A safety control system for overhead crane based on Internet of Things

Abstract

The present invention provides an overhead crane safety control system based on the Internet of Things, which constructs a factory twin space corresponding to a target factory, determines a lifting operation area in the factory twin space according to a lifting subject in regional collection data; determines a command display area in the factory twin space based on an operation interval distance in regional collection data, and determines a command window, a command window and a lifting verification window according to the command display area and the lifting operation area; obtains a command subject in the regional collection data, obtains command data according to the command subject, parses the command data to obtain command data, updates the command data to the command window and the command data to the command window; responds to a lifting request from a control end, determines a standard lifting point corresponding to the lifting outline according to the lifting outline of the lifting subject in the lifting subject data, updates the lifting subject data based on the standard lifting point to obtain lifting verification data, and sends it to the lifting verification window to obtain an overhead crane control space.

Description

Technical Field

[0001] The present invention relates to data processing technology, and in particular to an overhead travelling crane safety control system based on the Internet of Things. Background Art

[0002] With the rapid development of Industry 4.0 and Internet of Things technology, automation and intelligence have become important trends in modern industrial production. As an indispensable lifting equipment in industrial production, the safety and efficiency of overhead cranes directly affect the operation of the entire production line. However, traditional overhead crane control systems often face many challenges in complex and changing industrial environments, such as limited vision, operational errors, equipment failures, etc., which may lead to safety accidents.

[0003] In the prior art, it is usually necessary for the crane commander and the driver to cooperate with each other. The commander needs to find a place where the driver can see to give commands, so that the driver can see the commander's instructions and operate the crane. Once the driver's field of vision is blocked, he cannot discover the real situation of the cargo transfer area in time, which is easy to cause safety accidents.

[0004] Therefore, how to intuitively display the corresponding instruction information according to the actual transfer situation so that operators can clearly view the instruction information has become an urgent problem to be solved. Summary of the invention

[0005] The present invention provides an overhead crane safety control system based on the Internet of Things, which can intuitively display corresponding instruction information according to actual transportation conditions so that operators can clearly view the instruction information.

[0006] A first aspect of the present invention provides an overhead travelling crane safety control system based on the Internet of Things, comprising:

[0007] A construction module is used to construct a factory twin space corresponding to the target factory, wherein the factory twin space includes a virtual overhead crane and a virtual main body area of ​​the virtual overhead crane, and a hoisting operation area in the factory twin space is determined according to the hoisting main body in the regional collection data;

[0008] An identification module, used to determine a command display area in the twin space of the plant area based on the operation interval distance in the area collection data, and determine a command window, a command window and a hoisting verification window according to the command display area and the hoisting operation area;

[0009] An updating module, used for acquiring a command subject in the regional collection data, obtaining command data according to the command subject, parsing the command data to obtain instruction data, updating the command data to the command window, and updating the instruction data to the instruction window;

[0010] The verification module is used to respond to the lifting request of the control end, determine the standard lifting points corresponding to the lifting contour according to the lifting contour of the lifting body in the lifting body data, update the lifting body data based on the standard lifting points to obtain the lifting verification data and send it to the lifting verification window to obtain the overhead crane control space.

[0011] Optionally, in a possible implementation of the first aspect, determining the hoisting operation area in the factory twin space according to the hoisting subject in the regional collection data includes:

[0012] Controlling the regional acquisition devices at the target plant area to perform acquisition, obtaining sub-regional acquisition data corresponding to each of the regional acquisition devices, wherein the regional acquisition devices have corresponding regional numbers, and sequentially splicing the sub-regional acquisition data based on the regional numbers to obtain regional acquisition data;

[0013] Obtaining the main body contour line of the hoisting main body in the regional acquisition data, and counting the number of the main body contour lines to obtain the number of main body lines corresponding to the hoisting main body;

[0014] When it is determined that the number of the main body lines is equal to 1 or 4, the longest area edge line in the virtual main body area is obtained as the walking area line, and a vertical line perpendicular to the walking area line is constructed as a direction positioning vertical line;

[0015] Obtain directions on both sides of the vertical line along the direction positioning as the area construction direction, determine contour points on the main contour line as main contour points, select the main contour points at the edge of the area construction direction as selected contour points, and construct a hoisting area line parallel to the walking area line based on the selected contour points;

[0016] When it is determined that the number of the main body lines is equal to 2, obtaining the longest area edge line in the virtual main body area as the hoisting area line;

[0017] When it is determined that the number of the main body lines is equal to 3, the longest area edge line in the virtual main body area is obtained as the walking area line, and a vertical line perpendicular to the walking area line is constructed as a direction positioning vertical line;

[0018] A walking area line that does not intersect the main body contour line is obtained as a hoisting area line on one side, and a direction along the direction positioning vertical line and away from the hoisting area line is determined as a selected construction direction, and the main body contour point at the edge of the selected construction direction is selected as a selected contour point, and a hoisting area line on the other side parallel to the walking area line is constructed based on the selected contour point;

[0019] The hoisting operation area in the twin space of the factory area is determined according to the hoisting area line.

[0020] Optionally, in a possible implementation of the first aspect, determining the hoisting operation area in the factory twin space according to the hoisting area line includes:

[0021] Obtaining an upper boundary acquisition distance of an upper boundary line corresponding to a target plant area in the regional acquisition data, determining a plant area overhead view of the plant area twin space according to a preset overhead angle, and determining an upper boundary overhead distance of an upper boundary line in the plant area overhead view;

[0022] Obtaining a scaling factor according to a ratio of the upper boundary overlooking distance to the upper boundary acquisition distance;

[0023] Determine the boundary lines on both sides of the intersection of the target plant area and the hoisting area line in the regional acquisition data as reference scaling boundary lines, and the boundary lines on the other two sides as reference positioning boundary lines;

[0024] Acquire the length of the reference scaling boundary line as the connection distance, and the number of pixels in the reference scaling boundary line as the number of connections;

[0025] According to the ratio of the connection distance to the number of connections, a unit length is obtained, and a reference positioning boundary line closest to the hoisting area line is used as an adjacent boundary line;

[0026] Connecting the end points of the hoisting area line and the corresponding adjacent boundary line on the same side to obtain a reference positioning line, and obtaining the number of pixel points in the reference positioning line as a reference positioning number;

[0027] Based on the product of the reference positioning quantity and the unit length, a reference positioning distance is obtained, and according to the product of the reference positioning distance and the scaling factor, a spatial positioning distance is obtained;

[0028] Determine a boundary line in the plant area top view corresponding to the adjacent boundary line as a spatial positioning boundary line, and determine a hoisting positioning line in the plant area top view according to the spatial positioning distance and the corresponding spatial positioning boundary line;

[0029] Based on the hoisting positioning line, a plane perpendicular to the top view of the factory is constructed in the factory twin space as a hoisting positioning surface, and the area between the hoisting positioning surfaces in the factory twin space is obtained as the hoisting operation area in the factory twin space.

[0030] Optionally, in a possible implementation of the first aspect, the command display area in the plant twin space is determined based on the operation interval distance in the area acquisition data, and the instruction window, the command window and the hoisting verification window are determined according to the command display area and the hoisting operation area, including:

[0031] Based on OpenCV, the outline of the overhead crane operating room in the regional acquisition data is obtained as the driving outline, and the center point of the driving outline is obtained as the driving outline midpoint;

[0032] Obtaining the boundary distance between the midpoint of the driving profile and each boundary line corresponding to the target plant area in the regional acquisition data as the operation interval distance;

[0033] Obtaining the spatial distance corresponding to each boundary line in the plant area overhead view according to the product of the operation interval distance and the scaling factor;

[0034] Determine, based on the spatial distance, a driving overhead view midpoint corresponding to the driving contour midpoint in the factory area overhead view;

[0035] Retrieving a preset display area, obtaining the center point of the preset display area as the display midpoint, aligning the display midpoint with the driving bird's-eye view midpoint, and obtaining the command display area in the plant area bird's-eye view;

[0036] Obtaining the hoisting positioning lines of the hoisting operation area in the overhead view of the plant area, and determining the area between the hoisting positioning lines as the hoisting plane area;

[0037] According to the intersection of the hoisting plane area and the command display area, an intersection display area is obtained, and according to the difference set of the command display area and the intersection display area, an indication area is obtained;

[0038] Any one indication area is selected as the hoisting indication area, and the remaining indication areas are selected as the verification indication areas, a command window and a command window are constructed in the hoisting indication area, and a hoisting verification window is constructed in the verification indication area.

[0039] Optionally, in a possible implementation manner of the first aspect, obtaining a command subject in the regional collection data, obtaining command data according to the command subject, parsing the command data to obtain instruction data, updating the command data to the command window, and updating the instruction data to the instruction window, includes:

[0040] Retrieving command pixel values, identifying a command subject in the regional data collection based on the command pixel values, determining a region number of the sub-region data collection where the command subject is located, and controlling a corresponding lateral data collection device to collect data based on the region number to obtain command data;

[0041] Extracting joint nodes of key parts of the command subject in the command data based on OpenCV, calling a preset instruction comparison table, wherein the preset instruction comparison table includes preset instructions for preset part combinations corresponding to each joint distance interval;

[0042] According to the preset part combination, the distance between the corresponding joint nodes is obtained as the command distance, and based on the comparison information between the command distance and the preset instruction comparison table, the corresponding preset instruction is determined as the command instruction;

[0043] The virtual command data corresponding to the command instruction is retrieved as the command data, and the command data is updated to the command window, and the command data is updated to the command window.

[0044] Optionally, in a possible implementation of the first aspect, the method further includes:

[0045] The area number of the sub-area where the command subject is located to collect data is obtained as the control number, and when it is determined that the number of the control number is greater than 1, the corresponding lateral collection device is controlled to collect data based on the control number to obtain the command data;

[0046] The command data are spliced ​​according to the serial number of the lateral acquisition device to obtain fused command data, the command subject contour of the command subject in the fused command data is obtained based on OpenCV, and the contour pixel points of the command subject contour are extracted as command pixel points;

[0047] Selecting the leftmost and rightmost command pixel points as longitudinal pixel points, and determining the uppermost and lowermost command pixel points as transverse pixel points;

[0048] constructing a longitudinal interception line based on the longitudinal pixel points, and constructing a transverse interception line based on the transverse pixel points;

[0049] The fused command data is intercepted based on the longitudinal interception line and the transverse interception line to obtain the cropped command data.

[0050] Optionally, in a possible implementation of the first aspect, the responding to the hoisting request of the control end, determining a standard hoisting point corresponding to the hoisting profile according to the hoisting profile of the hoisting body in the hoisting body data, updating the hoisting body data based on the standard hoisting point to obtain hoisting verification data and sending it to the hoisting verification window to obtain the overhead crane control space, includes:

[0051] In response to the hoisting request of the control end, the hoisting collection device is controlled to collect data of the hoisting body to obtain the hoisting body data;

[0052] Acquire the image center point corresponding to the hoisting main body data as the construction center, construct a hoisting coordinate system based on the construction center, and coordinate the hoisting main body data according to the hoisting coordinate system;

[0053] Determine a hoisting contour of the hoisting body in the hoisting body data, and obtain contour points corresponding to the hoisting contour as hoisting contour points;

[0054] Obtain the minimum horizontal coordinate, maximum horizontal coordinate, minimum vertical coordinate and maximum vertical coordinate of the lifting contour point;

[0055] Obtaining a horizontal distance based on an absolute value of a difference between the minimum horizontal coordinate and the maximum horizontal coordinate, and obtaining a vertical distance based on an absolute value of a difference between the minimum vertical coordinate and the maximum vertical coordinate;

[0056] Obtaining a graphic judgment value based on an absolute value of a difference between the horizontal distance and the vertical distance;

[0057] When it is determined that the graphic judgment value is less than or equal to the preset judgment value, a standard lifting point corresponding to the lifting profile is determined according to a balanced lifting strategy and the lifting profile;

[0058] When it is determined that the graphic judgment value is greater than the preset judgment value, a standard hoisting point corresponding to the hoisting profile is determined according to the adapted hoisting strategy and the hoisting profile;

[0059] The lifting main body data is updated based on the standard lifting point to obtain lifting verification data which is sent to the lifting verification window to obtain the overhead crane control space.

[0060] Optionally, in a possible implementation manner of the first aspect, when determining that the graphic judgment value is less than or equal to a preset judgment value, determining a standard lifting point corresponding to the lifting profile according to a balanced lifting strategy and the lifting profile includes:

[0061] When it is determined that the graphic judgment value is less than or equal to the preset judgment value, the hoisting contour is decomposed based on the vertices in the hoisting contour to obtain a plurality of contour line segments, and contour vertices located on the same contour line segment are obtained as contour line segment points;

[0062] The coordinates corresponding to the line segment points of the contour are obtained as the line segment vertex coordinates, and the mean is calculated according to the line segment vertex coordinates to obtain the standard lifting point corresponding to the lifting contour.

[0063] Optionally, in a possible implementation manner of the first aspect, when determining that the graphic judgment value is greater than a preset judgment value, determining a standard hoisting point corresponding to the hoisting profile according to an adaptive hoisting strategy and the hoisting profile includes:

[0064] When it is determined that the graphic judgment value is greater than the preset judgment value, a longitudinal area line is constructed according to the minimum horizontal coordinate and the maximum horizontal coordinate of the hoisting contour point;

[0065] constructing a transverse region line based on the minimum ordinate and the maximum ordinate, determining a wrapping region based on the longitudinal region line and the longitudinal region line, and determining an outline of the wrapping region as a wrapping outline;

[0066] Obtaining the intersection of the package contour and the hoisting contour to obtain a plurality of positioning contour line segments and / or positioning contour points, and obtaining the coordinates corresponding to two endpoints on the positioning contour line segments to obtain positioning endpoint coordinates;

[0067] The mean value is calculated according to the coordinates of the positioning end points to obtain the standard lifting point corresponding to the lifting contour, and the coordinates corresponding to the positioning contour points are used as the standard lifting point.

[0068] Optionally, in a possible implementation of the first aspect, the method further includes:

[0069] The number of the standard hoisting points is obtained to obtain the standard number, and the number of the fixed points of the overhead crane is retrieved to obtain the fixed number corresponding to the overhead crane;

[0070] When it is determined that the fixed number is less than the standard number, a mean value is calculated based on the minimum horizontal coordinate and the maximum horizontal coordinate of the lifting contour point to obtain the central horizontal coordinate;

[0071] Perform mean calculation based on the minimum ordinate and the maximum ordinate of the lifting contour point to obtain the center ordinate;

[0072] According to the central horizontal coordinate and the central vertical coordinate, a lifting center coordinate corresponding to the lifting profile is obtained;

[0073] A longitudinal rotation line is constructed based on the hoisting center coordinates, the longitudinal rotation line is rotated and copied in sequence according to a preset rotation angle and a preset direction, and the preset rotation angles are accumulated in sequence to obtain an accumulated angle, until the accumulated angle is equal to a flat angle, thereby obtaining a plurality of rotation segmentation lines;

[0074] Taking the longitudinal rotation straight line as the starting point, the standard hoisting points of the angle intervals corresponding to the adjacent rotation dividing lines are counted in sequence based on the preset direction to obtain a standard hoisting sequence;

[0075] The standard lifting sequence is segmented based on the flat angle to obtain two standard subsequences;

[0076] Sequentially selecting the first standard hoisting point in the standard subsequence as the selected hoisting point, deleting and updating the standard subsequence based on the selected hoisting point to obtain the current standard subsequence, and counting the number of the selected hoisting points as the selected number;

[0077] Repeat the step of counting the number of the selected hoisting points as the selected number until the selected number is greater than the fixed number, and then count the selected hoisting points in sequence to obtain a selected hoisting sequence;

[0078] Select the last two selected lifting points in the selected lifting sequence as the restored lifting points, delete the restored lifting points in the selected lifting sequence, obtain the current selected lifting sequence, obtain the number of selected lifting points in the current selected lifting sequence, and obtain the current selected number;

[0079] When it is determined that the current selected number is less than the fixed number, the restored hoisting point is restored to the first position of the corresponding current standard subsequence to obtain a restored subsequence;

[0080] The number of standard lifting points in the restored subsequence is obtained to obtain a screening number, and the restored subsequence corresponding to the largest screening number is selected as the screening subsequence;

[0081] When it is determined that the screening number corresponding to the screening subsequence is an even number, two standard hoisting points in the middle of the screening subsequence are selected as screening hoisting points, and any one of the screening hoisting points is selected as a selected hoisting point and added to the current selected hoisting sequence;

[0082] When it is determined that the screening number corresponding to the screening subsequence is an odd number, a standard lifting point located in the middle of the screening subsequence is selected as the selected lifting point and added to the current selected lifting sequence.

[0083] According to a second aspect of the present invention, an electronic device is provided, comprising: a memory, a processor and a computer program, wherein the computer program is stored in the memory, and the processor runs the computer program to execute the first aspect of the present invention and various methods that may be involved in the first aspect.

[0084] According to a third aspect of the present invention, a storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, it is used to implement the first aspect of the present invention and various methods that may be involved in the first aspect.

[0085] The beneficial effects of the present invention are as follows:

[0086] 1. The present invention can intuitively display the corresponding command information according to the actual transportation situation, so that the operator can clearly view the command information. First, the present invention will construct a corresponding factory twin space according to the target factory area, and determine the hoisting operation area, so that the corresponding command information can be intuitively displayed later, which is convenient for the crane operator to clearly view, and the corresponding command display area in the factory twin space can be determined according to the regional collection data, and the command window, command window and hoisting verification window can be obtained through the command display area and the hoisting operation area, so that the corresponding information can be displayed in the corresponding window area later, for the operator to view intuitively, to avoid safety accidents caused by obstructed vision, and finally, the present invention can determine the corresponding standard hoisting point according to the contour shape of the hoisting body, so as to provide it to relevant personnel for viewing and reference, thereby improving the safety of hoisting.

[0087] 2. The present invention can determine the instruction window, command window and hoisting verification window corresponding to the factory twin space based on the regional acquisition data, and update the corresponding instruction data, command data and hoisting verification data in the window to facilitate personnel viewing and avoid safety accidents caused by obstructed vision. Among them, the present invention can classify the number of main lines obtained from the regional acquisition data, so as to determine the hoisting operation area corresponding to the different number of main lines, so as to determine the accurate hoisting operation area in the factory twin space, thereby constructing the corresponding window area, and the present invention can also analyze the regional acquisition data to determine the command data, instruction data and hoisting verification data corresponding to the overhead crane, and update them in the corresponding window for intuitive display, so as to facilitate the operator's clear viewing.

[0088] 3. The present invention can automatically determine the standard lifting points corresponding to goods of different shapes for reference by personnel, and facilitate the overhead crane to ensure that the goods are subjected to balanced force during the lifting process, thereby avoiding lifting tilt and improving lifting safety. Among them, the present invention can identify the lifting contour of the corresponding lifting body, thereby identifying the corresponding graphics of the lifting goods according to the coordinates, and then adopting targeted strategies to determine the standard lifting points corresponding to the lifting contour, and the present invention can also compare and analyze the number of inherent hooks of the overhead crane with the number of standard lifting points, thereby determining the points that meet the lifting conditions, and updating the corresponding lifting body data to display in the lifting verification window, which is convenient for personnel to view and allows the lifting body to be safely lifted. BRIEF DESCRIPTION OF THE DRAWINGS

[0089] Figure 1 This is a schematic diagram of the structure of an overhead crane safety control system based on the Internet of Things provided by the present invention;

[0090] Figure 2 A schematic diagram of splicing sub-region collected data provided by the present invention;

[0091] Figure 3 A schematic diagram showing that the number of main body lines is 1 provided by the present invention;

[0092] Figure 4 A schematic diagram showing that the number of main body lines is 4 provided by the present invention;

[0093] Figure 5 A schematic diagram of the hardware structure of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0094] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0095] like Figure 1 As shown, the present invention provides a schematic diagram of the structure of an overhead crane safety control system based on the Internet of Things, and the overhead crane safety control system based on the Internet of Things includes:

[0096] S1, a construction module, is used to construct a factory twin space corresponding to the target factory area. The factory twin space includes a virtual overhead crane and a virtual main body area of ​​the virtual overhead crane. The hoisting operation area in the factory twin space is determined according to the hoisting body in the area collection data.

[0097] It should be noted that when an overhead crane transfers goods in a factory, in order to ensure that the goods can be transferred safely, the cooperation of at least two people is required. In order to avoid unclear instructions due to blocked vision, a twin space of the factory can be constructed so that the corresponding instruction information can be intuitively displayed later, which is convenient for the overhead crane operator to view clearly.

[0098] It can be understood that the target factory area is a factory area that requires safety control of the overhead crane, and the factory area twin space is a twin virtual space corresponding to the target factory area, including a virtual overhead crane and a virtual main area of ​​the virtual overhead crane. The virtual overhead crane is a virtual digital overhead crane corresponding to the actual overhead crane, including the corresponding main beam, cockpit, etc. The virtual main area is the area corresponding to the virtual overhead crane in the factory area twin space, the regional collection data is the image data collected for monitoring the factory area, the lifting body is the cargo lifted by the overhead crane, and the lifting operation area is the area for loading and shipping by the lifting body, for example, the area from the starting point to the end point of the cargo and the area passed during the transfer process.

[0099] In some embodiments, the specific implementation of step S1 (determining the hoisting operation area in the factory twin space according to the hoisting subject in the regional collection data) includes:

[0100] S11, control the regional acquisition device at the target factory area to collect data, and obtain sub-regional acquisition data corresponding to each of the regional acquisition devices, wherein the regional acquisition device has a corresponding regional number, and the sub-regional acquisition data are sequentially spliced ​​based on the regional number to obtain regional acquisition data.

[0101] It should be noted that in actual applications, since the target factory area occupies a large area, there are multiple area acquisition devices in the factory area so that the image information in the corresponding area can be clearly captured. Each area acquisition device has a corresponding area number and acquisition area range, so that the corresponding area image can be determined according to the area number later, and the collected sub-area images can be spliced ​​to obtain a monitoring image of the entire area corresponding to the target factory area.

[0102] It can be understood that the regional acquisition device is a device for acquiring regional images, such as a camera that monitors the top of the target factory area looking down, etc. The sub-region acquisition data is the monitoring image taken by each regional acquisition device, and the regional number is the number of the area to which the regional acquisition device belongs, such as No. 1, No. 2...No. 9, and the regional acquisition data is the monitoring image of the entire area corresponding to the target factory area.

[0103] It is not difficult to understand that each area acquisition device has a preset corresponding shooting area range, so Figure 2 As shown, the sub-regional acquisition data captured by multiple regional acquisition devices can be spliced ​​to obtain clear regional acquisition data, so as to determine the corresponding lifting operation area according to the regional acquisition data later.

[0104] S12, obtaining the main body contour lines of the hoisting main body in the regional acquisition data, and counting the number of the main body contour lines to obtain the number of main body lines corresponding to the hoisting main body.

[0105] It is understandable that since the volume of the goods transferred by the overhead crane can be large or small, the corresponding goods may overlap with the two main beams in the overhead area collection data obtained by the area collection device. There is a certain distance between the two main beams corresponding to the overhead crane. When the hoisted goods overlap with the main beams, the number of main contour lines obtained is also different. Therefore, the number of main contour lines corresponding to the hoisting body can be obtained, so as to subsequently determine the hoisting operation area, so that during the operation, there are no idle personnel in the hoisting operation area to ensure the safety of personnel.

[0106] Among them, the main body contour line is the contour line corresponding to the hoisting body in the regional acquisition data, and the number of main body lines is the number of main body contour lines corresponding to the hoisting body.

[0107] S13, when it is determined that the number of the main body lines is equal to 1 or 4, the longest area edge line in the virtual main body area is obtained as the walking area line, and a vertical line perpendicular to the walking area line is constructed as a direction positioning vertical line.

[0108] It can be understood that when the number of main lines is 1, such as Figure 3 As shown, when the number of main lines is 4, such as Figure 4 When shown, it means that the lifting body can be displayed between the two main beams, and the extracted contour lines are not divided, so the number of main lines can be determined to be 1. When the lifting body is large and exceeds the boundaries of the two main beams, the contour of the lifting body will be blocked by the main beams and interrupted in the regional collection data, so that 4 main contour lines can be obtained, and then the corresponding lifting operation area can be determined according to the number of main lines.

[0109] Among them, the area edge line is the edge line corresponding to the virtual main body area. Since the lifting body is moved and transported on a longer main beam, the main beam corresponds to the longest area edge line in the virtual main body area. Therefore, the walking area line can be the longest area edge line in the virtual main body area. The direction positioning vertical line is the vertical line in the direction of the positioning area, that is, the vertical line perpendicular to the walking area line.

[0110] Through the above implementation, the corresponding direction positioning vertical line is determined, so that the corresponding lifting operation area can be obtained according to the direction positioning vertical line later.

[0111] S14, obtaining the directions on both sides of the vertical line along the direction positioning as the area construction direction, and determining the contour points on the main contour line as the main contour points, selecting the most edge main contour points in the area construction direction as the selected contour points, and constructing a lifting area line parallel to the walking area line based on the selected contour points.

[0112] It can be understood that the regional construction direction is to determine the construction direction of the lifting operation area, that is, the direction extending to both sides along the direction positioning vertical line, the main contour point is the contour point on the main contour line, the selected contour point is the main contour point at the edge position in the regional construction direction, and the lifting area line is to determine the boundary line of the lifting operation area, that is, the line segment passing through the selected contour point and parallel to the walking area line.

[0113] Through the above implementation, the present invention can construct a hoisting area line corresponding to a main line number of 1 or 4, so as to obtain a corresponding hoisting operation area.

[0114] S15, when it is determined that the number of the main body lines is equal to 2, obtaining the longest area edge line in the virtual main body area as the hoisting area line.

[0115] It can be understood that when the number of main lines is 2, it can be explained that the lifting body has two sides overlapping with the two main beams respectively, so that two main contour edge lines can be obtained. Therefore, it can be explained that the corresponding lifting body does not exceed the virtual body area. In order to ensure safe operation within the corresponding area, the longest area edge line in the virtual area can be used as the lifting area line, so that the subsequently obtained lifting operation area can enable the lifting body to operate safely.

[0116] S16, when it is determined that the number of the main body lines is equal to 3, the longest area edge line in the virtual main body area is obtained as the walking area line, and a vertical line perpendicular to the walking area line is constructed as a direction positioning vertical line.

[0117] It can be understood that when the number of main lines is 3, it means that there is one side of the lifting body that is divided by the main beam part, so that 3 main contour edge lines will be obtained. In order to determine the corresponding lifting operation area, the corresponding longest area edge line can be used as the walking area line, and a vertical positioning line perpendicular to the walking area line is constructed, so as to subsequently determine the accurate lifting operation area, thereby identifying personnel in the lifting operation area and ensuring the safety of personnel during the operation of the lifting body.

[0118] S17, obtaining a walking area line that does not intersect with the main contour line as a hoisting area line on one side, and determining a direction along the direction to locate the vertical line and away from the hoisting area line as a selected construction direction, selecting the outermost main contour point in the selected construction direction as a selected contour point, and constructing a hoisting area line on the other side parallel to the walking area line based on the selected contour point.

[0119] It can be understood that the walking area line that does not intersect with the theme contour line is used as the lifting area line on one side, so as to obtain the corresponding lifting operation area later.

[0120] Among them, the selected construction direction is the direction along the direction positioning vertical line away from the lifting area line, so that the outermost main contour point can be determined as the selected contour point according to the selected construction direction, and then the lifting area line passing through the selected contour point and parallel to the other side of the walking area line can be constructed.

[0121] Through the above implementation, the hoisting area lines on both sides can be determined, and then the hoisting operation area corresponding to the corresponding hoisting body can be determined according to the hoisting area lines.

[0122] S18, determining the hoisting operation area in the factory twin space according to the hoisting area line.

[0123] It can be understood that the area between the lifting area lines is used as the lifting operation area so that the area image corresponding to the lifting operation area in the area acquisition data can be identified to ensure that there are no irrelevant personnel in the corresponding area. When there are other personnel, warning prompts can be given to ensure the safety of the personnel.

[0124] In some embodiments, the specific implementation of step S18 (determining the hoisting operation area in the factory twin space according to the hoisting area line) includes:

[0125] S181, obtain the upper boundary acquisition distance of the upper boundary line corresponding to the target plant area in the regional acquisition data, determine the plant top view of the plant twin space according to a preset top view angle, and determine the upper boundary top view distance of the upper boundary line in the plant top view.

[0126] It can be understood that the factory twin space is obtained based on a certain conversion ratio of the regional collection data. Therefore, the upper boundary collection distance corresponding to the target factory area in the regional collection data and the upper boundary overlooking distance in the factory twin space corresponding to the factory overhead view can be obtained, so as to subsequently calculate the corresponding conversion ratio and determine the corresponding lifting operation area in the factory twin space.

[0127] Among them, the upper boundary collection distance is the length distance of the upper boundary line corresponding to the target factory area in the regional collection data, the preset overlooking angle is a pre-set overlooking angle so as to obtain a bird's-eye view of the factory twin space, the factory bird's-eye view is a bird's-eye view of the factory twin space, and the upper boundary overlooking distance is the length distance of the upper boundary line corresponding to the factory bird's-eye view.

[0128] S182: Obtain a scaling factor according to a ratio of the upper boundary overlooking distance to the upper boundary acquisition distance.

[0129] It can be understood that the scaling factor is the proportional coefficient of the plant twin space converted from the regional acquisition data, that is, the ratio of the upper boundary overlooking distance to the upper boundary acquisition distance.

[0130] Through the above implementation, the corresponding scaling factor can be obtained, so as to subsequently determine the distance between the lifting operation area and the upper boundary line in the factory twin space according to the distance between the lifting operation area and the upper boundary in the regional acquisition data.

[0131] S183, determining the boundary lines on both sides of the intersection of the target plant area and the lifting area line in the regional acquisition data as reference scaling boundary lines, and determining the boundary lines on the other two sides as reference positioning boundary lines.

[0132] It can be understood that the reference scaling boundary line is the boundary line on both sides of the intersection of the target plant area and the lifting area line in the regional acquisition data, and the reference positioning boundary line is the boundary line on both sides of the non-intersection of the target plant area and the lifting area line in the regional acquisition data.

[0133] Through the above-mentioned implementation mode, the present invention can obtain the corresponding reference scaling boundary line and the reference positioning boundary line, so as to subsequently determine the corresponding lifting operation area in the factory twin space.

[0134] S184, obtaining the length of the reference scaling boundary line as the connection distance, and the number of pixels in the reference scaling boundary line as the number of connections.

[0135] It should be noted that the traditional way to calculate the conversion ratio is to establish a coordinate system and calculate the ratio of the image to the twin space through the coordinates. This solution is to determine the length of the boundary line in the regional acquisition data and the corresponding number of pixels. Subsequently, the length from the boundary line to the lifting operation area can be determined by the number of pixels, and then the corresponding position of the lifting operation area in the factory twin space can be obtained according to the scaling factor.

[0136] It can be understood that the connection distance is the length of the reference scaling boundary line, and the connection number is the number of pixels in the reference scaling boundary line.

[0137] S185, obtaining a unit length according to the ratio of the connection distance to the number of connections, and taking the reference positioning boundary line closest to the hoisting area line as an adjacent boundary line.

[0138] It can be understood that the unit length is the length distance corresponding to a single pixel point, that is, the ratio of the connection distance to the number of connections. In order to reduce the number of pixel points to be identified, the reference positioning boundary line closest to the lifting area line can be selected as the adjacent boundary line, so as to subsequently calculate the distance between the adjacent boundary lines, thereby determining the lifting operation area at the distance from the upper boundary line in the twin space of the factory area.

[0139] S186, connecting the end points of the hoisting area line and the corresponding adjacent boundary line on the same side to obtain a reference positioning line, and obtaining the number of pixel points in the reference positioning line as a reference positioning number.

[0140] It can be understood that the reference positioning line is the reference line for determining the position of the lifting operation area, that is, the line segment between the lifting area line and the endpoints of the corresponding adjacent boundary line located on the same side, and the reference positioning number is the number of pixel points for determining the position of the lifting operation area, that is, the number of pixel points in the reference positioning line.

[0141] S187, obtaining a reference positioning distance based on the product of the reference positioning quantity and the unit length, and obtaining a spatial positioning distance based on the product of the reference positioning distance and the scaling factor.

[0142] It can be understood that the reference positioning distance is the distance between the corresponding lifting operation area and the reference positioning boundary line in the regional collection data, that is, the length distance of the reference positioning line, which can be obtained by multiplying the reference positioning quantity and the unit length. The spatial positioning distance is the length distance between the lifting operation area and the virtual factory boundary line in the factory twin space, that is, the product of the reference positioning distance and the scaling factor.

[0143] It is not difficult to understand that after calculating the spatial positioning distance, it is convenient to calculate the distance in the overhead view of the factory area.

[0144] S188, determining a boundary line in the plant area overhead view corresponding to the adjacent boundary line as a spatial positioning boundary line, and determining a hoisting positioning line in the plant area overhead view according to the spatial positioning distance and the corresponding spatial positioning boundary line.

[0145] It can be understood that after determining the spatial positioning boundary line corresponding to the adjacent boundary line in the regional acquisition data in the overhead view of the factory, the corresponding lifting positioning line can be determined based on the spatial positioning distance length from the spatial positioning boundary line, so that the lifting operation area in the factory twin space can be obtained subsequently according to the lifting positioning line.

[0146] Among them, the spatial positioning boundary line is the boundary line corresponding to the adjacent boundary line in the overhead view of the factory area, and the lifting positioning line is the regional boundary line corresponding to the lifting operation area in the overhead view of the factory area.

[0147] S189, constructing a plane perpendicular to the top view of the factory in the factory twin space based on the hoisting positioning line as a hoisting positioning surface, and obtaining the area between the hoisting positioning surfaces in the factory twin space as a hoisting operation area in the factory twin space.

[0148] It can be understood that since the factory twin space is a three-dimensional virtual space, in order to identify personnel who do not affect the lifting safety in the corresponding three-dimensional lifting action area space, the lifting operation area in the factory twin space can be determined based on the constructed lifting positioning surface.

[0149] Among them, the lifting positioning surface is the positioning surface for determining the lifting operation area, that is, the plane of the vertical factory top view in the factory twin space. The lifting operation area in the factory twin space is the spatial area between the lifting positioning surfaces in the factory twin space.

[0150] S2, an identification module, is used to determine the command display area in the factory twin space based on the operation interval distance in the area collection data, and determine the instruction window, command window and hoisting verification window according to the command display area and the hoisting operation area.

[0151] It can be understood that in order to intuitively display the identified relevant information in the factory twin space so that the overhead crane operator can clearly view the corresponding operating instructions, the corresponding command display area in the factory twin space can be determined according to the regional collection data, and the command window, command window and hoisting verification window can be obtained through the command display area and the hoisting operation area, so that the corresponding information can be subsequently displayed in the corresponding window area for the operator to intuitively view and avoid safety accidents caused by obstructed vision.

[0152] Among them, the operating interval distance is the distance between the overhead crane operating room and the factory boundary, the command display area is the display area that displays the overhead crane operating room in the factory twin space, the command window is the window that displays the command information, the command window is the display window that displays the command personnel information, and the lifting verification window is the display window for verifying the lifting standard point.

[0153] In some embodiments, the specific implementation of step S2 (determining the command display area in the plant twin space based on the operation interval distance in the area acquisition data, and determining the instruction window, command window and hoisting verification window according to the command display area and the hoisting operation area) includes:

[0154] S21, based on OpenCV, obtaining the outline of the overhead crane operating room in the regional acquisition data as a driving outline, and obtaining the center point of the driving outline as a driving outline midpoint.

[0155] It can be understood that the image contour corresponding to the overhead crane operating room in the regional acquisition data can be obtained through OpenCV image processing technology, and the center point of the corresponding contour can be obtained as the midpoint of the driving contour, so that the operation interval distance can be obtained according to the midpoint of the driving contour, and then the command display area can be determined to obtain each information display window.

[0156] The driving contour is the contour of the overhead crane operating room in the regional collection data, and the driving contour midpoint is the center point of the driving contour.

[0157] S22, obtaining the boundary distance between the midpoint of the driving profile and each boundary line corresponding to the target factory area in the regional acquisition data as the operation interval distance.

[0158] It can be understood that the boundary distance is the distance between the midpoint of the driving profile and the corresponding boundary lines of the target plant area in the regional acquisition data.

[0159] It is not difficult to understand that after obtaining the operation interval distance, the spatial distance corresponding to each boundary line in the factory overhead view can be determined based on the scaling coefficient corresponding to the regional acquisition data and the factory twin space, and then the driving overhead view midpoint corresponding to the driving contour midpoint in the factory overhead view can be determined.

[0160] S23, obtaining the spatial distance corresponding to each boundary line in the plant area overhead view according to the product of the operation interval distance and the scaling factor.

[0161] It can be understood that the spatial distance is the distance corresponding to each boundary line corresponding to each operation interval distance in the top view of the factory area, that is, the product of the operation interval distance and the scaling factor.

[0162] S24, determining the driving overhead view midpoint corresponding to the driving contour midpoint in the factory area overhead view based on the spatial distance.

[0163] It is understandable that the midpoint of the driving view corresponding to the midpoint of the driving contour in the plant top view can be determined based on the spatial distances corresponding to the boundary lines, such as the lengths corresponding to the four boundaries of top, bottom, left and right.

[0164] Among them, the driving overhead view midpoint is the position point corresponding to the driving outline midpoint in the plant overhead view, so as to subsequently determine the corresponding command display area.

[0165] S25, calling a preset display area, obtaining the center point of the preset display area as the display midpoint, aligning the display midpoint with the driving bird's-eye view midpoint, and obtaining the command display area in the plant area bird's-eye view.

[0166] It can be understood that the display midpoint corresponding to the preset display area is aligned with the midpoint of the driving overhead view, so that the preset display area can be positioned to obtain the command display area in the overhead view of the factory area.

[0167] The preset display area is a preset area for displaying data information, and the display midpoint is the center point of the preset display area.

[0168] S26, obtaining the hoisting positioning lines of the hoisting operation area in the overhead view of the factory area, and determining the area between the hoisting positioning lines as the hoisting plane area.

[0169] It can be understood that after obtaining the lifting positioning line of the lifting operation area in the overhead view of the factory, the lifting plane area can be determined, so that the corresponding indication area can be obtained according to the command display area, so that the corresponding display window can be constructed in the corresponding indication area, so that the corresponding lifting information can be intuitively displayed.

[0170] Among them, the lifting plane area is the area between the lifting positioning lines.

[0171] S27, obtaining an intersection display area according to the intersection of the hoisting plane area and the command display area, and obtaining an indication area according to the difference set of the command display area and the intersection display area.

[0172] It can be understood that since the lifting plane area is the display area corresponding to the overhead crane, and includes the area corresponding to the overhead crane operating box, in order to determine the blank area for displaying command information, etc., it is necessary to obtain the intersection display area so as to determine the indication area, so that a window can be constructed in the corresponding indication area for information display later.

[0173] Among them, the intersection display area is the intersection area of ​​the lifting plane area and the command display area, which is used to determine the area of ​​the indication area. The indication area is the difference area between the command display area and the intersection display area, that is, the blank area corresponding to the overhead crane operating box is removed from the intersection display area.

[0174] S28, selecting any one indication area as a hoisting indication area, and the remaining indication areas as verification indication areas, constructing a command window and a command window in the hoisting indication area, and constructing a hoisting verification window in the verification indication area.

[0175] It can be understood that the hoisting indication area is an arbitrarily selected indication area used to construct the instruction window and the command window area, and the verification indication area is the area for constructing the hoisting verification window, that is, the indication area excluding the hoisting indication area.

[0176] Through the above-mentioned implementation mode, the present invention can determine the corresponding lifting indication area and the verification indication area, and construct an instruction window, a command window and a lifting verification window in the corresponding area, so that the corresponding information data can be filled in the corresponding window for intuitive display, so that the operator can clearly view it.

[0177] S3, an update module, is used to obtain the command subject in the area collection data, obtain command data according to the command subject, parse the command data to obtain instruction data, update the command data to the command window, and the instruction data to the instruction window.

[0178] It should be noted that in order to enable personnel to intuitively view the corresponding command data, it is possible to extract information from the regional collection data to obtain the command data of the command subject, and analyze the command data, that is, the command actions of the commander, to determine the command data. Then, the captured actions of the commander can be updated in the command window, and the command data can be updated in the command window so that it can be displayed to the operator for intuitive viewing.

[0179] It can be understood that the command subject is the person who directs the lifting operators to perform safe operations, the command data is the actions of the command personnel to give commands and prompts, and the instruction data is the instructions for the corresponding operating steps. For example, when the command data obtained is the action of a person crossing his hands in front of him, the instruction data corresponding to the action is to stop lifting, that is, the stop indication mark can be updated in the instruction window. When the right hand is close to the head, it can be indicated as putting the right hook, and the indication mark of putting the right hook can be updated in the instruction window, etc.

[0180] In some embodiments, the specific implementation of step S3 (obtaining the command subject in the regional acquisition data, obtaining command data according to the command subject, parsing the command data to obtain instruction data, updating the command data to the command window, and the instruction data to the instruction window) includes:

[0181] S31, retrieve the command pixel value, identify the command subject in the regional data collection based on the command pixel value, determine the regional number of the sub-region data collection where the command subject is located, control the corresponding lateral collection device to collect data based on the regional number, and obtain command data.

[0182] It is understandable that when conducting command operations in the factory, the commander will wear a hat of the corresponding color to distinguish the commander from other personnel, so as to accurately identify the commander. Therefore, the commander of the corresponding overhead crane can be determined through the command pixel points in the future, and then the command data can be parsed for intuitive display for the operator to view.

[0183] Among them, the command pixel value is the pixel value corresponding to the command personnel. For example, it can be set according to the color of the safety helmet that the personnel are required to wear. When the safety helmet of the command personnel is required to be red, the corresponding command pixel value is red. Therefore, the position of the command subject in the regional acquisition data can be determined according to the command pixel value. The sub-region acquisition data is the captured images of the sub-regions corresponding to different acquisition devices. The lateral acquisition device is the acquisition equipment installed on the side. For example, it can be a camera on the side of the factory area, so that the corresponding command actions of the commander can be fully collected, so as to obtain the instruction data for display.

[0184] It is not difficult to understand that different area numbers correspond to corresponding lateral acquisition devices. For example, the sub-acquisition area data with area number 123 corresponds to lateral acquisition device A, the sub-acquisition area data with area number 456 corresponds to lateral acquisition device B, and the sub-acquisition area data with area number 789 corresponds to lateral acquisition device C. Therefore, when the area number of the sub-area acquisition data where the red pixel value is located is identified as 6, the server can control the corresponding lateral acquisition device C to perform image acquisition, thereby obtaining the command data of the commander.

[0185] S32, extracting joint nodes of key parts of the command subject in the command data based on OpenCV, and calling a preset instruction comparison table, wherein the preset instruction comparison table includes preset instructions of preset part combinations corresponding to each joint distance interval.

[0186] It can be understood that since the commander conveys the corresponding command information through the movements of the corresponding body parts, OpenCV can be used to extract the joint nodes of the key parts corresponding to the commander in the captured command data, such as the nodes corresponding to the hands and the nodes corresponding to the head, so as to obtain the corresponding joint distances, and then the corresponding command information can be determined by comparing with the command comparison table.

[0187] Among them, the key parts are the body parts involved in the corresponding instructions of the commander, such as hands, head, etc., the joint nodes are the nodes corresponding to the key parts, the preset instruction comparison table is a comparison table of pre-set instruction information, including preset part combinations and preset instructions for each joint distance interval corresponding to the preset part combinations, the preset part combination is a preset part combination, such as the combination of hands and head, the joint distance is the distance between the joint nodes corresponding to the preset part combination, and the preset instructions are pre-set instruction information, such as right hook, left hook, stop and other instruction information.

[0188] S33, obtaining the distance between the corresponding joint nodes as the command distance according to the preset part combination, and determining the corresponding preset instruction as the command instruction based on the comparison information between the command distance and the preset instruction comparison table.

[0189] It can be understood that the command distance is the distance between the joint nodes corresponding to the preset part combination, the comparison information is the result of comparing the command distance with the distance information in the preset instruction comparison table, and the command instruction is the preset instruction determined after the information comparison.

[0190] S34, retrieve virtual command data corresponding to the command instruction as command data, and update the command data to the command window, and the command data to the command window.

[0191] It is understandable that different command instructions have corresponding virtual command data, so the virtual command data corresponding to the command instruction can be used as command data to be displayed in the command window for easy viewing by operators.

[0192] The virtual command data is a virtual command model corresponding to the command instruction, which may be a virtual character model performing the same actions as the actual commander, or may be a mark of the corresponding instruction, such as an arrow mark pointing upward.

[0193] It is not difficult to understand that the command data is updated in the command window, and the instruction data is updated in the instruction window at the same time, so that personnel can intuitively view the actions of the commander photographed, and at the same time, the corresponding instructions can also be intuitively displayed.

[0194] It should be noted that, when the commander is giving instructions in the actual factory area, the commander may be at the edge of the collection area of ​​two sub-area collection devices, so that the complete commander cannot be identified in the data collected in one sub-area, and errors in the instruction information may occur during instruction recognition. Therefore, in order to obtain accurate command actions of the commander, the corresponding sub-area collection data can be spliced ​​and intercepted, which also includes:

[0195] A1, obtaining the area number of the sub-area where the command subject is located to collect data as the control number, and when it is determined that the number of the control numbers is greater than 1, controlling the corresponding lateral collection device to collect data based on the control number to obtain command data.

[0196] It can be understood that the area number corresponding to the sub-area data collection where the command subject is located is obtained so that the corresponding lateral collection device can be controlled to collect information according to the number, which is convenient for subsequent stitching of the collected images, and then the corresponding command data can be intercepted.

[0197] Among them, the control number is the number that controls the corresponding lateral collection device, that is, the area number for collecting data in the sub-area where the command subject is located.

[0198] For example, when the command subject collects data in the sub-areas corresponding to area numbers 3 and 6, there are two corresponding control numbers. The server will determine the corresponding lateral collection device according to the control number and control it to perform shooting and collection to obtain command data so that the corresponding command data can be spliced ​​later.

[0199] A2, splicing the command data according to the number of the lateral acquisition device to obtain fused command data, obtaining the command subject contour of the command subject in the fused command data based on OpenCV, and extracting contour pixel points of the command subject contour as command pixel points.

[0200] It can be understood that the fused command data is image data obtained by splicing multiple command data. For example, when the control numbers are 3 and 6 respectively, the two lateral acquisition devices A and B can be controlled to collect data, so that the collected command data can be spliced ​​to obtain fused command data.

[0201] The command subject contour is the contour of the command subject in the fused command data, that is, the contour of the command personnel, and the command pixel points are the contour pixel points of the command subject contour.

[0202] Through the above-mentioned implementation mode, the present invention can determine the command pixel points, so that the images corresponding to the personnel in the fused command data can be captured and displayed according to the command pixel points, and the images of the remaining areas can be deleted to achieve the effect of enlarging the displayed image, so that the operator can clearly view the corresponding command actions when it is subsequently displayed in the corresponding command window.

[0203] A3, selecting the leftmost and rightmost command pixel points as longitudinal pixel points, and determining the uppermost and lowermost command pixel points as transverse pixel points.

[0204] It can be understood that the longitudinal pixel points are the pixel points for constructing the longitudinal interception line, that is, the command pixel points at the leftmost and rightmost positions corresponding to the command subject outline, and the transverse pixel points are the pixel points for constructing the transverse interception line, that is, the command pixel points at the topmost and bottommost positions corresponding to the command subject outline.

[0205] A4, constructing a longitudinal interception line based on the longitudinal pixel points, and constructing a transverse interception line based on the transverse pixel points.

[0206] It can be understood that a vertical longitudinal interception line is constructed through the longitudinal pixel points, and a corresponding horizontal transverse interception line is constructed through the transverse pixel points, so that the spliced ​​image, i.e., the fused command data, can be subsequently intercepted according to the longitudinal interception line and the transverse interception line.

[0207] The longitudinal interception line is a line segment for intercepting the image in the vertical direction, and the transverse interception line is a line segment for intercepting the image in the horizontal direction.

[0208] A5, intercepting the fused command data based on the longitudinal interception line and the transverse interception line to obtain cropped command data.

[0209] It can be understood that by intercepting the image of the area enclosed by the longitudinal interception line and the transverse interception line, cropping command data can be obtained, so that the corresponding cropping command data can be updated in the corresponding command window for intuitive viewing by the operator to avoid operational errors due to obstructed vision.

[0210] The cropped command data is an image of the commanding personnel obtained by intercepting the fused command data.

[0211] S4, verification module, is used to respond to the lifting request of the control end, determine the standard lifting points corresponding to the lifting contour according to the lifting contour of the lifting body in the lifting body data, update the lifting body data based on the standard lifting points to obtain the lifting verification data and send it to the lifting verification window to obtain the overhead crane control space.

[0212] It should be noted that when lifting and transferring goods, the lifting points corresponding to different cargo shapes are also different. When the lifting point position of the overhead crane on the cargo deviates, it may cause the cargo to fall and cause a safety accident. Therefore, the shape of the lifting body can be analyzed to determine the corresponding standard lifting points for reference by personnel to determine the lifting points and improve lifting safety.

[0213] It can be understood that when the control end starts to operate the lifting and transfer of goods, the server will respond to the control end's request for lifting operation, thereby analyzing the collected lifting body data, and determining the standard lifting points corresponding to the corresponding lifting body, so as to update the standard lifting points in the lifting body data, and thus obtain the lifting verification data updated in the lifting verification window, which is convenient for personnel to view and make timely adjustments to non-standard lifting points to improve lifting safety.

[0214] Among them, the control end is a terminal for controlling the lifting and transfer of the lifting body, such as the control lever in the overhead crane operating room; the lifting request is the operation information requesting the lifting and transfer, such as the action of pushing the operating lever upward; the lifting body data is the image data collected by photographing the lifting body; the lifting contour is the contour of the lifting body; the standard lifting point is the standard lifting point position corresponding to the lifting body; the lifting verification data is the image data of the standard lifting point that will be updated in the lifting body data; the overhead crane control space is a twin space with corresponding display data in each display window.

[0215] In some embodiments, the specific implementation of step S4 (the response to the hoisting request of the control end, determining the standard hoisting point corresponding to the hoisting profile according to the hoisting profile of the hoisting body in the hoisting body data, updating the hoisting body data based on the standard hoisting point to obtain hoisting verification data and sending it to the hoisting verification window to obtain the overhead crane control space) includes:

[0216] S41, responding to the hoisting request of the control end, controlling the hoisting collection device to collect data of the hoisting body to obtain the hoisting body data.

[0217] It is understandable that the server can respond to the hoisting request of the control end, thereby controlling the hoisting acquisition device corresponding to the hoisting body to perform shooting and acquisition to obtain the hoisting body data.

[0218] Among them, the hoisting collection device is a device for collecting information on the hoisting body. For example, it can be a camera installed at the motor above the hoisting body, so that the overhead image of the corresponding hoisting body can be captured from a bird's-eye view angle, so as to subsequently analyze the hoisting body data and determine the corresponding standard hoisting points for personnel reference.

[0219] S42, obtaining the image center point corresponding to the hoisting main body data as a construction center, constructing a hoisting coordinate system based on the construction center, and performing coordinate processing on the hoisting main body data according to the hoisting coordinate system.

[0220] It can be understood that the construction center is the center point of the lifting coordinate system constructed in the lifting body data, that is, the center point of the image corresponding to the lifting body data. The lifting coordinate system is the coordinate system in the lifting body data, so as to coordinate the lifting body data, so that the coordinates of the corresponding lifting body contour can be determined subsequently, and then the standard lifting point corresponding to the lifting body can be calculated.

[0221] S43, determining a hoisting contour of the hoisting body in the hoisting body data, and acquiring contour points corresponding to the hoisting contour as hoisting contour points.

[0222] It should be noted that the standard points corresponding to hoisting bodies of different shapes are different. Therefore, in order to ensure uniform force on the hoisting body during the hoisting and transfer process and improve the hoisting safety, it is necessary to obtain the hoisting contour of the hoisting body so as to determine the corresponding standard hoisting points according to the corresponding shape contour.

[0223] It can be understood that the lifting contour is the contour of the lifting body in the lifting body data, and the lifting contour points are contour points corresponding to the lifting contour.

[0224] S44, obtaining the minimum horizontal coordinate, the maximum horizontal coordinate, the minimum vertical coordinate and the maximum vertical coordinate of the lifting contour point.

[0225] It can be understood that the minimum horizontal coordinate, maximum horizontal coordinate, minimum vertical coordinate and maximum vertical coordinate corresponding to the lifting contour point are obtained through the lifting coordinate system, so as to subsequently determine the difference in horizontal and vertical distances, and thus adopt corresponding strategies to determine the standard lifting point of the corresponding lifting body.

[0226] Among them, the minimum horizontal coordinate is the minimum value of the horizontal coordinate in the lifting contour point coordinates, the maximum horizontal coordinate is the maximum value of the horizontal coordinate in the lifting contour point coordinates, the minimum vertical coordinate is the minimum value of the vertical coordinate in the lifting contour point coordinates, and the maximum vertical coordinate is the maximum value of the vertical coordinate in the lifting contour point coordinates.

[0227] S45, obtaining a horizontal distance based on the absolute value of the difference between the minimum horizontal coordinate and the maximum horizontal coordinate, and obtaining a vertical distance based on the absolute value of the difference between the minimum vertical coordinate and the maximum vertical coordinate.

[0228] It can be understood that the transverse distance is the length distance in the horizontal direction corresponding to the lifting profile, that is, the absolute value of the difference between the minimum horizontal coordinate and the maximum horizontal coordinate, and the longitudinal distance is the length distance in the vertical direction corresponding to the lifting profile, that is, the absolute value of the difference between the minimum vertical coordinate and the maximum vertical coordinate.

[0229] Through the above implementation, the present invention can obtain the horizontal distance and the longitudinal distance, so as to subsequently calculate the corresponding graphic judgment value, so as to adopt the corresponding strategy to specifically determine the standard lifting point corresponding to the lifting contour for reference by personnel.

[0230] S46, obtaining a graphic judgment value based on the absolute value of the difference between the horizontal distance and the vertical distance.

[0231] It can be understood that the graphic judgment value is the numerical value of the graphic corresponding to the lifting profile, that is, the absolute value of the difference between the horizontal distance and the longitudinal distance.

[0232] It is not difficult to understand that when the absolute value of the difference between the horizontal distance and the vertical distance is smaller, that is, the smaller the graphic judgment value is, it means that the length and width distances corresponding to the lifting body are closer, so that the balanced lifting strategy can be adopted in the future to determine the standard lifting point corresponding to the lifting contour; when the absolute value of the difference between the horizontal distance and the vertical distance is larger, that is, the larger the graphic judgment value is, it means that the length and width distances corresponding to the lifting body are different, so that the adaptive lifting strategy can be adopted in the future to determine the standard lifting point corresponding to the lifting contour.

[0233] S47, when it is determined that the graphic judgment value is less than or equal to the preset judgment value, a standard lifting point corresponding to the lifting profile is determined according to a balanced lifting strategy and the lifting profile.

[0234] It can be understood that when it is determined that the graphic judgment value is less than or equal to the preset judgment value, the closer the length and width distances corresponding to the hoisting body are, the corresponding balanced hoisting strategy can be adopted to determine the standard hoisting point corresponding to the hoisting contour.

[0235] The preset judgment value is a preset reference value of the judgment graph.

[0236] In some embodiments, the specific implementation of step S47 (determining the standard lifting point corresponding to the lifting profile according to the balanced lifting strategy and the lifting profile when the graphic judgment value is less than or equal to the preset judgment value) includes:

[0237] S471, when it is determined that the graphic judgment value is less than or equal to the preset judgment value, the hoisting contour is decomposed based on the vertices in the hoisting contour to obtain multiple contour line segments, and the contour vertices located on the same contour line segment are obtained as contour line segment points.

[0238] It can be understood that the lifting body can be any shape such as a triangle, a quadrilateral, a pentagon, etc. When the lifting point is at the center point corresponding to the length of each side, it can ensure that the lifting body is balanced in force and avoid the tilting of the cargo during the lifting process. Therefore, it is necessary to decompose the lifting contour and obtain the corresponding contour line segment points, so as to subsequently obtain the center point of the corresponding contour segment and obtain the standard lifting point corresponding to the lifting contour.

[0239] Among them, the contour line segment is the line segment between adjacent vertices in the lifting contour, and the contour line segment point is the contour vertex located on the same contour line segment.

[0240] S472, obtaining coordinates corresponding to the line segment points of the contour as line segment vertex coordinates, performing mean calculation based on the line segment vertex coordinates, and obtaining a standard lifting point corresponding to the lifting contour.

[0241] It can be understood that the line segment vertex coordinates are the coordinates corresponding to the contour line segment points.

[0242] It is not difficult to understand that by calculating the mean of the horizontal and vertical coordinates corresponding to the two contour line segment points located on the same contour line segment, the coordinates of the midpoint of the corresponding contour line segment can be obtained. The midpoint of each contour line segment can then be used as the standard lifting point corresponding to the lifting contour, so that the force can be balanced during the lifting process.

[0243] S48, when it is determined that the graphic judgment value is greater than the preset judgment value, a standard hoisting point corresponding to the hoisting profile is determined according to the adaptive hoisting strategy and the hoisting profile.

[0244] It can be understood that when the graphic judgment value is greater than the preset judgment value, it can be explained that the distances in the horizontal and vertical directions of the contour of the corresponding lifting body are greatly different. In order to safely lift and move the lifting body, the standard lifting point corresponding to the lifting contour can be determined based on the adaptive lifting strategy and lifting contour.

[0245] In some embodiments, the specific implementation of step S48 (determining the standard hoisting point corresponding to the hoisting profile according to the adaptive hoisting strategy and the hoisting profile when the graphic judgment value is greater than the preset judgment value) includes:

[0246] S481, when it is determined that the graphic judgment value is greater than the preset judgment value, construct a longitudinal area line according to the minimum horizontal coordinate and the maximum horizontal coordinate of the lifting contour point.

[0247] It can be understood that when the graphic judgment value is greater than the preset judgment value, in order to quickly determine the corresponding standard lifting point, the longitudinal area line can be constructed according to the minimum horizontal coordinate and the maximum horizontal coordinate of the installation contour point, so as to subsequently determine the corresponding wrapping area together with the horizontal area line.

[0248] The longitudinal area line is a straight line perpendicular to the abscissa axis at the corresponding values ​​of the minimum abscissa and the maximum abscissa.

[0249] S482, constructing a transverse region line based on the minimum longitudinal coordinate and the maximum longitudinal coordinate, determining a wrapping region according to the longitudinal region line and the longitudinal region line, and determining an outline of the wrapping region as a wrapping outline.

[0250] It can be understood that the transverse area line is a straight line perpendicular to the ordinate axis at the corresponding values ​​of the minimum ordinate and the maximum ordinate, the wrapping area is the area enclosed by the transverse area line and the longitudinal area line, and the wrapping outline is the outline of the wrapping area.

[0251] Through the above implementation, the present invention can determine the package contour, so as to subsequently determine the line segment or point that intersects with the lifting contour, thereby determining the standard lifting point position.

[0252] S483, obtaining the intersection of the wrapping contour and the hoisting contour, obtaining a plurality of positioning contour segments and / or positioning contour points, and obtaining the coordinates corresponding to the two endpoints on the positioning contour segment to obtain the positioning endpoint coordinates.

[0253] It can be understood that the lifting body can be of any shape, so the corresponding lifting contour can intersect with the constructed rectangular wrapping contour at the side length segment or the corresponding vertex. Therefore, when the intersection has a positioning contour segment, the positioning end point coordinates corresponding to the two end points on the positioning contour segment are obtained, so as to subsequently determine the corresponding standard lifting point.

[0254] Among them, the positioning contour segment is the contour segment that determines the standard lifting point, that is, the segment where the contour line of the wrapping contour intersects with the contour line of the lifting contour; the positioning contour point is the contour point that determines the standard lifting point, that is, the point where the vertex of the lifting contour is on the wrapping contour; the positioning endpoint coordinates are the coordinates corresponding to the two endpoints on the positioning contour segment.

[0255] S484, performing mean calculation based on the positioning endpoint coordinates to obtain a standard lifting point corresponding to the lifting contour, and using the coordinates corresponding to the positioning contour points as the standard lifting point.

[0256] It can be understood that when the intersection of the wrapping contour and the lifting contour has a positioning contour line segment, the midpoint coordinates of the line segment can be calculated by the corresponding positioning endpoint mean, so that the corresponding point can be used as the standard lifting point, so that the midpoint of the edge of the cargo can be hooked when lifting the cargo, and the coordinates corresponding to the positioning contour point can be used as the standard lifting point, so that the hoisted cargo can be evenly stressed during the lifting process without tilting, thereby achieving safe transfer.

[0257] S49, updating the lifting main body data based on the standard lifting point to obtain lifting verification data and sending it to the lifting verification window to obtain the overhead crane control space.

[0258] It can be understood that when it is determined that the current lifting position is different from the standard lifting point, the acquired standard lifting point can be updated in the lifting main data to obtain the lifting verification data, and send it to the lifting verification window to obtain the overhead crane control space, so that relevant personnel can view the corresponding standard lifting point through the overhead crane control space, make timely adjustments, and improve the safety of cargo lifting.

[0259] It should be noted that since the number of hooks of the overhead crane is limited, when the hoisting body is a polygon, the number of corresponding standard hoisting points may also exceed the number of hooks of the overhead crane. Therefore, it is necessary to analyze the hoisting points to determine the hoisting points of the corresponding hooks so that the hoisted goods can be balanced and safe hoisting can be achieved. Therefore, it also includes:

[0260] B1, obtaining the number of the standard hoisting points to obtain the standard number, and retrieving the number of the fixed points of the overhead crane to obtain the fixed number corresponding to the overhead crane.

[0261] It can be understood that the standard number is the number of standard lifting points, the fixed points are the points where the hooks of the overhead crane are used for lifting and fixing, and the fixed number is the number of fixed points, that is, the number of hooks inherent in the overhead crane.

[0262] It is not difficult to understand that after obtaining the standard quantity and the fixed quantity, the corresponding quantities can be compared and judged later to determine the corresponding standard lifting points.

[0263] B2, when it is determined that the fixed number is less than the standard number, a mean is calculated based on the minimum horizontal coordinate and the maximum horizontal coordinate of the lifting contour point to obtain the central horizontal coordinate.

[0264] It should be noted that when the fixed number is less than the standard number, it means that the inherent number of hooks of the overhead crane cannot be used for lifting at all the determined standard lifting points. Therefore, it is necessary to select points from the standard lifting points whose number is equal to the fixed number and which can achieve safe lifting, so that when the overhead crane is lifting, the corresponding goods can be balanced in the hand without tilting.

[0265] It can be understood that the central horizontal coordinate is obtained by calculating the mean of the minimum horizontal coordinate and the maximum horizontal coordinate of the obtained lifting contour point, so as to obtain the central point coordinate together with the central vertical coordinate, and then select the standard lifting point.

[0266] Among them, the central horizontal coordinate is the horizontal coordinate of the center point of the lifting contour.

[0267] B3, performing mean calculation based on the minimum ordinate and the maximum ordinate of the lifting contour point to obtain the center ordinate.

[0268] It can be understood that the minimum ordinate and the maximum ordinate of the lifting contour point are averaged to obtain the central ordinate.

[0269] Among them, the center ordinate is the ordinate of the center point of the lifting contour.

[0270] B4, obtaining the hoisting center coordinates corresponding to the hoisting profile according to the center horizontal coordinate and the center vertical coordinate.

[0271] It can be understood that the lifting center coordinates are the center point coordinates corresponding to the lifting contour, so that the corresponding longitudinal optional straight line can be generated according to the lifting center coordinates, and then multiple rotation dividing lines can be obtained to divide the lifting contour, thereby determining the corresponding points for the overhead crane hook to perform fixed lifting.

[0272] B5, construct a longitudinal rotation line based on the lifting center coordinates, rotate and copy the longitudinal rotation line in sequence according to the preset rotation angle and preset direction, and accumulate the preset rotation angles in sequence to obtain the accumulated angle, until the accumulated angle is equal to the straight angle, to obtain multiple rotation dividing lines.

[0273] It should be noted that in order to divide the lifting contour and select standard lifting points that meet the requirements for the overhead crane to perform lifting, the longitudinal rotation straight line can be constructed and then replicated to obtain multiple rotation dividing lines.

[0274] It can be understood that the corresponding center point can be determined according to the lifting center coordinates, and then a vertical straight line passing through the center point can be generated, and then rotated and copied in sequence according to the preset rotation angle and preset direction to obtain multiple rotation dividing lines to divide the lifting contour.

[0275] Among them, the longitudinal rotation straight line is a vertical straight line passing through the center point, the preset rotation angle is a preset rotation angle for the longitudinal rotation straight line, such as 10°, the preset direction is a preset rotation direction for the longitudinal rotation straight line, such as counterclockwise, the accumulated angle is the angle after adding the preset rotation angles according to the number of rotations, the flat angle is the angle corresponding to the flat angle, that is, 180°, and the rotation dividing line is the line obtained after rotation to divide the lifting contour.

[0276] For example: when the preset rotation angle is 10° and the preset direction is counterclockwise, the longitudinal rotation line is rotated by the preset rotation angle 18 times in turn. When the cumulative angle is 180°, it is no longer rotated and copied to obtain 18 rotation dividing lines, so that the corresponding lifting contour can be divided into multiple areas, so that the corresponding points can be determined later according to the divided areas.

[0277] B6, taking the longitudinal rotation straight line as the starting point, based on the preset direction, sequentially counting the standard lifting points of the angle intervals corresponding to the adjacent rotation dividing lines to obtain a standard lifting sequence.

[0278] It can be understood that the angle interval is the interval between the corresponding angles of adjacent rotation dividing lines. For example, the angle interval can be 0° to 10°, 10° to 20°, etc. The standard lifting sequence is the arrangement sequence of standard lifting points, so that they can be determined and selected in sequence according to the standard lifting sequence in the future.

[0279] B7, dividing the standard lifting sequence based on the flat angle to obtain two standard subsequences.

[0280] It can be understood that when the vehicle hooks the two ends corresponding to the main cargo so that the force is balanced, the corresponding cargo can be lifted smoothly. Therefore, the standard lifting sequence can be divided with a straight angle of 180° as the division angle for selecting the standard lifting points, thereby obtaining 2 standard subsequences.

[0281] The standard subsequence is a subsequence obtained by segmenting the standard lifting sequence. For example, when the standard lifting sequence is (1, 2, 3, 4, 5), the standard lifting points 123 are divided into the first 180°, and the standard lifting point 45 is divided into the second 180°, then two standard subsequences can be obtained, namely (1, 2, 3) and (4, 5).

[0282] By dividing the standard lifting sequence, it is possible to select the corresponding standard lifting points in the two standard subsequences later, so that the cargo can be evenly stressed during lifting and transfer to avoid tilting.

[0283] B8, sequentially selecting the first standard lifting point in the standard subsequence as the selected lifting point, deleting and updating the standard subsequence based on the selected lifting point to obtain the current standard subsequence, and counting the number of the selected lifting points as the selected number.

[0284] It can be understood that in order to make the selected standard lifting point be in the facing position or the closest to the facing position, so that the lifted goods can be evenly stressed, the points in the standard subsequences can be selected and combined in turn until there are no corresponding matching points in the two corresponding standard subsequences. Then, the redundant standard lifting points can be deleted to obtain the selected number, which is convenient for subsequent comparison with the fixed number. When the selected number is less than or equal to the fixed number, it means that the number of fixed hooks of the overhead crane can meet the lifting at the selected standard lifting points. When the selected number is greater than the fixed number, further selection is required so that normal lifting can be performed.

[0285] The selected lifting point is the first standard lifting point selected in the standard subsequence in sequence, and the selected number is the number of selected lifting points selected.

[0286] For example, when the two standard subsequences are (1, 2, 3) and (4, 5), the selected lifting points selected in the standard subsequences for the first time are 1 and 4, so that 1 and 4 are deleted and the current standard lifting subsequences are (2, 3) and (5), and the selected quantity is 2.

[0287] B9, repeatedly counting the number of the selected lifting points as the selected number, until the selected number is greater than the fixed number, and then counting the selected lifting points in sequence to obtain a selected lifting sequence.

[0288] It can be understood that when the fixed number is 3, the selected lifting points selected again for the current standard subsequences are (2, 3) and (5) are 2 and 5 respectively. After selection, the current standard lifting subsequence is (3). When the selected number is 4 and is greater than the fixed number, the selection is stopped, and the selected lifting points are summed and arranged to obtain the selected lifting sequence.

[0289] The selected hoisting sequence is a point sequence corresponding to the selected hoisting points, such as (1, 4, 2, 5), so as to facilitate subsequent selection and determine the fixed point of the overhead crane corresponding to the hook.

[0290] B10, select the last two selected lifting points in the selected lifting sequence as the restored lifting points, delete the restored lifting points in the selected lifting sequence, obtain the current selected lifting sequence, obtain the number of selected lifting points in the current selected lifting sequence, and obtain the current selected number.

[0291] It can be understood that the restored lifting points are the last two selected lifting points in the selected lifting sequence, the current selected lifting sequence is the sequence after deleting the restored lifting points in the selected lifting sequence, and the current selected number is the number of selected lifting points in the current selected lifting sequence.

[0292] For example: when the selected lifting sequence is (1, 4, 2, 5), the corresponding restored lifting points are 2 and 5, so that 2 and 5 can be deleted from the selected lifting sequence, and the current selected lifting sequence is (1, 4). The current selected quantity is 2, so that it can be compared with the fixed quantity later, so as to determine the corresponding points for hook fixation.

[0293] B11, when it is determined that the current selected number is less than the fixed number, the restored hoisting point is restored to the first position corresponding to the current standard subsequence to obtain a restored subsequence.

[0294] It is understandable that, when it is determined that the current selected number is less than the fixed number, the restored lifting point can be restored to the first position corresponding to the current standard subsequence to obtain a restored subsequence for subsequent selection.

[0295] For example, when the restored lifting points are 2 and 5, the corresponding positions can be placed at the first position of the corresponding standard subsequence, and the restored subsequences are (2, 3) and (5) respectively.

[0296] B12, obtaining the number of standard lifting points in the restored subsequence to obtain a screening number, and selecting the restored subsequence corresponding to the largest screening number as the screening subsequence.

[0297] It can be understood that the screening number is the number of standard lifting points in the restored subsequence. For example, the screening number corresponding to the restored subsequence (2, 3) is 2, and the screening number corresponding to the restored subsequence (5) is 1. Therefore, the restored subsequence (2, 3) can be used as a screening subsequence to select points in the corresponding sequence later.

[0298] Among them, the screening subsequence is a subsequence that screens out standard lifting points, that is, a restored subsequence corresponding to the maximum screening number.

[0299] Through the above implementation mode, the present invention will select the restoration subsequence corresponding to the largest screening number, and subsequently select the remaining lifting points from the restoration subsequence. This is because the restoration subsequence corresponding to the largest screening number indicates that there are more standard lifting points remaining in the interval. If the lifting points in the restoration subsequence corresponding to a smaller number of screening numbers are selected, it will cause the goods to tilt. Therefore, the present invention only selects lifting points from a larger number of restoration subsequences to ensure balance, and different selections will be made subsequently based on different quantities. This situation only occurs in this scenario. Compared with the prior art, manual selection of lifting points is more accurate.

[0300] B13, when it is determined that the screening number corresponding to the screening subsequence is an even number, the two standard lifting points in the middle of the screening subsequence are selected as the screening lifting points, and any one of the screening lifting points is selected as the selected lifting point and added to the current selected lifting sequence.

[0301] It is understandable that, since the number of corresponding standard lifting points may be an odd number or an even number, different types have corresponding selection methods so that the cargo can be most balanced when the hooks are fixed at the corresponding points.

[0302] Among them, when the screening number corresponding to the screening subsequence is an even number, the two standard lifting points in the middle of the screening subsequence are used as the screening lifting points, and any one of the screening lifting points is selected as the selected lifting point and added to the current selected lifting sequence, so that the points displayed subsequently can balance the force on the cargo during the lifting process to avoid tilting of the cargo.

[0303] B14, when it is determined that the screening number corresponding to the screening subsequence is an odd number, a standard lifting point located in the middle of the screening subsequence is selected as the selected lifting point and added to the current selected lifting sequence.

[0304] It can be understood that when the screening number corresponding to the screening subsequence is an odd number, a standard lifting point in the middle of the screening subsequence is selected as the selected lifting point and added to the current selected lifting sequence, so that the selected points are distributed as much as possible on both sides of the lifting body, avoiding the lifting points from being concentrated on one side, avoiding lifting tilt, and improving the safety of cargo lifting.

[0305] It should be noted that the shape of the corresponding hoisting theme may be a circle, etc., and the corresponding contour is a curve. The relative shape has no straight line segments or vertices. Therefore, the corresponding standard hoisting point can be determined by locating the straight line. The specific implementation method also includes:

[0306] C1, when it is determined that the hanging profile has no vertex, the coordinates of the center point of the hanging profile are determined based on the minimum abscissa, the maximum abscissa, the minimum ordinate and the maximum ordinate of the hanging profile points.

[0307] It can be understood that when the lifting contour has no vertex, it can be said that the corresponding lifting contour is curved. Therefore, the coordinates of the center point of the lifting contour can be determined based on the minimum horizontal coordinate, maximum horizontal coordinate, minimum vertical coordinate and maximum vertical coordinate of the lifting contour point, so as to subsequently generate the corresponding positioning straight line and then determine the standard lifting point position.

[0308] C2, constructing a first positioning straight line based on the coordinates of the center point of the lifting contour, and rotating the first positioning straight line based on a right angle to obtain a second positioning straight line.

[0309] It can be understood that the first positioning straight line is a straight line passing through the center point of the lifting contour, which can be a straight line in any direction. The right angle is the angle corresponding to the right angle, that is, 90°. The second positioning straight line is the straight line after the first positioning straight line is rotated 90°.

[0310] It is not difficult to understand that by rotating 90°, two vertical positioning lines are determined, and then four intersection points can be obtained, so that the subsequent lifting can evenly apply strength to the lifting body to avoid tilting of the cargo.

[0311] C3, obtaining the corresponding intersection points of the first positioning straight line, the second positioning straight line and the lifting contour as standard lifting points.

[0312] It can be understood that the intersection of the first positioning straight line, the second positioning straight line and the lifting contour is used as a standard lifting point, so that personnel can perform fixed lifting at the corresponding position.

[0313] See also Figure 5 , is a schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present invention, the electronic device 50 includes: a processor 51, a memory 52 and a computer program; wherein

[0314] The memory 52 is used to store the computer program, which may also be a flash memory. The computer program is, for example, an application program, a functional module, etc. for implementing the above method.

[0315] The processor 51 is used to execute the computer program stored in the memory to implement each step performed by the device in the above method. For details, please refer to the relevant description in the above method embodiment.

[0316] Optionally, the memory 52 may be independent or integrated with the processor 51 .

[0317] When the memory 52 is a device independent of the processor 51, the device may further include:

[0318] The bus 53 is used to connect the memory 52 and the processor 51 .

[0319] The present invention also provides a readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, it is used to implement the methods provided by the various embodiments described above.

[0320] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A crane safety control system based on the Internet of Things, characterized in that: include: A construction module is used to construct a factory twin space corresponding to the target factory, wherein the factory twin space includes a virtual overhead crane and a virtual main body area of ​​the virtual overhead crane, and a hoisting operation area in the factory twin space is determined according to the hoisting main body in the regional collection data; An identification module, used to determine a command display area in the twin space of the plant area based on the operation interval distance in the area collection data, and determine a command window, a command window and a hoisting verification window according to the command display area and the hoisting operation area; An updating module, used for acquiring a command subject in the regional collection data, obtaining command data according to the command subject, parsing the command data to obtain instruction data, updating the command data to the command window, and updating the instruction data to the instruction window; The verification module is used to respond to the lifting request of the control end, determine the standard lifting points corresponding to the lifting contour according to the lifting contour of the lifting body in the lifting body data, update the lifting body data based on the standard lifting points to obtain the lifting verification data and send it to the lifting verification window to obtain the overhead crane control space.

2. The system according to claim 1, characterized in that The method of determining the hoisting operation area in the twin space of the plant area according to the hoisting subject in the regional collection data includes: Controlling the regional acquisition devices at the target plant area to perform acquisition, obtaining sub-regional acquisition data corresponding to each of the regional acquisition devices, wherein the regional acquisition devices have corresponding regional numbers, and sequentially splicing the sub-regional acquisition data based on the regional numbers to obtain regional acquisition data; Obtaining the main body contour line of the hoisting main body in the regional acquisition data, and counting the number of the main body contour lines to obtain the number of main body lines corresponding to the hoisting main body; When it is determined that the number of the main body lines is equal to 1 or 4, the longest area edge line in the virtual main body area is obtained as the walking area line, and a vertical line perpendicular to the walking area line is constructed as a direction positioning vertical line; Obtain directions on both sides of the vertical line along the direction positioning as the area construction direction, determine contour points on the main contour line as main contour points, select the main contour points at the edge of the area construction direction as selected contour points, and construct a hoisting area line parallel to the walking area line based on the selected contour points; When it is determined that the number of the main body lines is equal to 2, obtaining the longest area edge line in the virtual main body area as the hoisting area line; When it is determined that the number of the main body lines is equal to 3, the longest area edge line in the virtual main body area is obtained as the walking area line, and a vertical line perpendicular to the walking area line is constructed as a direction positioning vertical line; A walking area line that does not intersect the main body contour line is obtained as a hoisting area line on one side, and a direction along the direction positioning vertical line and away from the hoisting area line is determined as a selected construction direction, and the main body contour point at the edge of the selected construction direction is selected as a selected contour point, and a hoisting area line on the other side parallel to the walking area line is constructed based on the selected contour point; The hoisting operation area in the twin space of the factory area is determined according to the hoisting area line.

3. The system according to claim 2, characterized in that Determining the hoisting operation area in the twin space of the plant area according to the hoisting area line includes: Obtaining an upper boundary acquisition distance of an upper boundary line corresponding to a target plant area in the regional acquisition data, determining a plant area overhead view of the plant area twin space according to a preset overhead angle, and determining an upper boundary overhead distance of an upper boundary line in the plant area overhead view; Obtaining a scaling factor according to a ratio of the upper boundary overlooking distance to the upper boundary acquisition distance; Determine the boundary lines on both sides of the intersection of the target plant area and the hoisting area line in the regional acquisition data as reference scaling boundary lines, and the boundary lines on the other two sides as reference positioning boundary lines; Acquire the length of the reference scaling boundary line as the connection distance, and the number of pixels in the reference scaling boundary line as the number of connections; According to the ratio of the connection distance to the number of connections, a unit length is obtained, and a reference positioning boundary line closest to the hoisting area line is used as an adjacent boundary line; Connecting the end points of the hoisting area line and the corresponding adjacent boundary line on the same side to obtain a reference positioning line, and obtaining the number of pixel points in the reference positioning line as a reference positioning number; Based on the product of the reference positioning quantity and the unit length, a reference positioning distance is obtained, and according to the product of the reference positioning distance and the scaling factor, a spatial positioning distance is obtained; Determine a boundary line in the plant area top view corresponding to the adjacent boundary line as a spatial positioning boundary line, and determine a hoisting positioning line in the plant area top view according to the spatial positioning distance and the corresponding spatial positioning boundary line; Based on the hoisting positioning line, a plane perpendicular to the top view of the factory is constructed in the factory twin space as a hoisting positioning surface, and the area between the hoisting positioning surfaces in the factory twin space is obtained as the hoisting operation area in the factory twin space.

4. The system according to claim 3, characterized in that The command display area in the twin space of the plant area is determined based on the operation interval distance in the regional acquisition data, and the instruction window, the command window and the hoisting verification window are determined according to the command display area and the hoisting operation area, including Based on OpenCV, the outline of the overhead crane operating room in the regional acquisition data is obtained as the driving outline, and the center point of the driving outline is obtained as the driving outline midpoint; Obtaining the boundary distance between the midpoint of the driving profile and each boundary line corresponding to the target plant area in the regional acquisition data as the operation interval distance; Obtaining the spatial distance corresponding to each boundary line in the plant area overhead view according to the product of the operation interval distance and the scaling factor; Determine, based on the spatial distance, a driving overhead view midpoint corresponding to the driving contour midpoint in the factory area overhead view; Retrieving a preset display area, obtaining the center point of the preset display area as the display midpoint, aligning the display midpoint with the driving bird's-eye view midpoint, and obtaining the command display area in the plant area bird's-eye view; Obtaining the hoisting positioning lines of the hoisting operation area in the overhead view of the plant area, and determining the area between the hoisting positioning lines as the hoisting plane area; According to the intersection of the hoisting plane area and the command display area, an intersection display area is obtained, and according to the difference set of the command display area and the intersection display area, an indication area is obtained; Any one indication area is selected as the hoisting indication area, and the remaining indication areas are selected as the verification indication areas, a command window and a command window are constructed in the hoisting indication area, and a hoisting verification window is constructed in the verification indication area.

5. The system according to claim 3, characterized in that The step of obtaining the command subject in the regional collection data, obtaining command data according to the command subject, parsing the command data to obtain instruction data, updating the command data to the command window, and updating the instruction data to the instruction window includes: Retrieving command pixel values, identifying a command subject in the regional data collection based on the command pixel values, determining a region number of the sub-region data collection where the command subject is located, and controlling a corresponding lateral data collection device to collect data based on the region number to obtain command data; Extracting joint nodes of key parts of the command subject in the command data based on OpenCV, calling a preset instruction comparison table, wherein the preset instruction comparison table includes preset instructions for preset part combinations corresponding to each joint distance interval; According to the preset part combination, the distance between the corresponding joint nodes is obtained as the command distance, and based on the comparison information between the command distance and the preset instruction comparison table, the corresponding preset instruction is determined as the command instruction; The virtual command data corresponding to the command instruction is retrieved as the command data, and the command data is updated to the command window, and the command data is updated to the command window.

6. The system according to claim 5, characterized in that Also includes: The area number of the sub-area where the command subject is located to collect data is obtained as the control number, and when it is determined that the number of the control number is greater than 1, the corresponding lateral collection device is controlled to collect data based on the control number to obtain the command data; The command data are spliced ​​according to the serial number of the lateral acquisition device to obtain fused command data, the command subject contour of the command subject in the fused command data is obtained based on OpenCV, and the contour pixel points of the command subject contour are extracted as command pixel points; Selecting the leftmost and rightmost command pixel points as longitudinal pixel points, and determining the uppermost and lowermost command pixel points as transverse pixel points; constructing a longitudinal interception line based on the longitudinal pixel points, and constructing a transverse interception line based on the transverse pixel points; The fused command data is intercepted based on the longitudinal interception line and the transverse interception line to obtain the cropped command data.

7. The system according to claim 1, characterized in that The method responds to the hoisting request of the control end, determines the standard hoisting point corresponding to the hoisting profile according to the hoisting profile of the hoisting body in the hoisting body data, updates the hoisting body data based on the standard hoisting point to obtain hoisting verification data and sends it to the hoisting verification window to obtain the overhead crane control space, including: In response to the hoisting request of the control end, the hoisting collection device is controlled to collect data of the hoisting body to obtain the hoisting body data; Acquire the image center point corresponding to the hoisting main body data as the construction center, construct a hoisting coordinate system based on the construction center, and coordinate the hoisting main body data according to the hoisting coordinate system; Determine a hoisting contour of the hoisting body in the hoisting body data, and obtain contour points corresponding to the hoisting contour as hoisting contour points; Obtain the minimum horizontal coordinate, maximum horizontal coordinate, minimum vertical coordinate and maximum vertical coordinate of the lifting contour point; Obtaining a horizontal distance based on an absolute value of a difference between the minimum horizontal coordinate and the maximum horizontal coordinate, and obtaining a vertical distance based on an absolute value of a difference between the minimum vertical coordinate and the maximum vertical coordinate; Obtaining a graphic judgment value based on an absolute value of a difference between the horizontal distance and the vertical distance; When it is determined that the graphic judgment value is less than or equal to the preset judgment value, a standard lifting point corresponding to the lifting profile is determined according to a balanced lifting strategy and the lifting profile; When it is determined that the graphic judgment value is greater than the preset judgment value, a standard hoisting point corresponding to the hoisting profile is determined according to the adapted hoisting strategy and the hoisting profile; The lifting main body data is updated based on the standard lifting point to obtain lifting verification data which is sent to the lifting verification window to obtain the overhead crane control space.

8. The system according to claim 7, characterized in that When it is determined that the graphic judgment value is less than or equal to the preset judgment value, a standard hoisting point corresponding to the hoisting profile is determined according to the balanced hoisting strategy and the hoisting profile, including: When it is determined that the graphic judgment value is less than or equal to the preset judgment value, the hoisting contour is decomposed based on the vertices in the hoisting contour to obtain a plurality of contour line segments, and contour vertices located on the same contour line segment are obtained as contour line segment points; The coordinates corresponding to the line segment points of the contour are obtained as the line segment vertex coordinates, and the mean is calculated according to the line segment vertex coordinates to obtain the standard lifting point corresponding to the lifting contour.

9. The system according to claim 8, characterized in that When it is determined that the graphic judgment value is greater than a preset judgment value, a standard hoisting point corresponding to the hoisting profile is determined according to the adapted hoisting strategy and the hoisting profile, including: When it is determined that the graphic judgment value is greater than the preset judgment value, a longitudinal area line is constructed according to the minimum horizontal coordinate and the maximum horizontal coordinate of the hoisting contour point; constructing a transverse region line based on the minimum ordinate and the maximum ordinate, determining a wrapping region based on the longitudinal region line and the longitudinal region line, and determining an outline of the wrapping region as a wrapping outline; Obtaining the intersection of the package contour and the hoisting contour to obtain a plurality of positioning contour line segments and / or positioning contour points, and obtaining the coordinates corresponding to two endpoints on the positioning contour line segments to obtain positioning endpoint coordinates; The mean value is calculated according to the coordinates of the positioning end points to obtain the standard lifting point corresponding to the lifting contour, and the coordinates corresponding to the positioning contour points are used as the standard lifting point.

10. The system according to claim 8 or 9, characterized in that Also includes: The number of the standard hoisting points is obtained to obtain the standard number, and the number of the fixed points of the overhead crane is retrieved to obtain the fixed number corresponding to the overhead crane; When it is determined that the fixed number is less than the standard number, a mean value is calculated based on the minimum horizontal coordinate and the maximum horizontal coordinate of the lifting contour point to obtain the central horizontal coordinate; Perform mean calculation based on the minimum ordinate and the maximum ordinate of the lifting contour point to obtain the center ordinate; According to the central horizontal coordinate and the central vertical coordinate, a lifting center coordinate corresponding to the lifting profile is obtained; A longitudinal rotation line is constructed based on the hoisting center coordinates, the longitudinal rotation line is rotated and copied in sequence according to a preset rotation angle and a preset direction, and the preset rotation angles are accumulated in sequence to obtain an accumulated angle, until the accumulated angle is equal to a flat angle, thereby obtaining a plurality of rotation segmentation lines; Taking the longitudinal rotation straight line as the starting point, the standard hoisting points of the angle intervals corresponding to the adjacent rotation dividing lines are counted in sequence based on the preset direction to obtain a standard hoisting sequence; The standard lifting sequence is segmented based on the flat angle to obtain two standard subsequences; Sequentially selecting the first standard hoisting point in the standard subsequence as the selected hoisting point, deleting and updating the standard subsequence based on the selected hoisting point to obtain the current standard subsequence, and counting the number of the selected hoisting points as the selected number; Repeat the step of counting the number of the selected hoisting points as the selected number until the selected number is greater than the fixed number, and then count the selected hoisting points in sequence to obtain a selected hoisting sequence; Select the last two selected lifting points in the selected lifting sequence as the restored lifting points, delete the restored lifting points in the selected lifting sequence, obtain the current selected lifting sequence, obtain the number of selected lifting points in the current selected lifting sequence, and obtain the current selected number; When it is determined that the current selected number is less than the fixed number, the restored hoisting point is restored to the first position of the corresponding current standard subsequence to obtain a restored subsequence; The number of standard lifting points in the restored subsequence is obtained to obtain a screening number, and the restored subsequence corresponding to the largest screening number is selected as the screening subsequence; When it is determined that the screening number corresponding to the screening subsequence is an even number, two standard hoisting points in the middle of the screening subsequence are selected as screening hoisting points, and any one of the screening hoisting points is selected as a selected hoisting point and added to the current selected hoisting sequence; When it is determined that the screening number corresponding to the screening subsequence is an odd number, a standard lifting point located in the middle of the screening subsequence is selected as the selected lifting point and added to the current selected lifting sequence.

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