Multi-crane lifting guiding method, electronic equipment and readable storage medium

Abstract

The invention discloses a multi-crane lifting guiding method, electronic equipment and a readable storage medium. The multi-crane lifting guiding method comprises the steps that lifting environment information and lifting task information of a target load are obtained; according to the hoisting environment information and the hoisting task information, hoisting schemes corresponding to the target loads hoisted by the at least two cranes are planned; and outputting the hoisting scheme so as to guide an operator to control the at least two cranes according to the hoisting scheme. Thus, the hoisting schemes corresponding to the hoisting target loads of the at least two cranes are automatically planned through the hoisting environment information and the hoisting task information, so that an operator is guided to control the at least two cranes according to the hoisting schemes, comprehensive, safe and visual guidance can be provided for the operator, the hoisting safety and efficiency are improved, and the hoisting efficiency is improved. And the user experience is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of cranes, and in particular to a guiding method for lifting by multiple cranes, an electronic device and a computer-readable storage medium. Background Art

[0002] As the scale of industry rapidly develops towards large-scale, the tonnage of hoisting equipment such as cranes is getting larger and larger, large-scale hoisting tasks are increasing, and the operating environment is becoming increasingly complex. A single crane may not be able to meet the actual operating needs, and dual-machine collaborative operations or even multi-machine operations are increasing. At present, most of the dual-machine collaborative operations rely on experienced operators to coordinate and complete, but the above methods lack comprehensive, safe and intuitive guidance for operators, and the user experience is poor. Summary of the invention

[0003] The purpose of this application is to provide a multi-crane lifting guidance method, electronic device and computer-readable storage medium, which can provide operators with more comprehensive, safe and intuitive guidance, improve the safety and efficiency of lifting, and enhance the user experience.

[0004] To achieve the above objectives:

[0005] In a first aspect, an embodiment of the present application provides a method for guiding lifting by multiple cranes, comprising:

[0006] Obtain the hoisting environment information and hoisting task information of the target load;

[0007] According to the hoisting environment information and the hoisting task information, planning hoisting schemes corresponding to at least two cranes lifting the target loads respectively;

[0008] The hoisting plan is output to guide the operator to control the at least two cranes according to the hoisting plan.

[0009] Optionally, the lifting task information includes a lifting start point, a lifting end point, and the size, shape, and hanging point position of the target load; the at least two cranes include a first crane and a second crane;

[0010] The planning of hoisting schemes corresponding to at least two cranes lifting the target loads according to the hoisting environment information and the hoisting task includes:

[0011] Determine a hook motion path of the first crane according to the hoisting environment information, the hoisting starting point, the hoisting end point, and the support positions, direction angles, and structural restriction data corresponding to the at least two cranes;

[0012] Determining a hook movement path of the second crane according to the hoisting environment information, the size and shape of the target load, and the corresponding hanging point positions of the at least two cranes on the target load;

[0013] According to the hook movement path of the first crane and the hook movement path of the second crane, hoisting schemes corresponding to at least two cranes lifting the target load are determined.

[0014] Optionally, the lifting scheme includes a motion sequence, and the motion sequence includes the order and displacement of each preset action;

[0015] The lifting scheme includes a motion sequence, and the motion sequence includes the order and position of each preset action;

[0016] The determining, according to the hook movement path of the first crane and the hook movement path of the second crane, hoisting schemes corresponding to at least two cranes lifting the target load respectively comprises:

[0017] Synchronously disassembling the hook motion path of the first crane and the hook motion path of the second crane in sections to obtain the sectioned hook motion path of the first crane and the sectioned hook motion path of the second crane;

[0018] Decomposing each segmented hook motion path of the first crane to obtain a motion sequence in which the first crane performs each preset motion on each segmented hook motion path;

[0019] The motion paths of the segmented hooks of the second crane are decomposed to obtain motion sequences in which the second crane performs respective preset motions for each segmented hook motion path.

[0020] Optionally, the outputting the hoisting scheme includes:

[0021] The hoisting scheme is outputted by voice and / or graphics.

[0022] Optionally, the method further comprises:

[0023] According to the hook movement path of the first crane and the hook movement path of the second crane, the movement path and the movement rotation process of the target load are planned and output.

[0024] Optionally, the method further comprises:

[0025] Acquiring the position and posture of the target load and the hook position, posture and working condition of each of the cranes during the process of the at least two cranes lifting the target load;

[0026] Determine the current pitch angle of the target load and the current inclination angle of the ropes of each of the cranes according to the position, posture, weight and load mass distribution of the target load, and the hook position, posture, working condition, rated lifting capacity and hanging point position of each of the cranes;

[0027] determining the load weight distribution of the at least two cranes with respect to the target load according to the current inclination angle of the hoisting rope of each of the cranes;

[0028] Determining a remaining safe pitch angle based on a dangerous pitch angle of the target load and a current pitch angle of the target load, wherein the dangerous pitch angle of the target load is determined according to the hanging point positions of the cranes, the load weight distribution and the rated lifting capacity;

[0029] According to the remaining safe pitch angle, the displacement amount of each crane that can perform the target action is determined and output.

[0030] Optionally, the method further comprises:

[0031] When the remaining safe pitch angle is less than or equal to a preset angle threshold, determining a target crane according to the load weight distribution and the rated lifting capacity of each of the cranes;

[0032] Determine and output a contingency plan for the target crane.

[0033] Optionally, the determination of the emergency plan includes:

[0034] Determining a safe movement direction for reducing the lifting capacity of the target crane according to the movement state of the target crane;

[0035] A contingency plan for the target crane is generated based on the safe motion direction.

[0036] In a second aspect, an embodiment of the present application provides an electronic device, comprising: a processor and a memory storing a computer program, wherein when the processor runs the computer program, the above-mentioned multi-crane lifting guidance method is implemented.

[0037] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the above-mentioned multi-crane lifting guidance method is implemented.

[0038] The embodiments of the present application provide a method for guiding lifting by multiple cranes, an electronic device, and a computer-readable storage medium, the method comprising: obtaining lifting environment information and lifting task information of a target load; planning lifting schemes corresponding to the target loads lifted by at least two cranes according to the lifting environment information and the lifting task information; and outputting the lifting schemes to guide the operator to control at least two cranes according to the lifting schemes. In this way, the lifting schemes corresponding to the target loads lifted by at least two cranes are automatically planned through the lifting environment information and the lifting task information to guide the operator to control at least two cranes according to the lifting schemes, which can provide the operator with more comprehensive, safe, and intuitive guidance, improve the safety and efficiency of lifting, and enhance the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A schematic flow chart of a method for guiding lifting by multiple cranes provided in an embodiment of the present invention;

[0040] Figure 2 A schematic diagram of the process of the multi-crane lifting guidance method provided by an embodiment of the present invention;

[0041] Figure 3 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0042] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0043] It should be noted that, in this article, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element. In addition, components, features, and elements with the same name in different embodiments of the present application may have the same meaning or different meanings, and their specific meanings need to be determined by their explanation in the specific embodiment or further combined with the context of the specific embodiment.

[0044] It should be understood that, although the terms first, second, third, etc. may be used to describe various information in this article, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this article, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein can be interpreted as "at the time of..." or "when..." or "in response to determination". Furthermore, as used in this article, the singular forms "one", "one" and "the" are intended to also include plural forms, unless there is an opposite indication in the context. It should be further understood that the terms "comprising", "including" indicate that there are described features, steps, operations, elements, components, projects, kinds, and / or groups, but do not exclude the existence, occurrence or addition of one or more other features, steps, operations, elements, components, projects, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Thus, “A, B, or C” or “A, B and / or C” means “any of the following: A; B; C; A and B; A and C; B and C; A, B, and C.” An exception to this definition will occur only when a combination of elements, functions, steps, or operations are inherently mutually exclusive in some manner.

[0045] It should be understood that, although the various steps in the flowchart in the embodiment of the present application are displayed in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and it can be performed in other orders. Moreover, at least a portion of the steps in the figure may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and their execution order is not necessarily performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0046] It should be noted that, in this article, step codes such as S101, S102, etc. are used for the purpose of expressing the corresponding content more clearly and concisely, and do not constitute a substantial limitation on the sequence. When implementing the step, those skilled in the art may execute S102 first and then S101, etc., but these should all be within the scope of protection of this application.

[0047] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0048] In the subsequent description, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present application, and have no specific meanings. Therefore, "module", "component" or "unit" can be used in a mixed manner.

[0049] See also Figure 1 , is a multi-crane lifting guidance method provided in an embodiment of the present application. The multi-crane lifting guidance method can be executed by a multi-crane lifting guidance method device provided in an embodiment of the present application. The multi-crane lifting guidance method device can be implemented in software and / or hardware, such as an electronic device such as a server or a processor. In this embodiment, the execution subject of the multi-crane lifting guidance method is an electronic device as an example. The multi-crane lifting guidance method provided in this embodiment includes:

[0050] Step S101: Obtaining the hoisting environment information and hoisting task information of the target load.

[0051] Among them, the target load is the object that needs to be lifted, which can be set based on actual needs, such as objects that are longer and / or heavier. The lifting environment information can be used to indicate the environment information where the target load is located, and may include space type, space size, obstacle information (including static obstacles and dynamic obstacles), etc., which may limit the placement direction of the crane and the range of motion of the hook and boom. The lifting task information can be used to indicate the need to lift the target load, and may include the lifting starting point and lifting end point. Here, the lifting task information can also include the size and shape of the target load, the weight of the target load, the location of the hanging point, etc.

[0052] Step S102: According to the lifting environment information and the lifting task information, planning lifting plans corresponding to the target loads lifted by at least two cranes.

[0053] The lifting scheme is used to indicate the corresponding control operation scheme when the crane is lifting the target load. Since the range of the crane's movement can be known from the lifting environment information, and the situation in which the crane needs to move the target load can be known from the lifting task information, the lifting schemes corresponding to at least two cranes lifting the target load can be planned in combination with the lifting environment information and the lifting task information.

[0054] In one embodiment, the lifting task information includes the lifting start point, the lifting end point, the size and shape of the target load, and the hanging point position; the at least two cranes include a first crane and a second crane;

[0055] According to the hoisting environment information and hoisting tasks, plan hoisting plans corresponding to the target loads lifted by at least two cranes, including:

[0056] Determine a hook motion path of the first crane according to the hoisting environment information, the hoisting starting point, the hoisting end point, and the support positions, direction angles, and structural limitation data corresponding to at least two cranes;

[0057] Determine a hook motion path of the second crane according to the hoisting environment information, the size and shape of the target load, and the corresponding hanging point positions of at least two cranes on the target load;

[0058] According to the hook movement path of the first crane and the hook movement path of the second crane, hoisting schemes corresponding to at least two cranes lifting the target load are determined.

[0059] Among them, the hook motion path is used to indicate the corresponding movement trajectory of the crane hook when lifting the target load. The corresponding support position of the crane is used to indicate the position of the crane's support foot relative to the target load, the corresponding direction angle of the crane is used to indicate the angle of the crane relative to the target load, and the corresponding structural limitation data of the crane (also known as joint limitation data) is used to indicate the maximum and minimum lifting angle information corresponding to the crane's boom. Here, the support position, direction angle and structural limitation data corresponding to each crane can be manually input to the electronic device by the user, or can be read by the electronic device from the crane or external device, or can be pre-stored in a local database. Among them, the hanging point position is used to indicate the position of the crane's lifting rope on the target load, which can be pre-determined based on the rated lifting weight of the crane and the weight of the target load. Here, the corresponding hanging point position of the crane is different, and the corresponding lifting weight of the crane will also be different in the subsequent lifting process of the target load. After determining the hook movement path of the first crane based on the lifting environment information, the lifting starting point, the lifting end point, and the support positions, direction angles, and structural limitation data corresponding to at least two cranes, the electronic device then determines the hook movement path of the second crane based on the lifting environment information, the size and shape of the target load, and the corresponding hanging point positions of at least two cranes on the target load, based on the need to safely lift the target load, and then determines the lifting schemes corresponding to the target loads lifted by at least two cranes based on the hook movement path of the first crane and the hook movement path of the second crane.

[0060] It should be noted that, when the at least two cranes also include a third crane, the hook motion path of the third crane may also be determined according to the hoisting environment information, the size and shape of the target load, and the corresponding hanging point positions of the at least two cranes on the target load. Here, the size and shape of the target load may include three-dimensional size data of the target load.

[0061] In one embodiment, the lifting scheme includes a motion sequence, and the motion sequence includes the order and displacement of each preset action;

[0062] Determining hoisting schemes corresponding to target loads lifted by at least two cranes according to the hook movement path of the first crane and the hook movement path of the second crane, including:

[0063] Synchronously disassembling the hook motion path of the first crane and the hook motion path of the second crane in sections to obtain the sectioned hook motion path of the first crane and the sectioned hook motion path of the second crane;

[0064] Decomposing each segmented hook motion path of the first crane to obtain a motion sequence in which the first crane performs each preset motion on each segmented hook motion path;

[0065] The motion paths of the segmented hooks of the second crane are decomposed to obtain motion sequences in which the second crane performs respective preset motions for each segmented hook motion path.

[0066] It can be understood that, since the crane hook's motion path is actually realized by the crane performing different actions during the process of lifting the target load, the crane's lifting plan including the motion sequence can be obtained through the crane's hook motion path. Among them, the preset actions include but are not limited to amplitude change, rotation and hoisting. The order of different preset actions in the motion sequence can be determined based on the hook motion path, and the displacement of the preset action is used to indicate the size of the operation amount of the preset action, such as a rotation of 5 degrees. It should be noted that when the hook motion path is segmented, the maximum segmentation of each segment should be allowed to be defined as within the segment, even if the first crane or the second crane completes the corresponding action, and the corresponding second crane or the first crane does not perform any action, the pitch angle of the target load will not cause any crane to tip over.

[0067] Here, the action decomposition for each segmented hook motion path can be performed by decomposing each segmented hook motion path into the order of executing preset actions and corresponding positions, so as to obtain the motion sequence of each segmented hook motion path executing each preset action. For example, the action decomposition of a segmented hook motion path can obtain the order in which the crane performs the amplitude change, rotation and hoisting actions in sequence and the displacement corresponding to each action. In this way, by disassembling the crane's hook motion path in sections to obtain the corresponding lifting plan, it is convenient for the operator to control the crane according to the segmented step sequence, further improving the safety and efficiency of lifting.

[0068] Step S103: outputting a hoisting plan to guide the operator to control at least two cranes according to the hoisting plan.

[0069] Among them, when the electronic device is installed on the crane, the lifting plan can be directly output through the crane or the electronic device, and when the electronic device is not installed on the crane, the lifting plan can be sent to the crane or the equipment associated with the crane, so that the crane or the equipment associated with the crane outputs the lifting plan, thereby guiding the operator to control at least two cranes according to the lifting plan. It should be noted that each crane can monitor the position of its own movement to ensure that all cranes and cranes automatically update the decomposed movement of the next hook movement path in the lifting plan after reaching the end point of each segmented hook movement path, so as to ensure the safety of collaborative lifting of multiple cranes.

[0070] In one embodiment, outputting the hoisting plan includes: outputting the hoisting plan by voice and / or pattern. Here, the hoisting plan can be output directly by voice, or directly by pattern, or by voice combined with pattern, so that the crane operator can clearly and accurately know the hoisting plan, further improving safety.

[0071] In summary, in the crane lifting guidance method provided in the above embodiment, the lifting schemes corresponding to the target loads lifted by at least two cranes are automatically planned through the lifting environment information and the lifting task information, so as to guide the operator to control at least two cranes according to the lifting schemes. This can provide the operator with more comprehensive, safe and intuitive guidance, improve the safety and efficiency of lifting, and enhance the user experience.

[0072] In one embodiment, the method further comprises:

[0073] According to the hook movement path of the first crane and the hook movement path of the second crane, the movement path and the movement rotation process of the target load are planned and output.

[0074] It can be understood that after the motion path of the hook of the first crane and the motion path of the hook of the second crane are determined, the motion path and motion rotation process of the target load can be planned through kinematic analysis, and the motion path and motion rotation process of the target load can be output. Here, anti-collision detection can be performed on the target load based on the motion path and motion rotation process of the target load, so that anti-collision processing can be performed according to the anti-collision detection result, so as to further improve the safety of lifting.

[0075] In one embodiment, the method further comprises:

[0076] Acquire the position and posture of the target load and the hook position, posture and working condition of each crane during the process of at least two cranes lifting the target load;

[0077] According to the position, posture, weight and load mass distribution of the target load, as well as the hook position, posture, working condition, rated lifting capacity and hanging point position of each crane, determine the current pitch angle of the target load and the current inclination angle of the rope of each crane;

[0078] Determining a load weight distribution of at least two cranes with respect to a target load based on a current inclination angle of a hoisting rope of each crane;

[0079] Determine the remaining safe pitch angle of the target load based on the dangerous pitch angle of the target load and the current pitch angle of the target load, wherein the dangerous pitch angle of the target load is determined according to the hanging point position, rated lifting capacity and load weight distribution of each crane;

[0080] Based on the remaining safe pitch angle, the displacement of the target action that can be performed by each crane is determined and output.

[0081] Among them, the position and posture of the target load can be obtained by collecting the target load through a sensor or image acquisition device set on or near the target load, or can be input by a user into an electronic device, which is not specifically limited here. The hook position of the crane can be obtained by collecting it through an image acquisition device set on or near the crane, and the posture and working condition of the crane can be obtained by collecting it through a sensor set on the crane. Here, the position and posture of the target load and the hook position and posture of the crane can be based on those obtained in the same three-dimensional space, such as a three-dimensional space with the lifting starting point as the origin. The posture of the crane is used to indicate the position of the boom, rotation, and hoisting actions, and the working condition of the crane is related to the lifting performance of the crane.

[0082] Among them, the load mass distribution of the target load is used to indicate the weight distribution within the target load, which may be that the weight on both sides of the target load is greater than the weight in the middle, etc. Here, after determining the position, posture, weight and load mass distribution of the target load, as well as the hook position, posture, working condition, rated lifting weight and hanging point position of each crane, since the above data directly affect the pitch angle of the target load and the inclination angle of the lifting rope of each crane, the current pitch angle of the target load and the current inclination angle of the lifting rope of each crane can be calculated based on the above data. Among them, the pitch angle of the target load is the horizontal pitch angle. It can be understood that after obtaining the current inclination angle of the lifting rope of each crane, the load weight distribution of at least two cranes with respect to the target load can be determined through force analysis, that is, the lifting weight currently borne by each crane in the process of lifting the target load. After determining the dangerous pitch angle of the target load according to the hanging point position, rated lifting weight and load weight distribution of each crane, the remaining safe pitch angle can be determined in combination with the current pitch angle of the target load, such as the difference between the dangerous pitch angle of the target load and the current pitch angle of the target load, which is determined as the remaining safe pitch angle. After determining the remaining safe pitch angle of the target load, it can be converted into the displacement of the target action that can be executed by each crane through spatial conversion. The target action is one or more preset actions. In addition, according to the position, posture, weight and load mass distribution of the target load, as well as the hook position, posture, working condition, rated lifting capacity and hanging point position of each crane, the current rotation angle of the target load can also be determined to perform anti-collision detection based on the current rotation angle of the target load. In this way, by monitoring the process of lifting the target load by multiple cranes, the displacement of the target action that can be executed by each crane based on the remaining safe pitch angle of the target load is reminded to the operator, which further improves the safety and efficiency of lifting and further enhances the user experience.

[0083] In one embodiment, the method further comprises:

[0084] When the remaining safe pitch angle is less than or equal to the preset angle threshold, the target crane is determined according to the load weight distribution and the rated lifting capacity of each crane;

[0085] Determine and output emergency plans for target cranes.

[0086] Among them, when the remaining safe pitch angle is less than or equal to the preset angle threshold, the current lifting capacity of each crane for the target load can be obtained according to the load weight distribution, and combined with the rated lifting capacity of each crane, the target crane with a lifting capacity close to the rated lifting capacity, that is, the crane with the risk of tipping over, is determined and output, and the emergency plan for the target crane is determined and output to instruct the operator to control the target crane according to the emergency plan, thereby increasing the remaining safe pitch angle and avoiding tipping of the target crane, further improving the safety and efficiency of lifting, and further improving the user experience. In addition, when the remaining safe pitch angle is less than or equal to the preset angle threshold, the action of each crane can be locked, and an alarm message can be output at the same time.

[0087] In one embodiment, determining the emergency plan includes:

[0088] Determining a safe movement direction for reducing the lifting weight of the target crane according to the movement state of the target crane;

[0089] Generate emergency plans for the target crane based on the safe movement direction.

[0090] Among them, the motion state of the target crane may include the motion direction of the target crane. Based on the motion state of the target crane, a safe motion direction for reducing the lifting weight of the target crane can be determined, that is, the direction in which the lifting weight actually assigned to the target crane is reduced. Here, the motion direction can be three-dimensional, that is, the motion direction may not only be in one direction. After determining the safe motion direction, the motion information of the target crane moving in the safe motion direction can be determined in combination with the remaining safe pitch angle, load weight distribution and other information to generate an emergency plan for the target crane. For example, when the motion direction of the target crane is descending, the corresponding safe motion direction may be ascending, and an emergency plan for the target crane is generated in combination with the ascending range. In this way, by generating an emergency plan for the target crane, it is possible to assist in preventing the target crane from tipping over, further improving the safety and efficiency of lifting.

[0091] Based on the same inventive concept as the aforementioned embodiment, the method in the aforementioned embodiment is specifically described below through a specific example. In this example, the target load is the hoisted load, the multiple cranes include a first crane and a second crane, the hoisting task is a construction task, and the executor of the multi-crane lifting guidance method is a dual-crane lifting safety guidance system as an example.

[0092] See also Figure 2 The implementation principle of the multi-crane lifting guidance method provided in this embodiment is as follows:

[0093] For the construction operation scenario of dual-machine lifting, on the premise of obtaining the environmental model (including lifting environment information), the lifting trajectory and lifting plan of the dual-machine lifting are planned according to the construction task. The lifting trajectory includes the motion trajectory of the hoisted load, the motion trajectory of the hook and boom of the first crane, and the motion trajectory of the hook and boom of the second crane. The lifting plan includes a segmented decomposition diagram of the motion posture of the hoisted load, the motion sequence of the luffing-rotation-hoisting of the first crane in each stage (including sequence and position), and the motion sequence of the luffing-rotation-hoisting of the second crane in each stage (including sequence and position). The lifting trajectory and lifting plan are transmitted to the crane operator through display and voice broadcast. When the two cranes are moving according to the system's lifting plan, the system will automatically monitor the load position, posture and weight, load mass distribution, and hanging point position during the lifting process of the two cranes, the hook position, posture, working condition, and rated lifting capacity of the first crane, and the hook position, posture, working condition, and rated lifting capacity of the second crane, and calculate the pitch angle, rotation angle, and inclination angle of each lifting rope of the suspended load based on the above information, and then calculate the dangerous angle of tipping, that is, the dangerous pitch angle of the suspended load based on the real-time posture of each part, and display the remaining safety margin, that is, the remaining safe pitch angle. When the remaining safety margin is about to be consumed, an early warning will be issued, and an emergency plan will be given. The emergency plan includes the movement sequence of the first crane or the second crane for boom lengthening-slewing-hoisting and the expected pitch angle, rotation angle, and inclination angle of the load and the posture of the first crane and the second crane to deal with the current situation.

[0094] Among them, the dual-machine lifting safety guidance system has two main functions. One function is to generate lifting trajectory and lifting plan to guide the operator to operate the crane to complete the lifting task. The other function is to predict the possibility of tipping risk by real-time monitoring of the load and various key data of the crane when the operator is lifting, calculate the dangerous working conditions, and prompt the operators of the first crane and the second crane to the range of the safe area of ​​each crane based on the current situation, and give emergency plans in emergency situations to help operators avoid dangerous working conditions.

[0095] Specifically, the hoisting trajectory is that the system plans the hook motion path of the first crane according to the starting point of the hoisted load, the end point of the hoisted load, the support position of the two cranes, the direction angle, and the joint restrictions of the two cranes, and then estimates the hook motion path of the second crane according to the geometric shape of the hoisted load and the positional relationship between the first hanging point and the second hanging point, and estimates the motion path and motion rotation process of the hoisted load according to the hook motion path of the first crane and the hook motion path of the second crane. The system will display the above three paths to the operator in the form of graphics.

[0096] Specifically, the lifting scheme is that the system synchronously disassembles the hook motion path of the first crane and the hook motion path of the second crane into several sections, and decomposes the hook motion path of the first crane and the hook motion path of the second crane into small sections for the corresponding cranes into single actions (work steps) of boom lengthening, rotation, and hoisting, and displays the numerical values ​​of the corresponding actions of the boom lengthening, rotation, and hoisting of the first crane and the second crane in this stage. In the actual working process, each crane monitors its own action position to ensure that the lifting scheme automatically updates the decomposed action of the next section after the first crane and the second crane reach the end of each stage, so as to ensure the safety of the entire dual-machine collaborative lifting. Here, the maximum allowable definition of each section is that if the first crane (or the second crane) completes the corresponding action within the section, and the second crane (or the first crane) does not perform any action, the pitch angle of the hoisted load will not cause any crane to tip over.

[0097] Among them, the real-time monitoring and anti-tilt of hoisting is specifically to monitor the position, posture and weight of the load, the position of the hanging point, the load mass distribution, the hook position of the first crane, the hook position of the second crane, the working condition and posture of the first crane, the working condition and posture of the second crane, the rated lifting capacity of the first crane, the rated lifting capacity of the second crane in real time or by input, and calculate the pitch angle, rotation angle and inclination angle of the load in real time, calculate the dangerous pitch angle of the hoisted load that will cause the crane to tip over according to the current situation, remind the remaining safety angle value, and convert the safety angle value into the position information of the allowable joint movement displacement of the first crane and the second crane as reminder information. When overloading is about to occur, an alarm is issued, the movements of the two vehicles are locked, and an emergency plan is prompted. The specific form of the emergency plan is: two sets of plans are recommended to use the first crane or the second crane to eliminate the dangerous situation by moving in a safe direction. After the operator selects the recommended plan, the movement of the first crane or the second crane is released. When the first crane action plan is selected, the remaining safety angle in the dangerous direction of the first crane and the safe movement direction of the first crane and its recommended movement value when the second crane is stationary are displayed to the first crane; and when the second crane action plan is selected, the remaining safety angle in the dangerous direction of the second crane and the safe movement direction of the second crane and its recommended movement value when the first crane is stationary are displayed to the second crane.

[0098] In summary, in the method provided in the above embodiment, the lifting trajectory of the crane is converted into a lifting plan, and then the lifting plan is disassembled into the working sequence of the two cranes, and further reasonable safety requirements are made for the width of the working sequence, so as to guide the lifting actions of the two cranes when the two machines work together. At the same time, the pitch angle and rotation angle of the hoisted load and the inclination angle of the lifting rope are calculated in real time through monitoring information and input information, and then the tipping danger zone of the two cranes is calculated in real time through the above information, and the tipping danger zone is converted into the crane motion joint position information that can be recognizable by the operator, so as to provide early warning of dangerous actions that may cause tipping. Therefore, the above method has the following advantages: 1) It can plan the hook movement path of the first crane and the second crane according to the input information and the read information, and further plan the movement path and rotation process of the hoisted load, which enhances the visualization and is more intuitive; 2) It can convert the hook movement path of the first crane and the second crane into a lifting plan, and further decompose the lifting plan into the action sequence of the first crane and the second crane, and limit the step width, so as to guide the operator to operate according to the correct step sequence, ensure the safety during lifting and avoid the risk of the crane tipping over; 3) It can calculate the pitch angle and rotation angle of the hoisted load and the inclination angle of the lifting rope in real time according to the monitoring information and the input information. These data will help calculate the tipping danger zone of the two cranes, and convert the tipping danger zone into the crane motion joint position information that can be recognized by the operator, so as to help the operator avoid the risk of tipping over.

[0099] Based on the same inventive concept as the above embodiments, an embodiment of the present invention provides an electronic device, such as Figure 3 As shown, the electronic device includes: a processor 301 and a memory 302 storing a computer program; wherein, Figure 3 The processor 301 shown in the figure is not used to indicate that the number of the processor 301 is one, but is only used to indicate the positional relationship of the processor 301 relative to other devices. In actual applications, the number of the processor 301 may be one or more; similarly, Figure 3 The memory 302 shown in the figure has the same meaning, that is, it is only used to refer to the position relationship of the memory 302 relative to other devices. In practical applications, the number of memories 302 can be one or more. When the processor 301 runs the computer program, the above-mentioned multi-crane lifting guidance method is implemented.

[0100] The electronic device may also include: at least one network interface 303. The various components in the electronic device are coupled together via a bus system 304. It is understood that the bus system 304 is used to achieve connection and communication between these components. In addition to the data bus, the bus system 304 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, in Figure 3Various buses are labeled as bus system 304 .

[0101] The memory 302 may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. The non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a ferromagnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM); the magnetic surface memory may be a disk memory or a tape memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), and direct RAM bus random access memory (DRRAM, Direct Rambus Random Access Memory).The memory 302 described in the embodiments of the present invention is intended to include, but is not limited to, these and any other suitable types of memories.

[0102] The memory 302 in the embodiment of the present invention is used to store various types of data to support the operation of the electronic device. Examples of these data include: any computer program used to operate on the electronic device, such as an operating system and an application; contact data; phone book data; messages; pictures; videos, etc. Among them, the operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., which are used to implement various basic services and process hardware-based tasks. The application program may include various applications, such as a media player (Media Player), a browser (Browser), etc., which are used to implement various application services. Here, the program that implements the method of the embodiment of the present invention may be included in the application program.

[0103] Based on the same inventive concept as the above-mentioned embodiment, this embodiment further provides a crane, comprising the electronic device as described in the above-mentioned embodiment.

[0104] Based on the same inventive concept as the above-mentioned embodiment, this embodiment further provides a computer storage medium, in which a computer program is stored. The computer storage medium may be a ferromagnetic random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM); it may also be various devices including one or any combination of the above-mentioned memories, such as a mobile phone, a computer, a tablet device, a personal digital assistant, etc. When the computer program stored in the computer storage medium is executed by the processor, the above-mentioned multi-crane lifting guidance method is implemented. For the specific steps implemented when the computer program is executed by the processor, please refer to Figure 1 The description of the illustrated embodiment will not be repeated here.

[0105] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0106] In this document, the terms "comprises," "comprising," or any other variations thereof, are intended to cover a non-exclusive inclusion of elements other than those listed and may also include additional elements not expressly listed.

[0107] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for guiding lifting by multiple cranes, characterized in that: The method comprises: Obtain the hoisting environment information and hoisting task information of the target load; According to the hoisting environment information and the hoisting task information, planning hoisting schemes corresponding to at least two cranes lifting the target loads respectively; The hoisting plan is output to guide the operator to control the at least two cranes according to the hoisting plan.

2. The method according to claim 1, characterized in that The lifting task information includes the lifting starting point, the lifting end point, the size and shape of the target load, and the hanging point position; the at least two cranes include a first crane and a second crane; The planning of hoisting schemes corresponding to at least two cranes lifting the target loads according to the hoisting environment information and the hoisting task includes: Determine a hook motion path of the first crane according to the hoisting environment information, the hoisting starting point, the hoisting end point, and the support positions, direction angles, and structural restriction data corresponding to the at least two cranes; Determining a hook movement path of the second crane according to the hoisting environment information, the size and shape of the target load, and the corresponding hanging point positions of the at least two cranes on the target load; According to the hook movement path of the first crane and the hook movement path of the second crane, hoisting schemes corresponding to at least two cranes lifting the target load are determined.

3. The method according to claim 2, characterized in that The lifting scheme includes a motion sequence, and the motion sequence includes the order and displacement of each preset action; The determining, according to the hook movement path of the first crane and the hook movement path of the second crane, hoisting schemes corresponding to at least two cranes lifting the target load respectively comprises: Synchronously disassembling the hook motion path of the first crane and the hook motion path of the second crane in sections to obtain the sectioned hook motion path of the first crane and the sectioned hook motion path of the second crane; Decomposing each segmented hook motion path of the first crane to obtain a motion sequence in which the first crane performs each preset motion on each segmented hook motion path; The motion paths of the segmented hooks of the second crane are decomposed to obtain motion sequences of the second crane executing preset motions for each segmented hook motion path.

4. The method according to claim 1, characterized in that: The outputting of the hoisting scheme includes: The hoisting scheme is outputted by voice and / or graphics.

5. The method according to claim 2, characterized in that: The method further comprises: According to the hook movement path of the first crane and the hook movement path of the second crane, the movement path and the movement rotation process of the target load are planned and output.

6. The method according to any one of claims 1 to 5, characterized in that The method further comprises: Acquiring the position and posture of the target load and the hook position, posture and working condition of each of the cranes during the process of the at least two cranes lifting the target load; Determine the current pitch angle of the target load and the current inclination angle of the ropes of each of the cranes according to the position, posture, weight and load mass distribution of the target load, and the hook position, posture, working condition, rated lifting capacity and hanging point position of each of the cranes; determining the load weight distribution of the at least two cranes with respect to the target load according to the current inclination angle of the hoisting rope of each of the cranes; determining a remaining safe pitch angle of the target load based on a dangerous pitch angle of the target load and a current pitch angle of the target load, wherein the dangerous pitch angle of the target load is determined according to the hanging point positions, the rated lifting capacity and the load weight distribution of each of the cranes; According to the remaining safe pitch angle, the displacement of the target action that can be performed by each of the cranes is determined and output.

7. The method according to claim 6, characterized in that The method further comprises: When the remaining safe pitch angle is less than or equal to a preset angle threshold, determining a target crane according to the load weight distribution and the rated lifting capacity of each of the cranes; Determine and output a contingency plan for the target crane.

8. The method according to claim 7, characterized in that The determination of the emergency plan includes: Determining a safe movement direction for reducing the lifting capacity of the target crane according to the movement state of the target crane; A contingency plan for the target crane is generated based on the safe motion direction.

9. An electronic device, characterized in that: include: A processor and a memory storing a computer program, wherein when the processor runs the computer program, the method for guiding lifting by multiple cranes according to any one of claims 1 to 8 is implemented.

10. A computer-readable storage medium, characterized in that: A computer program is stored, and when the computer program is executed by a processor, the guiding method for lifting by multiple cranes according to any one of claims 1 to 8 is implemented.

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