifting equipment is located.

[0131] The condition satisfaction unit is used to determine whether the operating point meets the hoisting condition when the lifting equipment can lift the hoisted object and no collision occurs at the operating point.

[0132] In some optional embodiments, the lifting judgment unit includes:

[0133] The lifting radius determination subunit is used to determine the maximum lifting radius of the lifting equipment based on the weight of the lifting object and the lifting equipment data.

[0134] The lifting point coordinate determination subunit is used to determine the lifting point coordinates of the lifting object based on the working condition data of the lifting object.

[0135] The area judgment subunit is used to judge whether the coordinates of the lifting point are within the circular area formed by the maximum lifting radius of the lifting equipment.

[0136] The lifting determination subunit is used to determine that the lifting equipment can lift the lifting object at the working point when the lifting point coordinates are within the circular area formed by the maximum lifting radius of the lifting equipment.

[0137] In some optional implementations, the collision judgment unit includes:

[0138] The lifting equipment collision subunit is used to determine whether the lifting object collides with the lifting equipment at the working point based on the working condition data of the lifting object and the lifting equipment data.

[0139] The obstacle collision subunit is used to determine whether the hoisted object collides with an obstacle at a working point based on the working condition data of the hoisted object, the lifting equipment data and the obstacle data in the area where the lifting equipment is located.

[0140] The collision determination subunit is used to confirm that a collision occurs at the operating point when a hoisted object collides with a lifting device at the operating point and / or when a hoisted object collides with an obstacle at the operating point.

[0141] In some optional embodiments, the lifting equipment collision subunit includes:

[0142] The reference point determination subunit is used to determine the reference point of the hoisted object based on the coordinates of the lifting equipment and the length of the boom.

[0143] The first distance determination subunit is used to determine the first distance based on the coordinates of the lifting equipment, the length of the boom, the reference point and the coordinates of the hoisted object.

[0144] The second distance determination subunit is used to determine the second distance based on the reference point, the contour data, the coordinates of the hoisted object and the length of the boom.

[0145] The lifting equipment collision determination subunit is used to determine whether the second distance is greater than the first distance, and when the second distance is not greater than the first distance, confirm that the hoisted object collides with the lifting equipment.

[0146] In some optional embodiments, the obstacle collision subunit is configured to include:

[0147] The plane projection acquisition subunit is used to acquire the plane projection of the crane boom when the crane boom collides with an obstacle at a preset rotation angle based on the crane data and the obstacle data in the area where the crane is located.

[0148] The corresponding relationship determination subunit is used to determine the corresponding relationship between the rotation angle and the collision radius of the lifting equipment based on the relationship between the lifting equipment data, the obstacle data and the plane projection.

[0149] The lifting equipment collision radius subunit is used to determine the collision radius of the lifting equipment based on the corresponding relationship.

[0150] The obstacle collision determination subunit is used to determine whether the hoisted object is within the collision radius at the working point based on the collision radius of the lifting equipment, and when the hoisted object is within the collision radius, confirm that the hoisted object collides with the obstacle.

[0151] In some optional implementations, the path determination module 904 includes:

[0152] The feasible direction determination unit is used to determine whether the feasible directions between adjacent feasible points are the same.

[0153] The optimal lifting path determination unit is used to determine the shortest path with continuous feasible directions from the initial point to the location of the lifting object as the optimal lifting path when the feasible directions of adjacent feasible points are the same.

[0154] 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.

[0155] The lifting path planning 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-mentioned functions.

[0156] The embodiment of the present invention also provides a computer device having the above Fig. 9 The lifting path planning device shown.

[0157] See also Fig.10 , Fig.10 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Fig.10As 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). Fig.10 A processor 10 is taken as an example.

[0158] 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.

[0159] The memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0160] 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.

[0161] 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.

[0162] The computer device further comprises a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0163] 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.

[0164] 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 hoisting path planning, characterized in that: The method comprises: Acquire working condition data of the initial point of the hoisted object, lifting equipment data, and obstacle data in the area where the lifting equipment is located; Based on the working condition data of the hoisted object, the lifting equipment data and the obstacle data in the area where the lifting equipment is located, traversing the working condition points in the area where the lifting equipment is located includes: Traverse all operating points in the area where the lifting equipment is located, and perform the following steps for each operating point: Based on the working condition data of the hoisted object and the lifting equipment data, judging whether the lifting equipment can lift the hoisted object at the working condition point; the working condition data of the hoisted object includes the coordinates and contour data of the hoisted object, and the lifting equipment data includes the coordinates of the lifting equipment and the length of the boom; Determine the reference point of the hoisted object based on the lifting equipment coordinates and the boom length; determine the first distance based on the lifting equipment coordinates, the boom length, the reference point and the hoisted object coordinates; determine the second distance based on the reference point, the profile data, the hoisted object coordinates and the boom length; determine whether the second distance is greater than the first distance, and when the second distance is not greater than the first distance, confirm that the hoisted object collides with the lifting equipment; Based on the working condition data of the hoisted object, the lifting equipment data and the obstacle data in the area where the lifting equipment is located, determining whether the hoisted object collides with the obstacle at the working condition point; When the hoisted object collides with the lifting equipment at the operating point, and / or when the hoisted object collides with the obstacle at the operating point, confirming that the operating point has collided; When the lifting equipment at the working condition point is able to lift the hoisted object and no collision occurs at the working condition point, determining that the working condition point meets the hoisting condition; The coordinate position of the working point that meets the lifting conditions is used as a feasible point in the area where the lifting equipment is located, and the direction of the working point is used as a feasible direction in the area where the lifting equipment is located; Based on the feasible points and feasible directions in the area where the lifting equipment is located, the optimal lifting path for the lifting object from the initial point to the placement point is determined.

2. The method according to claim 1, characterized in that The working condition data of the hoisted object includes the weight of the hoisted object and the coordinates of the hoisted object; The step of judging whether the lifting equipment can lift the lifting object at the working condition point based on the working condition data of the lifting object and the lifting equipment data includes: Determining the maximum lifting radius of the lifting equipment based on the weight of the lifting object and the lifting equipment data; Determining the coordinates of the lifting point of the lifting object based on the working condition data of the lifting object; Determining whether the coordinates of the lifting point are within the circular area formed by the maximum lifting radius of the lifting equipment; When the lifting point coordinates are within the circular area formed by the maximum lifting radius of the lifting equipment, it is determined that the lifting equipment can lift the lifting object at the working point.

3. The method according to claim 1, characterized in that The determining whether the hoisted object collides with the obstacle at the working condition point based on the working condition data of the hoisted object, the hoisting equipment data and the obstacle data in the area where the hoisting equipment is located includes: Based on the lifting equipment data and the obstacle data in the area where the lifting equipment is located, obtaining a plane projection of the lifting equipment arm when the lifting equipment arm collides with an obstacle at a preset rotation angle; Determine a corresponding relationship between a rotation angle and a collision radius of the lifting equipment based on a relationship between the lifting equipment data, the obstacle data and the plane projection; Based on the corresponding relationship, determining the collision radius of the lifting equipment; Based on the collision radius of the lifting equipment, it is determined whether the hoisted object is within the collision radius at the working point, and when the hoisted object is within the collision radius, it is confirmed that the hoisted object collides with the obstacle.

4. The method according to any one of claims 1 to 3, characterized in that The step of determining the optimal lifting path of the hoisted object from the initial point to the placement point based on the feasible points and feasible directions in the area where the hoisting equipment is located comprises: Determine whether the feasible directions between adjacent feasible points are the same; When the feasible directions of adjacent feasible points are the same, the shortest path in which the lifting object is continuously in the feasible direction from the initial point to the installation point is determined as the optimal lifting path.

5. A hoisting path planning device, characterized in that: The device comprises: A data acquisition module, used to acquire working condition data of the initial point of the hoisted object, lifting equipment data and obstacle data in the area where the lifting equipment is located; A traversal judgment module, used to traverse the working condition points in the area where the lifting equipment is located based on the working condition data of the hoisted object, the lifting equipment data and the obstacle data in the area where the lifting equipment is located, including: Traverse all operating points in the area where the lifting equipment is located, and perform the following steps for each operating point: Based on the working condition data of the hoisted object and the lifting equipment data, judging whether the lifting equipment can lift the hoisted object at the working condition point; the working condition data of the hoisted object includes the coordinates and contour data of the hoisted object, and the lifting equipment data includes the coordinates of the lifting equipment and the length of the boom; Determine the reference point of the hoisted object based on the lifting equipment coordinates and the boom length; determine the first distance based on the lifting equipment coordinates, the boom length, the reference point and the hoisted object coordinates; determine the second distance based on the reference point, the profile data, the hoisted object coordinates and the boom length; determine whether the second distance is greater than the first distance, and when the second distance is not greater than the first distance, confirm that the hoisted object collides with the lifting equipment; Based on the working condition data of the hoisted object, the lifting equipment data and the obstacle data in the area where the lifting equipment is located, determining whether the hoisted object collides with the obstacle at the working condition point; When the hoisted object collides with the lifting equipment at the operating point, and / or when the hoisted object collides with the obstacle at the operating point, confirming that the operating point has collided; When the lifting equipment at the working condition point is able to lift the hoisted object and no collision occurs at the working condition point, determining that the working condition point meets the hoisting condition; A feasible determination module, used to use the coordinate point of the working point that meets the hoisting condition as a feasible point in the area where the lifting equipment is located, and use the direction of the working point as a feasible direction in the area where the lifting equipment is located; The path determination module is used to determine the optimal lifting path of the hoisting object from the initial point to the placement point based on the feasible points and feasible directions in the area where the lifting equipment is located.

6. 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 lifting path planning method according to any one of claims 1 to 5 by executing the computer instructions.

7. 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 hoisting path planning method according to any one of claims 1 to 5.

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