Path planning method and system for unmanned tower crane

Abstract

The present invention discloses a path planning method and system for an unmanned tower crane, which constructs multiple moving paths according to relative positions, rotating arms, and supporting arms; defines a first-level path set based on multiple moving paths, the range of movement constructed by the rotating arms and the supporting arms, and ensures the accuracy of the first-level path set. Define a second-level path set according to the first-level path set and the environmental characteristics of the target position, form multiple paths to be compared based on the division of the second-level path set, and form multiple comparison spaces according to the multiple paths to be compared; define multiple path spaces according to the multiple comparison spaces, the moving trajectory of the hook, and the aerial obstacles, and plan the final path according to the multiple path spaces, the rotating arms, the supporting arms, and the hook, perform step-by-step regulation based on the first-level path set, the second-level path set, and the final path, and realize multi-dimensional control and step-by-step screening of the final path, and ensure the accuracy and rationality of the final path.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned tower cranes, and in particular to a path planning method and system for unmanned tower cranes. Background Art

[0002] With the development of science and technology, unmanned tower cranes are applied to construction sites and unmanned control is adopted. At this time, the unmanned tower crane is controlled under the intelligent system, and the hook of the unmanned tower crane moves from the current position to the target position. In the existing technology, the corresponding path is constructed based on the current position and the target position of the hook, and the path is planned along the logic of a single straight line. It is not compatible with the rotating arm, the support arm and the hook, and the path is controlled step by step, which affects the accuracy and rationality of the path. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides a path planning method and system for an unmanned tower crane, which traverses the unmanned tower crane and locates the rotating arm, support arm and hook in the unmanned tower crane; defines the relative position according to the position of the hook and the target position, and constructs multiple moving paths according to the relative position, the rotating arm and the support arm; defines a first-level path set based on the activity range constructed by the multiple moving paths, the rotating arm and the support arm, and is compatible with the overall consideration of the activity range constructed by the multiple moving paths, the rotating arm and the support arm, thereby ensuring the accuracy of the first-level path set.

[0004] Furthermore, a second-level path set is defined according to the first-level path set and the environmental characteristics of the target location. At this time, the second-level path set is further formed by the first-level path set; multiple paths to be compared are formed based on the division of the second-level path set, and multiple comparison spaces are formed according to the multiple paths to be compared; the multiple comparison spaces are respectively located in different positions; multiple path spaces are defined according to the multiple comparison spaces, the moving trajectory of the hook and the aerial obstacles, and the final path is planned according to the multiple path spaces, the rotating arm, the supporting arm and the hook, and step-by-step regulation is performed based on the first-level path set, the second-level path set and the final path, and multi-dimensional control and step-by-step screening of the final path are realized, thereby ensuring the accuracy and rationality of the final path and being compatible with the rotating arm, supporting arm and hook in different scenarios.

[0005] The embodiment of the present invention provides a path planning method for an unmanned tower crane, which is applied to the path planning scenario of an unmanned tower crane;

[0006] The path planning method of the unmanned tower crane comprises:

[0007] Traverse the unmanned tower crane and locate the rotating arm, supporting arm and hook in the unmanned tower crane;

[0008] Define the relative position according to the position of the hook and the target position, and construct multiple movement paths according to the relative position, the rotating arm, and the supporting arm;

[0009] A first-level path set is defined based on a range of motion constructed by a plurality of moving paths, rotating arms and supporting arms;

[0010] The second-level path set is defined according to the first-level path set and the environmental characteristics of the target location. At this time, the second-level path set is further formed by the first-level path set;

[0011] Based on the division of the second-level path set, a plurality of paths to be compared are formed, and a plurality of comparison spaces are formed according to the plurality of paths to be compared; the plurality of comparison spaces are respectively located at different positions;

[0012] A plurality of path spaces are defined according to the plurality of comparison spaces, the moving trajectory of the hook, and the aerial obstacles, and a final path is planned according to the plurality of path spaces, the rotating arm, the supporting arm, and the hook.

[0013] Optionally, traversing the unmanned tower crane and locating the rotating arm, the supporting arm and the hook in the unmanned tower crane includes:

[0014] Locate unmanned tower cranes and perform dynamic traversal of unmanned tower cranes;

[0015] Dividing multiple position control modules in the unmanned tower crane based on the dynamic traversal of the unmanned tower crane;

[0016] Defining a rotating arm, a supporting arm and a hook based on the identification of multiple position control modules;

[0017] The rotating arm, supporting arm and hook are compatible with position adjustment in different dimensions;

[0018] Position the rotating arm, support arm and hook, and dynamically interact with the rotating arm, support arm and hook, and build corresponding dynamic balance logic based on the dynamic interaction of the rotating arm, support arm and hook; control the movement balance of the rotating arm, support arm and hook according to the dynamic balance logic.

[0019] Optionally, the relative position is defined according to the position of the hook and the target position, and multiple moving paths are constructed according to the relative position, the rotating arm, and the supporting arm, including:

[0020] Freeze the position of the hook;

[0021] Collect the control module of the unmanned tower crane and define the target position according to the control module and the corresponding working signal;

[0022] The location of the associated hook and the target location;

[0023] Define the relative position based on the hook position and the target position;

[0024] Construct multiple predicted trajectories based on relative positions and multiple movement directions;

[0025] Associate relative positions, pivot arms, and support arms;

[0026] A plurality of moving paths are constructed according to a plurality of predicted trajectories, a dimension of position control corresponding to the rotating arm, and a dimension of position control corresponding to the supporting arm.

[0027] Optionally, the first-level path set is defined based on the activity range constructed by the multiple moving paths, the rotating arms and the supporting arms, including:

[0028] Freeze multiple movement paths;

[0029] Associating the rotating arm with the supporting arm;

[0030] The range of motion constructed by the rotating arm and the supporting arm is defined according to the dimension of position control corresponding to the rotating arm and the dimension of position control corresponding to the supporting arm;

[0031] Collect the position of the rotating arm and the position of the supporting arm;

[0032] defining a first path parameter according to the plurality of moving paths, the position of the rotating arm, and the position of the supporting arm;

[0033] defining a second path parameter based on the position of the rotating arm, the position of the supporting arm, and the range of motion;

[0034] The second path parameter and the first path parameter are associated, and a first-level path set is defined according to the second path parameter, the first path parameter, and the plurality of moving paths.

[0035] Optionally, the second-level path set is defined according to the first-level path set and the environmental features of the target location. In this case, the second-level path set is further formed by the first-level path set, including:

[0036] Freeze the first-level path set;

[0037] Trigger environmental detection based on the target location and collect multiple environmental parameters and corresponding positions;

[0038] Defining environmental characteristics of the target location according to multiple environmental parameters and corresponding orientations;

[0039] Associating the first-level path set and the environmental features where the target location is located;

[0040] A second-level path set is defined based on the first-level path set and the environmental characteristics of the target location. At this time, the second-level path set is further formed by the first-level path set, and dynamically interacts with the environmental characteristics of the target location based on each first sub-path in the first-level path set.

[0041] Optionally, the division based on the second-level path set forms a plurality of paths to be compared, and a plurality of comparison spaces are formed according to the plurality of paths to be compared; the plurality of comparison spaces are respectively located at different positions, including:

[0042] Freeze the environmental features of the target location;

[0043] Defining a plurality of path combinations based on the partitioning of the second-level path set;

[0044] Defining priorities of multiple paths based on comparison of multiple path combinations;

[0045] A plurality of paths to be compared are formed according to the priorities of the plurality of paths and the combination of the plurality of paths.

[0046] Optionally, the method forms a plurality of paths to be compared based on the division of the second-level path set, and forms a plurality of comparison spaces according to the plurality of paths to be compared; the plurality of comparison spaces are respectively located at different positions, and further includes:

[0047] Freeze multiple paths to be compared;

[0048] Dividing a plurality of path nodes according to a plurality of paths to be compared;

[0049] A plurality of comparison spaces are formed based on the matching of a plurality of path nodes and a plurality of paths to be compared; the plurality of comparison spaces are respectively located at different positions.

[0050] Optionally, the step of defining a plurality of path spaces according to the plurality of comparison spaces, the moving trajectory of the hook, and the aerial obstacles, and planning a final path according to the plurality of path spaces, the rotating arm, the supporting arm, and the hook comprises:

[0051] Freeze multiple contrasting spaces;

[0052] Associating a plurality of comparison spaces with the moving trajectory of the hook, and defining a first space coefficient according to the plurality of comparison spaces and the moving trajectory of the hook;

[0053] Associating a plurality of contrasting spaces and air obstacles, and defining a second space coefficient according to the plurality of contrasting spaces and air obstacles;

[0054] defining a plurality of path spaces based on the second space coefficient, the first space coefficient, and the plurality of comparison spaces;

[0055] Associating multiple path spaces, swivel arms, booms, and hooks;

[0056] Real-time interaction with multiple path spaces, jibs, booms, and hooks;

[0057] Plan the final path with multiple path spaces, jibs, arms and hooks.

[0058] Optionally, the path planning method for the unmanned tower crane further includes:

[0059] The movement space of the collection hook;

[0060] Construct a multi-dimensional coordinate system based on the motion space of the hook;

[0061] Divide multiple position grids based on a multi-dimensional coordinate system, a rotating arm, a supporting arm, and a hook;

[0062] A three-dimensional grid map is constructed based on multiple location grids and corresponding perception data. At this time, impassable grids are marked in the three-dimensional grid map, and the impassable grids need to be avoided during path planning;

[0063] The positions of the starting position and the target position of the hoisted object on the three-dimensional grid map are fixed, and the dynamic movement of the rotating arm, the supporting arm and the hook is triggered according to the positions of the starting position and the target position of the hoisted object on the three-dimensional grid map.

[0064] In addition, an embodiment of the present invention further provides a path planning system for an unmanned tower crane, the path planning system for an unmanned tower crane comprising:

[0065] A traversal module is used to traverse the unmanned tower crane and locate the rotating arm, supporting arm and hook in the unmanned tower crane;

[0066] A moving path module is used to define a relative position according to the position of the hook and the target position, and to construct multiple moving paths according to the relative position, the rotating arm, and the supporting arm;

[0067] A first-level path set module, used to define a first-level path set based on a plurality of moving paths, a range of motion constructed by a rotating arm and a supporting arm;

[0068] A second-level path set module is used to define a second-level path set according to the first-level path set and the environmental characteristics of the target location. At this time, the second-level path set is further formed by the first-level path set;

[0069] A comparison space module, used to form a plurality of paths to be compared based on the division of the second-level path set, and to form a plurality of comparison spaces according to the plurality of paths to be compared; the plurality of comparison spaces are respectively located at different positions;

[0070] The final path module is used to define multiple path spaces according to multiple comparison spaces, the movement trajectory of the hook and the aerial obstacles, and plan the final path according to the multiple path spaces, the rotating arm, the support arm and the hook.

[0071] In an embodiment of the present invention, through the method in the embodiment of the present invention, the unmanned tower crane is traversed, and the rotating arm, the support arm and the hook in the unmanned tower crane are located; the relative position is defined according to the position of the hook and the target position, and multiple moving paths are constructed according to the relative position, the rotating arm and the support arm; the first-level path set is defined based on the activity range constructed by the multiple moving paths, the rotating arm and the support arm, which is compatible with the overall consideration of the activity range constructed by the multiple moving paths, the rotating arm and the support arm, and the accuracy of the first-level path set is ensured.

[0072] Furthermore, a second-level path set is defined according to the first-level path set and the environmental characteristics of the target location. At this time, the second-level path set is further formed by the first-level path set; multiple paths to be compared are formed based on the division of the second-level path set, and multiple comparison spaces are formed according to the multiple paths to be compared; the multiple comparison spaces are respectively located in different positions; multiple path spaces are defined according to the multiple comparison spaces, the moving trajectory of the hook and the aerial obstacles, and the final path is planned according to the multiple path spaces, the rotating arm, the supporting arm and the hook, and step-by-step regulation is performed based on the first-level path set, the second-level path set and the final path, and multi-dimensional control and step-by-step screening of the final path are realized, thereby ensuring the accuracy and rationality of the final path and being compatible with the rotating arm, supporting arm and hook in different scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0074] Figure 1 is a flow chart of a path planning method for an unmanned tower crane in an embodiment of the present invention;

[0075] Figure 2 is a flow chart of S11 in the path planning method for an unmanned tower crane in an embodiment of the present invention;

[0076] Figure 3 is a flow chart of S12 in the path planning method for an unmanned tower crane in an embodiment of the present invention;

[0077] Figure 4is a flow chart of S13 in the path planning method for an unmanned tower crane in an embodiment of the present invention;

[0078] Figure 5 is a flow chart of S14 in the path planning method for an unmanned tower crane in an embodiment of the present invention;

[0079] Figure 6 is a flow chart of S15 in the path planning method for an unmanned tower crane in an embodiment of the present invention;

[0080] Figure 7 is a flow chart of S16 in the path planning method for an unmanned tower crane in an embodiment of the present invention;

[0081] Figure 8 Schematic diagram of the structure of the path planning system of the unmanned tower crane in the embodiment of the present invention;

[0082] Fig. 9 The figure is a hardware diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0083] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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 ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0084] See also Figures 1 to 9 , a path planning method for an unmanned tower crane is applied to the path planning scenario of an unmanned tower crane; the path planning method for an unmanned tower crane includes:

[0085] Step S11: traverse the unmanned tower crane and locate the rotating arm, the supporting arm and the hook in the unmanned tower crane;

[0086] Step S12: defining a relative position according to the position of the hook and the target position, and constructing multiple moving paths according to the relative position, the rotating arm, and the supporting arm;

[0087] Step S13: defining a first-level path set based on the multiple moving paths, the activity range constructed by the rotating arm and the supporting arm;

[0088] Step S14: defining a second-level path set according to the first-level path set and the environmental features of the target location. At this time, the second-level path set is further formed by the first-level path set;

[0089] Step S15: forming a plurality of paths to be compared based on the division of the second-level path set, and forming a plurality of comparison spaces according to the plurality of paths to be compared; the plurality of comparison spaces are respectively located at different positions;

[0090] Step S16: defining a plurality of path spaces according to the plurality of comparison spaces, the moving trajectory of the hook and the aerial obstacles, and planning a final path according to the plurality of path spaces, the rotating arm, the supporting arm and the hook.

[0091] In an embodiment of the present invention, through the method in the embodiment of the present invention, the unmanned tower crane is traversed, and the rotating arm, the support arm and the hook in the unmanned tower crane are located; the relative position is defined according to the position of the hook and the target position, and multiple moving paths are constructed according to the relative position, the rotating arm and the support arm; the first-level path set is defined based on the activity range constructed by the multiple moving paths, the rotating arm and the support arm, which is compatible with the overall consideration of the activity range constructed by the multiple moving paths, the rotating arm and the support arm, and the accuracy of the first-level path set is ensured.

[0092] Furthermore, a second-level path set is defined according to the first-level path set and the environmental characteristics of the target location. At this time, the second-level path set is further formed by the first-level path set; multiple paths to be compared are formed based on the division of the second-level path set, and multiple comparison spaces are formed according to the multiple paths to be compared; the multiple comparison spaces are respectively located in different positions; multiple path spaces are defined according to the multiple comparison spaces, the moving trajectory of the hook and the aerial obstacles, and the final path is planned according to the multiple path spaces, the rotating arm, the supporting arm and the hook, and step-by-step regulation is performed based on the first-level path set, the second-level path set and the final path, and multi-dimensional control and step-by-step screening of the final path are realized, thereby ensuring the accuracy and rationality of the final path and being compatible with the rotating arm, supporting arm and hook in different scenarios.

[0093] refer to Figure 2 , in step S11, traverse the unmanned tower crane and locate the rotating arm, the supporting arm and the hook in the unmanned tower crane;

[0094] In the specific implementation process of the present invention, the specific steps may be:

[0095] S111: locate the unmanned tower crane and perform dynamic traversal on the unmanned tower crane;

[0096] S112: Dividing a plurality of position control modules in the unmanned tower crane based on the dynamic traversal of the unmanned tower crane;

[0097] S113: defining a rotating arm, a supporting arm, and a hook based on identification of multiple position control modules;

[0098] S114: The rotating arm, support arm and hook are compatible with position adjustment in different dimensions;

[0099] S115: Position the rotating arm, the supporting arm and the hook, and dynamically interact with the rotating arm, the supporting arm and the hook, and construct corresponding dynamic balance logic based on the dynamic interaction of the rotating arm, the supporting arm and the hook; control the movement balance of the rotating arm, the supporting arm and the hook according to the dynamic balance logic.

[0100] In an embodiment of the present application, the unmanned tower crane is located, and a dynamic traversal is performed on the unmanned tower crane, and a whole traversal or a partial traversal is performed on the unmanned tower crane, thereby introducing specific components of the unmanned tower crane. At this time, multiple position control modules in the unmanned tower crane are divided based on the dynamic traversal of the unmanned tower crane, and the multiple position control modules are further controlled to facilitate the identification of the multiple position control modules.

[0101] Therefore, based on the identification of multiple position control modules, the rotating arm, support arm and hook are defined, and the rotating arm, support arm and hook are introduced, and the rotating arm, support arm and hook are controlled as a whole. At the same time, the rotating arm, support arm and hook are compatible with position control in different dimensions respectively. The rotating arm, support arm and hook respectively cover the dimensions of rotation, linear movement or up and down movement.

[0102] Furthermore, the rotating arm, the support arm and the hook are positioned, and the rotating arm, the support arm and the hook are controlled as a whole. The rotating arm, the support arm and the hook are dynamically interacted with each other, and the corresponding dynamic balance logic is constructed based on the dynamic interaction of the rotating arm, the support arm and the hook; the movement balance of the rotating arm, the support arm and the hook is managed and controlled according to the dynamic balance logic, thereby ensuring the stability of the rotating arm, the support arm and the hook in synchronous movement.

[0103] refer to Figure 3 , in step S12, a relative position is defined according to the position of the hook and the target position, and a plurality of moving paths are constructed according to the relative position, the rotating arm, and the supporting arm;

[0104] In the specific implementation process of the present invention, the specific steps may be:

[0105] S121: freeze the position of the hook;

[0106] S122: Collecting the control module of the unmanned tower crane, and defining the target position according to the control module and the corresponding working signal;

[0107] S123: Associating the position of the hook with the target position;

[0108] S124: defining a relative position according to the position of the hook and the target position;

[0109] S125: construct multiple predicted trajectories based on the relative position and multiple moving directions;

[0110] S126: Associating relative positions, rotating arms, and supporting arms; constructing multiple moving paths according to multiple predicted trajectories, dimensions of position control corresponding to the rotating arms, and dimensions of position control corresponding to the supporting arms.

[0111] In an embodiment of the present application, the position of the hook is frozen, the position of the hook is introduced, and the position of the hook is further processed. At the same time, the control module of the unmanned tower crane is collected, and the target position is defined according to the control module and the corresponding working signal. The control module and the corresponding working signal are controlled in multiple dimensions to ensure the accuracy of the target position.

[0112] Therefore, the position of the hook and the target position are associated, and dynamic interaction is performed on the position of the hook and the target position so as to define a relative position according to the position of the hook and the target position, thereby introducing a relative position.

[0113] Furthermore, multiple predicted trajectories are constructed based on the relative position and multiple moving directions, and the relative position and multiple moving directions are considered as a whole to facilitate multi-dimensional control of the relative position and multiple moving directions, and then multiple predicted trajectories are constructed to facilitate subsequent processing of the multiple predicted trajectories.

[0114] At the same time, the relative position, rotating arm, and support arm are associated; multi-dimensional control is performed on the relative position, rotating arm, and support arm, so as to construct multiple moving paths according to multiple predicted trajectories, the dimensions of position control corresponding to the rotating arm, and the dimensions of position control corresponding to the support arm. Multiple predicted trajectories, the dimensions of position control corresponding to the rotating arm, and the dimensions of position control corresponding to the support arm are introduced, and multi-dimensional control is performed based on multiple predicted trajectories, the dimensions of position control corresponding to the rotating arm, and the dimensions of position control corresponding to the support arm, thereby ensuring the accuracy of multiple moving paths.

[0115] refer to Figure 4 , in step S13, a first-level path set is defined based on the multiple moving paths, the activity range constructed by the rotating arm and the supporting arm;

[0116] In the specific implementation process of the present invention, the specific steps may be:

[0117] S131: freeze multiple moving paths;

[0118] S132: Associating the rotating arm with the supporting arm;

[0119] S133: defining a range of motion constructed by the rotating arm and the supporting arm according to a dimension of position control corresponding to the rotating arm and a dimension of position control corresponding to the supporting arm;

[0120] S134: collecting the position of the rotating arm and the position of the supporting arm;

[0121] S135: defining a first path parameter according to the plurality of moving paths, the position of the rotating arm, and the position of the supporting arm; defining a second path parameter based on the position of the rotating arm, the position of the supporting arm, and the range of motion formed by the rotating arm and the supporting arm;

[0122] S136: Associating the second path parameter with the first path parameter, and defining a first-level path set according to the second path parameter, the first path parameter, and the plurality of moving paths.

[0123] In an embodiment of the present application, the unmanned tower crane is traversed, and the rotating arm, the support arm and the hook in the unmanned tower crane are located; the relative position is defined according to the position of the hook and the target position, and multiple moving paths are constructed according to the relative position, the rotating arm and the support arm; the first-level path set is defined based on the activity range constructed by the multiple moving paths, the rotating arm and the support arm, which is compatible with the overall consideration of the activity range constructed by the multiple moving paths, the rotating arm and the support arm, and ensures the accuracy of the first-level path set.

[0124] At this time, multiple moving paths are frozen, and at the same time, the rotating arm and the support arm are associated, so as to define the activity range constructed by the rotating arm and the support arm according to the dimension of position control corresponding to the rotating arm and the dimension of position control corresponding to the support arm, thereby introducing the activity range constructed by the rotating arm and the support arm, and further controlling the activity range constructed by the rotating arm and the support arm.

[0125] Furthermore, the position of the rotating arm and the position of the supporting arm are collected, and the positions of the rotating arm and the supporting arm are controlled as a whole.

[0126] At the same time, the first path parameters are defined according to the multiple moving paths, the positions of the rotating arms, and the positions of the support arms, and multiple moving paths, the positions of the rotating arms, and the positions of the support arms are introduced. Multi-dimensional control is performed on the multiple moving paths, the positions of the rotating arms, and the positions of the support arms, thereby ensuring the accuracy of the first path parameters and being compatible with the overall consideration of the multiple moving paths, the positions of the rotating arms, and the positions of the support arms.

[0127] Furthermore, a second path parameter is defined based on the position of the rotating arm, the position of the support arm, and the range of movement constructed by the rotating arm and the support arm, and the position of the rotating arm, the position of the support arm, and the range of movement constructed by the rotating arm and the support arm are introduced. Multi-dimensional control is performed on the position of the rotating arm, the position of the support arm, and the range of movement constructed by the rotating arm and the support arm to ensure the accuracy of the second path parameter and to take into account the overall consideration of the position of the rotating arm, the position of the support arm, and the range of movement constructed by the rotating arm and the support arm.

[0128] Therefore, the second path parameter and the first path parameter are associated and further processed so as to define a first-level path set according to the second path parameter, the first path parameter and multiple moving paths, and the second path parameter, the first path parameter and multiple moving paths are introduced to achieve matching of the second path parameter, the first path parameter and multiple moving paths, thereby ensuring the accuracy of the first-level path set.

[0129] refer to Figure 5 , S14: defining a second-level path set according to the first-level path set and the environmental characteristics of the target location, at this time, the second-level path set is further formed by the first-level path set;

[0130] In the specific implementation process of the present invention, the specific steps may be:

[0131] S141: freeze the first level path set;

[0132] S142: triggering environmental detection based on the target position, and collecting multiple environmental parameters and corresponding directions;

[0133] S143: defining environmental characteristics of the target location according to a plurality of environmental parameters and corresponding directions;

[0134] S144: Associating the first-level path set and the environmental features of the target location;

[0135] S145: Define a second-level path set based on the first-level path set and the environmental features of the target location. At this time, the second-level path set is further formed by the first-level path set, and dynamically interacts with the environmental features of the target location based on each first sub-path in the first-level path set.

[0136] In an embodiment of the present application, a first-level path set is frozen and introduced to facilitate further step-by-step processing of the first-level path set. At the same time, environmental detection is triggered based on the target position, and multiple environmental parameters and corresponding directions are collected to define environmental characteristics of the target position based on the multiple environmental parameters and the corresponding directions, thereby performing multi-dimensional control based on the multiple environmental parameters and the corresponding directions to ensure the accuracy of the environmental characteristics of the target position.

[0137] Therefore, the first-level path set and the environmental characteristics of the target location are associated, and the first-level path set and the environmental characteristics of the target location are controlled as a whole, so as to define the second-level path set based on the first-level path set and the environmental characteristics of the target location. At this time, the second-level path set is further formed by the first-level path set, and dynamically interacts with the environmental characteristics of the target location based on each first sub-path in the first-level path set, and forms the second-level path set through step-by-step processing of the first-level path set, thereby further ensuring the accuracy of the second-level path set.

[0138] refer to Figure 6 , S15: forming a plurality of paths to be compared based on the division of the second-level path set, and forming a plurality of comparison spaces according to the plurality of paths to be compared; the plurality of comparison spaces are respectively located at different positions;

[0139] In the specific implementation process of the present invention, the specific steps may be:

[0140] S151: freeze the environmental features of the target location;

[0141] S152: defining a plurality of path combinations based on the division of the second-level path set;

[0142] S153: defining priorities of the plurality of paths according to comparison of the plurality of path combinations;

[0143] S154: forming a plurality of paths to be compared according to priorities of the plurality of paths and combinations of the plurality of paths;

[0144] S155: freeze multiple paths to be compared; divide multiple path nodes according to the multiple paths to be compared;

[0145] S156: forming a plurality of comparison spaces based on matching of the plurality of path nodes and the plurality of paths to be compared; the plurality of comparison spaces are respectively located at different positions.

[0146] In an embodiment of the present application, the environmental characteristics of the target location are frozen, the environmental characteristics of the target location are controlled, and the environmental characteristics of the target location are introduced. At the same time, multiple path combinations are defined based on the division of the second-level path set, and the multiple path combinations are compared, so as to define the priorities of the multiple paths according to the comparison of the multiple path combinations, thereby ensuring the accuracy of the priorities of the multiple paths.

[0147] Therefore, multiple paths to be compared are formed according to the priorities of multiple paths and the combination of multiple paths, multiple paths to be compared are introduced, further paths are found for the multiple paths to be compared, and at the same time, the multiple paths to be compared are frozen; multiple path nodes are divided according to the multiple paths to be compared; multiple comparison spaces are formed based on the matching of multiple path nodes and multiple paths to be compared; the multiple comparison spaces are respectively located at different positions, so as to facilitate separate comparison of the multiple comparison spaces, thereby ensuring the accuracy of the multiple comparison spaces.

[0148] refer to Figure 7 , S16: defining a plurality of path spaces according to the plurality of comparison spaces, the moving trajectory of the hook and the aerial obstacles, and planning a final path according to the plurality of path spaces, the rotating arm, the support arm and the hook;

[0149] In the specific implementation process of the present invention, the specific steps may be:

[0150] S161: Freeze multiple contrasting spaces;

[0151] S162: Associating the plurality of comparison spaces and the moving trajectory of the hook, and defining a first space coefficient according to the plurality of comparison spaces and the moving trajectory of the hook;

[0152] S163: Associating a plurality of comparison spaces and air obstacles, and defining a second space coefficient according to the plurality of comparison spaces and air obstacles;

[0153] S164: defining a plurality of path spaces based on the second space coefficient, the first space coefficient, and a plurality of comparison spaces;

[0154] S165: Associating multiple path spaces, rotating arms, supporting arms, and hooks; and performing real-time interaction on the multiple path spaces, rotating arms, supporting arms, and hooks;

[0155] S166: Plan the final path based on multiple path spaces, rotating arms, supporting arms and hooks.

[0156] In the specific implementation process of the present invention, a second-level path set is defined according to the first-level path set and the environmental characteristics of the target position. At this time, the second-level path set is further formed by the first-level path set; multiple paths to be compared are formed based on the division of the second-level path set, and multiple comparison spaces are formed according to the multiple paths to be compared; the multiple comparison spaces are respectively located at different positions; multiple path spaces are defined according to the multiple comparison spaces, the moving trajectory of the hook and the aerial obstacles, and the final path is planned according to the multiple path spaces, the rotating arm, the supporting arm and the hook, and step-by-step regulation is performed based on the first-level path set, the second-level path set and the final path, and multi-dimensional control and step-by-step screening of the final path are realized, thereby ensuring the accuracy and rationality of the final path and being compatible with the rotating arm, supporting arm and hook in different scenarios.

[0157] At this time, multiple comparison spaces are frozen, and multiple comparison spaces and the moving trajectory of the hook are introduced to facilitate the association of the multiple comparison spaces and the moving trajectory of the hook. The first space coefficient is defined according to the multiple comparison spaces and the moving trajectory of the hook, thereby introducing the first space coefficient, and multi-dimensional control is performed on the first space coefficient.

[0158] Furthermore, multiple contrast spaces and aerial obstacles are associated, and a second space coefficient is defined according to the multiple contrast spaces and aerial obstacles. This is compatible with overall considerations of the multiple contrast spaces and aerial obstacles, and multi-dimensional control is performed through the multiple contrast spaces and aerial obstacles, thereby ensuring the accuracy of the second space coefficient.

[0159] Therefore, multiple path spaces are defined based on the second space coefficient, the first space coefficient and multiple comparison spaces; multiple path spaces, rotating arms, support arms and hooks are associated; multiple path spaces, rotating arms, support arms and hooks interact in real time; the final path is planned according to the multiple path spaces, rotating arms, support arms and hooks, and step-by-step regulation is performed based on the first-level path set, the second-level path set and the final path, and multi-dimensional control and step-by-step screening of the final path are realized, thereby ensuring the accuracy and rationality of the final path and being compatible with rotating arms, support arms and hooks in different scenarios.

[0160] In addition, the path planning method of the unmanned tower crane also includes: collecting the motion space of the hook; constructing a multidimensional coordinate system based on the motion space of the hook; dividing multiple position grids based on the multidimensional coordinate system, the rotating arm, the support arm and the hook; constructing a three-dimensional grid map based on the multiple position grids and the corresponding perception data. At this time, the three-dimensional grid map is marked with impassable grids, which need to be avoided during path planning.

[0161] Furthermore, the positions of the three-dimensional grid map where the starting position and the target position of the hoisted object are located are frozen, and the dynamic movement of the rotating arm, the supporting arm and the hook is triggered according to the positions of the three-dimensional grid map where the starting position and the target position of the hoisted object are located.

[0162] In the actual implementation, according to the motion control characteristics of the tower crane, the motion of the tower crane is deconstructed into three directions of motion, namely, the rotation of the boom, the amplitude change of the trolley on the arm, and the up and down movement of the hook, wherein the rotation of the boom changes the angle of the boom, the movement of the trolley on the arm changes the amplitude of the trolley on the boom, and the movement of the hook changes the distance between the hook and the trolley on the arm. Thus, the motion space of the tower crane can be constructed as a three-dimensional motion space containing a two-dimensional polar coordinate system (the angle of the boom, the amplitude of the trolley on the arm), namely, the boom angle α, the amplitude of the trolley on the arm β, and the hook height h.

[0163] The three-dimensional motion space of the tower crane is then divided into three-dimensional grids according to a certain resolution (the boom angle resolution is 1°, the trolley amplitude resolution is 0.2m, and the hook height resolution is 0.2m). The surrounding object data obtained by the perception module is filled into these three-dimensional grids. The obtained data becomes a three-dimensional grid map. The occupied three-dimensional grids can be considered as inaccessible areas and need to be avoided during path planning.

[0164] Finally, calculate the positions of the three-dimensional grids where the starting position and the target position of the hoisted object are located, and calculate the movement of the three dimensions in the three-dimensional grid map respectively. The specific steps are as follows:

[0165] 1. Calculate the sector area of ​​the polar coordinate plane from the starting point to the end point:

[0166] 2. Calculate the highest occupied grid height of the columnar body of each grid in the fan-shaped area of ​​the polar coordinate plane, and calculate the highest occupied grid height z of all grids max :

[0167] 3.Lift the hook to z max +2 height (2 is for safety, 2 meters higher than the highest object);

[0168] 4. Move the trolley on the arm to move the amplitude value of the trolley from the starting amplitude value to the target amplitude value;

[0169] 5. Rotate the boom from the starting angle to the target angle;

[0170] 6. Lower the hook to the target height;

[0171] 7. Complete an assignment.

[0172] The above completes a safe automatic operation.

[0173] In an embodiment of the present invention, through the method in the embodiment of the present invention, the unmanned tower crane is traversed, and the rotating arm, the support arm and the hook in the unmanned tower crane are located; the relative position is defined according to the position of the hook and the target position, and multiple moving paths are constructed according to the relative position, the rotating arm and the support arm; the first-level path set is defined based on the activity range constructed by the multiple moving paths, the rotating arm and the support arm, which is compatible with the overall consideration of the activity range constructed by the multiple moving paths, the rotating arm and the support arm, and the accuracy of the first-level path set is ensured.

[0174] Furthermore, a second-level path set is defined according to the first-level path set and the environmental characteristics of the target location. At this time, the second-level path set is further formed by the first-level path set; multiple paths to be compared are formed based on the division of the second-level path set, and multiple comparison spaces are formed according to the multiple paths to be compared; the multiple comparison spaces are respectively located in different positions; multiple path spaces are defined according to the multiple comparison spaces, the moving trajectory of the hook and the aerial obstacles, and the final path is planned according to the multiple path spaces, the rotating arm, the supporting arm and the hook, and step-by-step regulation is performed based on the first-level path set, the second-level path set and the final path, and multi-dimensional control and step-by-step screening of the final path are realized, thereby ensuring the accuracy and rationality of the final path and being compatible with the rotating arm, supporting arm and hook in different scenarios.

[0175] See also Figure 8 , Figure 8 It is a schematic diagram of the structural composition of the path planning system of the unmanned tower crane in an embodiment of the present invention.

[0176] like Figure 8 As shown, a path planning system for an unmanned tower crane, the path planning system for the unmanned tower crane comprises:

[0177] A traversal module 21 is used to traverse the unmanned tower crane and locate the rotating arm, the supporting arm and the hook in the unmanned tower crane;

[0178] A moving path module 22, for defining a relative position according to the position of the hook and the target position, and constructing a plurality of moving paths according to the relative position, the rotating arm, and the supporting arm;

[0179] A first-level path set module 23, used to define a first-level path set based on a plurality of moving paths, a range of motion constructed by the rotating arm and the supporting arm;

[0180] A second-level path set module 24, used to define a second-level path set according to the first-level path set and the environmental characteristics of the target location. At this time, the second-level path set is further formed by the first-level path set;

[0181] A comparison space module 25, used to form a plurality of paths to be compared based on the division of the second-level path set, and to form a plurality of comparison spaces according to the plurality of paths to be compared; the plurality of comparison spaces are respectively located at different positions;

[0182] The final path module 26 is used to define multiple path spaces according to the multiple comparison spaces, the moving trajectory of the hook and the aerial obstacles, and plan the final path according to the multiple path spaces, the rotating arm, the support arm and the hook.

[0183] See also Fig. 9 , refer to the following Fig. 9 The electronic intelligent device 40 according to this embodiment of the present invention is described. Fig. 9 The electronic intelligent device 40 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0184] like Fig. 9 As shown, the electronic intelligent device 40 is in the form of a general computing intelligent device. The components of the electronic intelligent device 40 may include but are not limited to: at least one processing unit 41, at least one storage unit 42, and a bus 43 connecting different system components (including the storage unit 42 and the processing unit 41).

[0185] The storage unit stores program codes, which can be executed by the processing unit 41, so that the processing unit 41 executes the steps according to various exemplary embodiments of the present invention described in the above “Embodiment Method” section of this specification.

[0186] The storage unit 42 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 421 and / or a cache memory unit 422 , and may further include a read-only memory unit (ROM) 423 .

[0187] The storage unit 42 may also include a program / utility 424 having a set (at least one) of program modules 425, such program modules 425 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0188] Bus 43 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0189] The electronic smart device 40 may also communicate with one or more external smart devices (e.g., keyboards, pointing smart devices, Bluetooth smart devices, etc.), one or more smart devices that enable a user to interact with the electronic smart device 40, and / or any smart device that enables the electronic smart device 40 to communicate with one or more other computing smart devices (e.g., routers, modems, etc.). Such communication may be performed through an input / output (I / O) interface 44. Furthermore, the electronic smart device 40 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 45. Fig. 9 As shown, the network adapter 45 communicates with other modules of the electronic intelligent device 40 via the bus 43. It should be understood that although Fig. 9 Not shown, other hardware and / or software modules may be used in conjunction with the electronic intelligent device 40, including but not limited to: microcode, intelligent device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup planning systems.

[0190] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing intelligent device (which can be a personal computer, a server, a terminal device, or a network intelligent device, etc.) to execute the method according to the implementation of the present disclosure.

[0191] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium can include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc. In addition, it stores computer program instructions, and when the computer program instructions are executed by a computer, the computer executes the above method.

[0192] In addition, the path planning method and system for the unmanned tower crane provided in the embodiment of the present invention are introduced in detail above. Specific examples are used herein to illustrate the principle and implementation mode of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation mode and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A path planning method for an unmanned tower crane, characterized in that: Applied to the path planning scenario of unmanned tower cranes; The path planning method of the unmanned tower crane comprises: Traverse the unmanned tower crane and locate the rotating arm, support arm and hook in the unmanned tower crane; locate the unmanned tower crane and perform dynamic traversal on the unmanned tower crane; divide the multiple position control modules in the unmanned tower crane based on the dynamic traversal of the unmanned tower crane; define the rotating arm, support arm and hook based on the identification of multiple position control modules; the rotating arm, support arm and hook are respectively compatible with position control in different dimensions; locate the rotating arm, support arm and hook, and dynamically interact with the rotating arm, support arm and hook, and construct the corresponding dynamic balance logic based on the dynamic interaction of the rotating arm, support arm and hook; control the movement balance of the rotating arm, support arm and hook according to the dynamic balance logic; Define the relative position according to the position of the hook and the target position, and construct multiple movement paths according to the relative position, the rotating arm, and the supporting arm; A first-level path set is defined based on a range of motion constructed by a plurality of moving paths, rotating arms and supporting arms; The second-level path set is defined according to the first-level path set and the environmental characteristics of the target location. At this time, the second-level path set is further formed by the first-level path set; Based on the division of the second-level path set, a plurality of paths to be compared are formed, and a plurality of comparison spaces are formed according to the plurality of paths to be compared; the plurality of comparison spaces are respectively located at different positions; A plurality of path spaces are defined according to the plurality of comparison spaces, the moving trajectory of the hook, and the aerial obstacles, and a final path is planned according to the plurality of path spaces, the rotating arm, the supporting arm, and the hook.

2. The path planning method for an unmanned tower crane according to claim 1, characterized in that: The method of defining a relative position according to the position of the hook and the target position, and constructing multiple moving paths according to the relative position, the rotating arm, and the supporting arm includes: Freeze the position of the hook; Collect the control module of the unmanned tower crane and define the target position according to the control module and the corresponding working signal; The location of the associated hook and the target location; Define the relative position based on the hook position and the target position; Construct multiple predicted trajectories based on relative positions and multiple movement directions; Relative positions, rotating arms, and supporting arms are associated; and multiple moving paths are constructed according to multiple predicted trajectories, dimensions of position control corresponding to the rotating arms, and dimensions of position control corresponding to the supporting arms.

3. The path planning method for an unmanned tower crane according to claim 2, characterized in that: The first-level path set is defined based on the activity range constructed by the multiple moving paths, the rotating arms and the supporting arms, including: Freeze multiple movement paths; Associating the rotating arm with the supporting arm; The range of motion constructed by the rotating arm and the supporting arm is defined according to the dimension of position control corresponding to the rotating arm and the dimension of position control corresponding to the supporting arm; Collect the position of the rotating arm and the position of the supporting arm; A first path parameter is defined according to the plurality of moving paths, the position of the rotating arm, and the position of the supporting arm; a second path parameter is defined based on the position of the rotating arm, the position of the supporting arm, and the range of motion formed by the rotating arm and the supporting arm; The second path parameter and the first path parameter are associated, and a first-level path set is defined according to the second path parameter, the first path parameter, and the plurality of moving paths.

4. The path planning method for an unmanned tower crane according to claim 3, characterized in that: The second-level path set is defined according to the first-level path set and the environmental features of the target location. At this time, the second-level path set is further formed by the first-level path set, including: Freeze the first-level path set; Trigger environmental detection based on the target location and collect multiple environmental parameters and corresponding positions; Defining environmental characteristics of the target location according to multiple environmental parameters and corresponding orientations; Associating the first-level path set and the environmental features where the target location is located; A second-level path set is defined based on the first-level path set and the environmental characteristics of the target location. At this time, the second-level path set is further formed by the first-level path set, and dynamically interacts with the environmental characteristics of the target location based on each first sub-path in the first-level path set.

5. The path planning method for an unmanned tower crane according to claim 4, characterized in that: The division based on the second-level path set forms a plurality of paths to be compared, and a plurality of comparison spaces are formed according to the plurality of paths to be compared; Multiple contrasting spaces are located in different locations, including: Freeze the environmental features of the target location; Defining a plurality of path combinations based on the partitioning of the second-level path set; Defining priorities of multiple paths based on comparison of multiple path combinations; A plurality of paths to be compared are formed according to the priorities of the plurality of paths and the combination of the plurality of paths.

6. The path planning method for an unmanned tower crane according to claim 5, characterized in that: The division based on the second-level path set forms a plurality of paths to be compared, and a plurality of comparison spaces are formed according to the plurality of paths to be compared; Multiple contrasting spaces are located in different locations, including: Freeze multiple paths to be compared; divide multiple path nodes according to the multiple paths to be compared; A plurality of comparison spaces are formed based on the matching of a plurality of path nodes and a plurality of paths to be compared; the plurality of comparison spaces are respectively located at different positions.

7. The path planning method for an unmanned tower crane according to claim 6, characterized in that: The method of defining a plurality of path spaces according to the plurality of comparison spaces, the moving trajectory of the hook and the aerial obstacles, and planning a final path according to the plurality of path spaces, the rotating arm, the supporting arm and the hook comprises: Freeze multiple contrasting spaces; Associating a plurality of comparison spaces with the moving trajectory of the hook, and defining a first space coefficient according to the plurality of comparison spaces and the moving trajectory of the hook; Associating a plurality of contrasting spaces and air obstacles, and defining a second space coefficient according to the plurality of contrasting spaces and air obstacles; defining a plurality of path spaces based on the second space coefficient, the first space coefficient, and the plurality of comparison spaces; Associating multiple path spaces, rotating arms, supporting arms and hooks; interacting with multiple path spaces, rotating arms, supporting arms and hooks in real time; Plan the final path with multiple path spaces, jibs, arms and hooks.

8. The path planning method for an unmanned tower crane according to claim 7, characterized in that: The path planning method of the unmanned tower crane also includes: The movement space of the collection hook; Construct a multi-dimensional coordinate system based on the motion space of the hook; Divide multiple position grids based on a multi-dimensional coordinate system, a rotating arm, a supporting arm, and a hook; A three-dimensional grid map is constructed based on multiple location grids and corresponding perception data. At this time, impassable grids are marked in the three-dimensional grid map, and the impassable grids need to be avoided during path planning; The positions of the three-dimensional grid map where the starting position and the target position of the hoisted object are located are fixed, and the dynamic movement of the rotating arm, the supporting arm and the hook is triggered according to the positions of the three-dimensional grid map where the starting position and the target position of the hoisted object are located.

9. A path planning system for an unmanned tower crane, characterized in that: The path planning system of the unmanned tower crane is applied to the path planning method of the unmanned tower crane as claimed in any one of claims 1 to 8, and the path planning system of the unmanned tower crane comprises: A traversal module is used to traverse the unmanned tower crane and locate the rotating arm, support arm and hook in the unmanned tower crane; locate the unmanned tower crane and perform dynamic traversal on the unmanned tower crane; divide the unmanned tower crane into multiple position control modules based on the dynamic traversal of the unmanned tower crane; define the rotating arm, support arm and hook based on the identification of multiple position control modules; the rotating arm, support arm and hook are respectively compatible with position control in different dimensions; locate the rotating arm, support arm and hook, and dynamically interact with the rotating arm, support arm and hook, and build the corresponding dynamic balance logic based on the dynamic interaction of the rotating arm, support arm and hook; control the movement balance of the rotating arm, support arm and hook according to the dynamic balance logic; A moving path module is used to define a relative position according to the position of the hook and the target position, and to construct multiple moving paths according to the relative position, the rotating arm, and the supporting arm; A first-level path set module, used to define a first-level path set based on a plurality of moving paths, a range of motion constructed by a rotating arm and a supporting arm; A second-level path set module is used to define a second-level path set according to the first-level path set and the environmental characteristics of the target location. At this time, the second-level path set is further formed by the first-level path set; A comparison space module, used to form a plurality of paths to be compared based on the division of the second-level path set, and to form a plurality of comparison spaces according to the plurality of paths to be compared; the plurality of comparison spaces are respectively located at different positions; The final path module is used to define multiple path spaces according to multiple comparison spaces, the movement trajectory of the hook and the aerial obstacles, and plan the final path according to the multiple path spaces, the rotating arm, the support arm and the hook.

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