Method for guiding multi-crane lifting, electronic device and readable storage medium

Abstract

The application discloses a hoisting method of multiple cranes, an electronic device and a readable storage medium, comprising: obtaining hoisting environment information and hoisting task information of a target load; planning hoisting schemes corresponding to the target load hoisted by at least two cranes according to the hoisting environment information and the hoisting task information; and outputting the hoisting schemes to guide an operator to control the at least two cranes according to the hoisting schemes. In this way, the hoisting schemes corresponding to the target load hoisted by the at least two cranes are automatically planned according to the hoisting environment information and the hoisting task information, the operator is guided to control the at least two cranes according to the hoisting schemes, comprehensive, safe and intuitive guidance can be provided for the operator, the safety and efficiency of hoisting are improved, and user experience is improved.

Description

Technical Field

[0001] This invention relates to the field of crane technology, and in particular to a method for guiding multiple crane lifting operations, electronic equipment, and computer-readable storage medium. Background Technology

[0002] As industry rapidly expands to larger scale, lifting equipment such as cranes are becoming increasingly larger, leading to a rise in large-scale lifting tasks and more complex operating environments. A single crane may not be sufficient to meet actual operational needs, resulting in a growing trend of dual-crane or even multi-crane operations. Currently, dual-crane collaborative operations largely rely on experienced operators for coordination; however, this method lacks comprehensive, safe, and intuitive guidance for operators, resulting in a poor user experience. 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 that 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, embodiments of this application provide a method for guiding multi-crane lifting, including:

[0006] Obtain information on the lifting environment and lifting task for the target load;

[0007] Based on the hoisting environment information and the hoisting task information, plan hoisting schemes for at least two cranes to lift the target loads respectively;

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

[0009] Optionally, the hoisting task information includes the hoisting start point, the hoisting end point, and the size and shape of the target load, as well as the location of the attachment point; the at least two cranes include a first crane and a second crane;

[0010] The step of planning a lifting scheme for at least two cranes to lift the target load based on the lifting environment information and the lifting task includes:

[0011] Based on the hoisting environment information, the hoisting starting point, the hoisting ending point, and the support positions, orientation angles, and structural constraint data corresponding to the at least two cranes, the movement path of the hook of the first crane is determined;

[0012] Based on the hoisting environment information, the size and shape of the target load, and the positions of the attachment points of the at least two cranes on the target load, the movement path of the hook of the second crane is determined;

[0013] Based on the hook movement paths of the first crane and the second crane, a lifting scheme corresponding to lifting the target load by at least two cranes is determined.

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

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

[0016] The step of determining lifting schemes for at least two cranes to lift the target load based on the hook movement paths of the first crane and the second crane includes:

[0017] The hook movement path of the first crane and the hook movement path of the second crane are synchronously segmented and disassembled to obtain the segmented hook movement path of the first crane and the segmented hook movement path of the second crane.

[0018] The motion path of each segment of the hook of the first crane is decomposed into motion sequences to obtain the motion sequence of each preset action performed by the first crane for each segment of the hook motion path.

[0019] The motion paths of each segment of the hook of the second crane are decomposed to obtain the motion sequence of the second crane performing each preset action for each segment of the hook motion path.

[0020] Optionally, outputting the hoisting scheme includes:

[0021] The hoisting plan is output via voice and / or graphic means.

[0022] Optionally, the method further includes:

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

[0024] Optionally, the method further includes:

[0025] During the process of the at least two cranes lifting the target load, the position and orientation of the target load, as well as the hook position, orientation, and operating conditions of each of the cranes are obtained;

[0026] Based on the position, attitude, weight, and load mass distribution of the target load, as well as the hook position, attitude, working condition, rated lifting capacity, and hanging point position of each of the cranes, determine the current pitch angle of the target load and the current tilt angle of the lifting rope of each of the cranes.

[0027] The load weight distribution of the at least two cranes with respect to the target load is determined based on the current tilt angle of the hoisting ropes of each crane.

[0028] Based on the dangerous pitch angle of the target load and the current pitch angle of the target load, the remaining safe pitch angle is determined. The dangerous pitch angle of the target load is determined according to the attachment point position of each of the cranes, the load weight distribution, and the rated lifting capacity.

[0029] Based on the remaining safe pitch angle, determine and output the displacement amount of each crane that can perform the target action.

[0030] Optionally, the method further includes:

[0031] When the remaining safe pitch angle is less than or equal to a preset angle threshold, the target crane is determined based on the load weight distribution and the rated lifting capacity of each crane.

[0032] Determine and output an emergency plan for the target crane.

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

[0034] Based on the motion state of the target crane, determine a safe direction of motion for reducing the lifting capacity of the target crane;

[0035] An emergency plan for the target crane is generated based on the safe movement direction.

[0036] Secondly, embodiments of this application provide an electronic device, including: a processor and a memory storing a computer program, wherein when the processor runs the computer program, the above-described multi-crane lifting guidance method is implemented.

[0037] Thirdly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the aforementioned multi-crane lifting guidance method.

[0038] The multi-crane lifting guidance method, electronic device, and computer-readable storage medium provided in this application embodiment include: acquiring lifting environment information and lifting task information for the target load; planning lifting schemes for at least two cranes to lift the target load according to the lifting environment information and lifting task information; and outputting the lifting schemes to guide the operator to control the at least two cranes according to the lifting schemes. Thus, by automatically planning lifting schemes for at least two cranes to lift the target load according to the lifting environment information and lifting task information, and guiding the operator to control the at least two cranes according to the lifting schemes, more comprehensive, safe, and intuitive guidance can be provided to the operator, improving the safety and efficiency of lifting and enhancing the user experience. Attached Figure Description

[0039] Figure 1 This is a flowchart illustrating the multi-crane lifting guidance method provided in an embodiment of the present invention.

[0040] Figure 2 This is a schematic diagram of the process of the multi-crane lifting guidance method provided in an embodiment of the present invention;

[0041] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0042] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0043] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, components, features, and elements with the same names in different embodiments of this application may have the same meaning or different meanings, the specific meaning of which must be determined by its interpretation in that specific embodiment or further in conjunction with the context of that specific embodiment.

[0044] It should be understood that although the terms first, second, third, etc., may be used herein to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this document, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if," as used herein, can be interpreted as "when," "when," or "in response to determination." Furthermore, as used herein, the singular forms "a," "an," and "the" are intended to also include the plural forms unless the context indicates otherwise. It should be further understood that the terms "comprising," "including," indicate the presence of the stated feature, step, operation, element, component, item, kind, and / or group, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. The terms "or" and "and / or" as used herein are to be interpreted as inclusive, or mean any one or any combination thereof. Therefore, "A, B, or C" or "A, B, and / or C" means "any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C". Exceptions to this definition will only occur if the combination of elements, functions, steps, or operations is inherently mutually exclusive in some way.

[0045] It should be understood that although the steps in the flowcharts of this application's embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.

[0046] It should be noted that step designations such as S101 and S102 are used in this document for the purpose of more clearly and concisely describing the corresponding content, and do not constitute a substantial limitation on the order. In specific implementation, those skilled in the art may execute S102 first and then S101, etc., but these should all be within the protection scope of this application.

[0047] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0048] In the following description, the use of suffixes such as "module," "part," or "unit" to denote elements is solely for the purpose of illustrative purposes and has no specific meaning in itself. Therefore, "module," "part," or "unit" may be used interchangeably.

[0049] See Figure 1 This application provides a multi-crane lifting guidance method, which can be executed by a multi-crane lifting guidance method device provided in this application. This device can be implemented using software and / or hardware, such as electronic devices like servers or processors. In this embodiment, the execution subject of the multi-crane lifting guidance method is an electronic device. The multi-crane lifting guidance method provided in this embodiment includes:

[0050] Step S101: Obtain the lifting environment information and lifting task information for the target load.

[0051] The target load is the object to be lifted, and its specific configuration can be set based on actual needs, such as a long and / or heavy object. Lifting environment information indicates the surrounding environment of the target load, including space type, space size, and obstacle information (including stationary and dynamic obstacles), which may limit the crane's orientation and the range of motion of the hook and boom. Lifting task information indicates the need to lift the target load, and may include the lifting start and end points. This lifting task information may also include the size and shape of the target load, its weight, and the location of the attachment points.

[0052] Step S102: Based on the hoisting environment information and hoisting task information, plan hoisting schemes for at least two cranes to lift the target loads respectively.

[0053] The lifting scheme is used to indicate the control operation plan for the crane when lifting the target load. Since the range of movement of the crane can be known from the lifting environment information, and the situation where the crane needs to move the target load can be known from the lifting task information, the lifting schemes for at least two cranes to lift the target load can be planned by combining the lifting environment information and the lifting task information.

[0054] In one embodiment, the hoisting task information includes the hoisting start point, hoisting end point, and the size and shape of the target load, as well as the location of the attachment point; at least two cranes, including a first crane and a second crane;

[0055] Based on the lifting environment information and lifting task, plan lifting schemes for at least two cranes to lift the target load, including:

[0056] Based on the hoisting environment information, hoisting start point, hoisting end point, and the support positions, orientation angles, and structural constraint data of at least two cranes, determine the hook movement path of the first crane;

[0057] Based on the lifting environment information, the size and shape of the target load, and the corresponding attachment points of at least two cranes on the target load, determine the hook movement path of the second crane;

[0058] Based on the hook movement path of the first crane and the hook movement path of the second crane, determine the lifting schemes corresponding to lifting the target load by at least two cranes.

[0059] The hook movement path indicates the movement trajectory of the crane hook when lifting the target load. The crane's support position indicates the position of the crane's support feet relative to the target load; the crane's direction angle indicates the angle of the crane relative to the target load; and the crane's structural limitation data (also known as joint limitation data) indicates the maximum and minimum lifting angles of the crane's boom. The support position, direction angle, and structural limitation data for each crane can be manually input by the user into the electronic device, read by the electronic device from the crane or external equipment, or pre-stored in a local database. The attachment point position indicates the position of the crane's lifting rope on the target load, and can be pre-determined based on the crane's rated lifting capacity and the weight of the target load. Different attachment point positions will result in different lifting capacities for the crane during the subsequent lifting of the target load. After determining the hook movement path of the first crane based on the hoisting environment information, the hoisting start point, the hoisting end point, and the support positions, orientation angles, and structural constraint data of at least two cranes, the electronic equipment then determines the hook movement path of the second crane based on the hoisting environment information, the size and shape of the target load, and the attachment point positions of at least two cranes on the target load, and based on the requirements for safe hoisting of the target load. Finally, based on the hook movement paths of the first and second cranes, the electronic equipment determines the hoisting schemes for lifting the target load by at least two cranes.

[0060] It should be noted that when at least two cranes are involved, including a third crane, the hook movement path of the third crane can also be determined based on the lifting environment information, the size and shape of the target load, and the corresponding attachment point positions of the at least two cranes on the target load. Here, the size and shape of the target load may include the three-dimensional dimensional data of the target load.

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

[0062] Based on the hook movement paths of the first crane and the second crane, determine the lifting schemes for lifting the target load using at least two cranes, including:

[0063] The hook movement paths of the first crane and the second crane are synchronously segmented and disassembled to obtain the segmented hook movement paths of the first crane and the second crane.

[0064] The motion paths of each segment of the hook of the first crane are decomposed to obtain the motion sequence of the first crane performing each preset action for each segment of the hook motion path;

[0065] The motion paths of each segment of the hook of the second crane are decomposed to obtain the motion sequence of the second crane performing each preset action for each segment of the hook motion path.

[0066] It is understandable that, during the lifting of the target load, the crane hook's movement path is actually achieved by the crane performing different actions. Therefore, a lifting scheme including a motion sequence can be obtained from the crane's hook movement path. These preset actions include, but are not limited to, luffing, slewing, and hoisting. The order of different preset actions in the motion sequence can be determined based on the hook movement path. The displacement of the preset actions indicates the magnitude of the operation, such as a 5-degree slewing. It should be noted that when segmenting the hook movement path, the maximum allowable segment should be defined as follows: even if the first or second crane completes the corresponding action within that segment, but the corresponding second or first crane does not perform any action, the pitch angle of the target load will not cause either crane to overturn.

[0067] Here, the motion path of each segment of the hook is decomposed into motion sequences. This involves breaking down the motion path of each segment into the sequence of preset actions and their corresponding positions, thus obtaining the motion sequence of each segment's motion path. For example, decomposing the motion path of one segment reveals the sequence in which the crane performs luffing, slewing, and hoisting actions, as well as the displacement corresponding to each action. By segmenting the crane's hook motion path to obtain corresponding lifting plans, operators can easily control the crane according to the segmented sequence, further improving lifting safety and efficiency.

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

[0069] When the electronic equipment is mounted on the crane, the lifting plan can be directly output from the crane or the electronic equipment. When the electronic equipment is not mounted on the crane, the lifting plan can be sent to the crane or its associated equipment, causing the crane or its associated equipment to output 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 its own position to ensure that all cranes automatically update the decomposed actions of the next segment of the hook movement path in the lifting plan only after reaching the end of each segment of the hook movement path, thus ensuring the safety of multi-crane coordinated lifting.

[0070] In one embodiment, outputting the lifting plan includes: outputting the lifting plan via voice and / or graphics. This can be done by directly outputting the lifting plan via voice, directly outputting the lifting plan via graphics, or by combining voice and graphics, so that the crane operator can clearly and accurately understand the lifting plan, further improving safety.

[0071] In summary, the crane lifting guidance method provided in the above embodiments automatically plans lifting schemes corresponding to the target loads of at least two cranes by using lifting environment information and lifting task information. This guides the operator to control at least two cranes according to the lifting scheme, providing the operator with more comprehensive, safe, and intuitive guidance, improving the safety and efficiency of lifting, and enhancing the user experience.

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

[0073] Based on the hook movement paths of the first crane and the second crane, the motion path and rotation process of the target load are planned and output.

[0074] It is understandable that after the movement paths of the hooks of the first and second cranes are determined, the movement path and rotation process of the target load can be planned through kinematic analysis, and the movement path and rotation process of the target load can be output. Here, collision avoidance detection can be performed on the target load based on its movement path and rotation process, and collision avoidance processing can be carried out based on the collision avoidance detection results to further improve the safety of lifting.

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

[0076] Acquire the position and orientation of the target load, as well as the hook position, orientation, and operating conditions of each crane, during the lifting process of the target load by at least two cranes;

[0077] Based on the position, attitude, weight, and mass distribution of the target load, as well as the hook position, attitude, working condition, rated lifting capacity, and attachment point position of each crane, determine the current pitch angle of the target load and the current tilt angle of the lifting rope of each crane.

[0078] Based on the current tilt angle of the hoisting ropes of each crane, determine the load weight distribution of at least two cranes with respect to the target load;

[0079] Based on the critical pitch angle of the target load and the current pitch angle of the target load, the remaining safe pitch angle of the target load is determined. The critical pitch angle of the target load is determined according to the attachment point position, rated lifting capacity and load weight distribution of each crane.

[0080] Based on the remaining safe pitch angle, determine and output the displacement of the target action that each crane can perform.

[0081] The position and orientation of the target load can be obtained by sensors or image acquisition devices located on or near the target load, or by user input into electronic devices; no specific limitation is made here. The position of the crane hook can be obtained by image acquisition devices located on or near the crane, and the crane's orientation and operating condition can be obtained by sensors located on the crane. Here, the position and orientation of the target load, as well as the position and orientation of the crane hook, can be obtained in the same three-dimensional space, such as a three-dimensional space with the lifting start point as the origin. The crane's orientation is used to indicate the position of luffing, slewing, and hoisting actions, while the crane's operating condition is related to its lifting performance.

[0082] The target load's mass distribution indicates the weight distribution within the target load, which may involve the weight on either side being greater than the weight in the middle. Here, after determining the target load's position, attitude, weight, and mass distribution, as well as the hook position, attitude, operating condition, rated lifting capacity, and attachment point position of each crane, the current pitch angle of the target load and the current tilt angle of each crane's hoisting rope can be calculated based on this data, since the above data directly affect the target load's pitch angle and the tilt angle of each crane's hoisting rope. The target load's pitch angle is a horizontal pitch angle. It can be understood that after obtaining the current tilt angle of each crane's hoisting rope, force analysis can determine the load weight distribution of at least two cranes with respect to the target load, i.e., the lifting weight currently borne by each crane during the lifting of the target load. After determining the target load's critical pitch angle based on each crane's attachment point position, rated lifting capacity, and load weight distribution, the remaining safe pitch angle can be determined by combining it with the target load's current pitch angle. For example, the difference between the target load's critical pitch angle and its current pitch angle can be 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 each crane can perform through spatial transformation. The target action is one or more preset actions. Furthermore, based on the target load's position, attitude, weight, and load mass distribution, as well as the hook position, attitude, operating condition, rated lifting capacity, and attachment point position of each crane, the current rotation angle of the target load can be determined for collision avoidance detection. Thus, by monitoring the process of multiple cranes lifting the target load, and by alerting the operator to the displacement of the target action that each crane can perform based on the remaining safe pitch angle of the target load, the safety and efficiency of lifting are further improved, and the user experience is enhanced.

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

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

[0085] Identify and output contingency plans for the target crane.

[0086] Specifically, when the remaining safe pitch angle is less than or equal to a preset angle threshold, the current lifting capacity of each crane for the target load can be determined based on the load weight distribution. Combined with the rated lifting capacity of each crane, the target crane with a lifting capacity close to its rated lifting capacity—that is, the crane at risk of tipping over—can be identified. An emergency plan for the target crane is then determined and output, instructing the operator to control the target crane according to the emergency plan. This increases the remaining safe pitch angle, preventing the target crane from tipping over, further improving the safety and efficiency of lifting, and enhancing the user experience. Furthermore, when the remaining safe pitch angle is less than or equal to the preset angle threshold, the actions of each crane can be locked, and alarm information can be output.

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

[0088] Based on the motion state of the target crane, determine the safe direction of movement for reducing the lifting capacity of the target crane;

[0089] An emergency response plan for the target crane is generated based on the safe direction of movement.

[0090] The motion state of the target crane can include its direction of motion. Based on this motion state, a safe direction for reducing the crane's lifting capacity can be determined, which is the direction in which the actual allocated lifting capacity is reduced. Here, the direction of motion can be three-dimensional, meaning it may not be directed in only one direction. After determining the safe direction, the remaining safe pitch angle, load distribution, and other information can be combined to determine the target crane's motion information in that direction, generating an emergency plan for the crane. For example, if the target crane's direction of motion is downward, the corresponding safe direction might be upward; combining this with the possible upward range generates an emergency plan. Thus, by generating an emergency plan for the target crane, tipping over can be prevented, further improving the safety and efficiency of lifting operations.

[0091] Based on the same inventive concept as the foregoing embodiments, the method in the foregoing embodiments will be specifically described below through a specific example. In this example, the target load is the load to be lifted, the multiple cranes include a first crane and a second crane, the lifting task is a construction task, and the execution subject of the multi-crane lifting guidance method is a dual-crane lifting safety guidance system.

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

[0093] For construction operations involving dual-crane lifting, based on the acquired environmental model (including lifting environment information), a lifting trajectory and lifting scheme for dual-crane lifting are planned for the construction task. The lifting trajectory includes the movement trajectory of the load being lifted, the movement trajectory of the hook and boom of the first crane, and the movement trajectory of the hook and boom of the second crane. The lifting scheme includes a segmented decomposition diagram of the movement posture of the load being lifted, the luffing-slewing-hoisting motion sequence (including sequence and position) of the first crane in each stage, and the luffing-slewing-hoisting motion sequence (including sequence and position) of the second crane in each stage. The lifting trajectory and lifting scheme are then transmitted to the crane operator through display and voice broadcast. During the lifting operation of the two cranes according to the system's lifting plan, the system automatically monitors the load position, attitude, weight, load mass distribution, and attachment point position during the lifting process. It also monitors the hook position, attitude, working condition, and rated lifting capacity of the first crane, as well as the hook position, attitude, working condition, and rated lifting capacity of the second crane. Based on this information, the system calculates the pitch angle, rotation angle, and tilt angle of each lifting rope of the lifted load. Then, based on the real-time attitude of each part, it calculates the dangerous tilt angle of the lifted load, and displays the remaining safety margin, i.e., the remaining safe pitch angle. When the remaining safety margin is about to be exhausted, an early warning is issued, and an emergency plan is provided. The emergency plan includes the luffing-slewing-hoisting motion sequence of the first or second crane to deal with the current situation, the expected pitch angle, rotation angle, and tilt angle of the lifting rope of the load, and the attitude of the first and second cranes.

[0094] The dual-crane lifting safety guidance system has two main functions. One function is to generate lifting trajectories and lifting plans to guide operators in operating the cranes to complete the lifting task. The other function is to predict the possibility of overturning risk by monitoring the load and various key data of the cranes in real time during the lifting operation, calculate dangerous working conditions, and prompt the operators of the first and second cranes to determine the safe zone range of their respective cranes based on the current situation. In case of emergency, it will provide emergency plans to help operators avoid dangerous working conditions.

[0095] Specifically, the lifting trajectory involves the system planning the hook movement path of the first crane based on the starting point and ending point of the load, the support positions and azimuth angles of the two cranes, and the joint limitations of the two cranes. Then, based on the geometry of the load and the positional relationship between the first and second anchor points, the system estimates the hook movement path of the second crane. Finally, based on the hook movement paths of the first and second cranes, the system estimates the movement path and rotation process of the load. The system displays these three paths graphically to the operator.

[0096] The lifting scheme specifically involves the system synchronously breaking down the hook movement paths of the first and second cranes into several segments. These smaller segments are then further decomposed into individual actions (working steps) for each crane: luffing, slewing, and hoisting. The system displays the numerical values ​​of these actions within each segment. During actual operation, each crane monitors its own position, ensuring that the lifting scheme automatically updates the next segment's decomposed actions only after both cranes reach the end of each segment, thus guaranteeing the safety of the entire dual-crane collaborative lifting operation. The maximum permissible segment is defined as the condition that, within that segment, if the first (or second) crane completes its corresponding action while the second (or first) crane does not perform any action, the pitch angle of the lifted load will not cause either crane to tip over.

[0097] Specifically, the real-time monitoring and anti-tipping mechanism for hoisting involves monitoring the load's position, attitude, and weight, attachment point location, load mass distribution, hook position of the first crane, hook position of the second crane, operating conditions and attitude of the first crane, operating conditions and attitude of the second crane, rated lifting capacity of the first crane, and rated lifting capacity of the second crane in real time. It then calculates the load's pitch angle, rotation angle, and rope tilt angle in real time. Based on the current situation, it calculates the dangerous pitch angle at which the crane might tip over, provides a warning of the remaining safe angle value, and converts this safe angle value into positional information for the permissible joint movement displacement of the first and second cranes as a warning message. An alarm is triggered when an overload is imminent, locking the movements of both cranes and prompting an emergency plan. The emergency plan consists of two options: recommending either the first crane or the second crane to a safe direction to defuse the danger. After the operator selects the recommended plan, the operation of either the first or second crane is deactivated. If the first crane is selected, the remaining safe angle in the danger direction and the safe direction of movement of the first crane, along with its recommended value, are displayed to the first crane when the second crane is stationary. If the second crane is selected, the remaining safe angle in the danger direction and the safe direction of movement of the second crane, along with its recommended value, are displayed to the second crane when the first crane is stationary.

[0098] In summary, the method provided in the above embodiments transforms the crane's lifting trajectory into a lifting plan, then breaks down the lifting plan into the working sequence of two cranes, further specifying reasonable safety requirements for the width of the working sequence, thereby guiding the lifting actions of the two cranes during collaborative operation. Simultaneously, the pitch and rotation angles of the lifted load and the tilt angle of the lifting rope are calculated in real time using monitoring and input information. The overturning hazard areas of the two cranes are then calculated in real time using the above information, and these hazard areas are transformed into crane joint position information that can be identified by the operator, thus providing early warning of potentially dangerous actions that could cause overturning. Therefore, the above method has the following advantages: 1) It can plan the hook movement paths of the first and second cranes based on input and read information, and further plan the movement path and rotation process of the load being lifted, enhancing visualization and making it more intuitive; 2) It can convert the hook movement paths of the first and second cranes into a lifting scheme, further decompose the lifting scheme into the action sequence of the first and second cranes, and limit the step width, thereby guiding the operator to operate according to the correct step sequence, ensuring safety during lifting and avoiding the risk of crane overturning; 3) It can calculate the pitch angle and rotation angle of the load being lifted and the tilt angle of the lifting rope in real time based on monitoring and input information. This data will help calculate the overturning danger zone of the two cranes and convert the overturning danger zone into crane movement joint position information that can be identified by the operator, thereby helping the operator avoid the risk of overturning.

[0099] Based on the same inventive concept as the foregoing embodiments, this 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 diagram does not indicate that there is only one processor 301, but only indicates the positional relationship of processor 301 relative to other devices. In practical applications, there can be one or more processors 301; similarly, Figure 3 The memory 302 shown in the diagram has the same meaning, that is, it is only used to indicate the positional relationship of memory 302 relative to other devices. In practical applications, there can be one or more memories 302. When the processor 301 runs the computer program, the multi-crane lifting guidance method described above is implemented.

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

[0101] The memory 302 can be volatile memory or non-volatile memory, or both. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM); magnetic surface memory can be disk storage or magnetic tape storage. Volatile memory can be random access memory (RAM), used as an external cache. By way of example, but 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), SyncLink Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM).The memory 302 described in this embodiment of the invention is intended to include, but is not limited to, these and any other suitable types of memory.

[0102] The memory 302 in this embodiment of the invention is used to store various types of data to support the operation of the electronic device. Examples of this data include: any computer programs used to operate on the electronic device, such as operating systems and applications; contact data; phonebook data; messages; pictures; videos, etc. The operating system includes various system programs, such as the framework layer, core library layer, driver layer, etc., used to implement various basic services and handle hardware-based tasks. Applications can include various applications, such as media players, browsers, etc., used to implement various application services. Here, the program implementing the method of this embodiment of the invention can be included in the application.

[0103] Based on the same inventive concept as the foregoing embodiments, this embodiment also provides a crane, including the electronic equipment described in the above embodiments.

[0104] Based on the same inventive concept as the foregoing embodiments, this embodiment also provides a computer storage medium storing a computer program. The computer storage medium can be a magnetic 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), etc.; it can also be various devices including one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc. When the computer program stored in the computer storage medium is executed by a processor, it implements the multi-crane lifting guidance method described above. For the specific steps implemented when the computer program is executed by the processor, please refer to [link to relevant documentation]. Figure 1 The description of the illustrated embodiments will not be repeated here.

[0105] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above 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 “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, which includes not only the elements listed but also other elements not expressly listed.

[0107] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method of guiding a multi-crane lift, characterized by, The method comprises: obtaining hoisting environment information and hoisting task information of a target load; planning hoisting schemes corresponding to the target load respectively lifted by at least two cranes according to the hoisting environment information and the hoisting task information; outputting the hoisting schemes to guide an operator to control the at least two cranes according to the hoisting schemes; the hoisting task information comprises a hoisting starting point, a hoisting ending point, and the size, shape and hanging point position of the target load; the at least two cranes comprise a first crane and a second crane; the planning of the hoisting schemes corresponding to the target load respectively lifted by the at least two cranes according to the hoisting environment information and the hoisting task information comprises: determining a hook movement path of the first crane according to the hoisting environment information, the hoisting starting point, the hoisting ending point, and the support position, direction angle and structure limitation data corresponding to the at least two cranes respectively; determining a hook movement path of the second crane according to the hoisting environment information, the size, shape of the target load, and the hanging point position corresponding to the at least two cranes on the target load respectively; determining the hoisting schemes corresponding to the target load respectively lifted by the at least two cranes according to the hook movement path of the first crane and the hook movement path of the second crane.

2. The method of claim 1, wherein, the hoisting schemes comprise movement sequences, and the movement sequences comprise the order and displacement amount of each preset action; the determination of the hoisting schemes corresponding to the target load respectively lifted by the at least two cranes according to the hook movement path of the first crane and the hook movement path of the second crane comprises: synchronously segmenting and disassembling the hook movement path of the first crane and the hook movement path of the second crane to obtain segmented hook movement paths of the first crane and segmented hook movement paths of the second crane; action-decomposing each segmented hook movement path of the first crane to obtain movement sequences of each preset action performed by the first crane for each segmented hook movement path respectively; action-decomposing each segmented hook movement path of the second crane to obtain movement sequences of each preset action performed by the second crane for each segmented hook movement path respectively.

3. The method of claim 1, wherein, the outputting of the hoisting schemes comprises: outputting the hoisting schemes in a voice and / or pattern manner.

4. The method of claim 1, wherein, The method further comprises: planning and outputting a movement path and a movement rotation process of the target load according to the hook movement path of the first crane and the hook movement path of the second crane.

5. The method according to any one of claims 1 to 4, characterized in that, The method further comprises: obtaining the position and posture of the target load, and the hook position, posture and working condition of each crane in the process of lifting the target load by the at least two cranes; determining the current pitch angle of the target load and the current inclination angle of the hoisting rope of each crane 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 crane. determining a load weight distribution of the at least two cranes with respect to the target load according to current inclination angles of hoisting ropes of the cranes; determining a remaining safe inclination angle of the target load based on a dangerous inclination angle of the target load and a current inclination angle of the target load, the dangerous inclination angle of the target load being determined according to the hook point positions, the rated lifting capacities and the load weight distribution of the cranes; determining and outputting a displacement amount of a target action executable by each of the cranes according to the remaining safe inclination angle.

6. The method of claim 5, wherein, The method further comprises: when the remaining safe inclination 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 capacities of the cranes; determining and outputting an emergency solution for the target crane.

7. The method of claim 6, wherein, The determination of the emergency solution comprises: determining a safe movement direction for reducing the lifting capacity of the target crane according to a movement state of the target crane; generating the emergency solution for the target crane based on the safe movement direction.

8. An electronic device, comprising: comprises: a processor and a memory storing a computer program, when the processor executes the computer program, the guiding method of multi-crane lifting of any one of claims 1-7 is realized.

9. A computer-readable storage medium, characterized in that, storing a computer program, when the processor executes the computer program, the guiding method of multi-crane lifting of any one of claims 1-7 is realized.

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