Intelligent ceiling and control method thereof

Abstract

The invention discloses an intelligent ceiling and a control method thereof, and the intelligent ceiling comprises a rectangular frame, a sensing-control system, and a plurality of electric trolleys and wheel sensors which are disposed on the rectangular frame. The four corners of the rectangular frame are connected with corresponding vertical stand columns respectively. The rectangular frame comprises two long cross beams which are arranged in parallel, each long cross beam is provided with a corresponding track, and each track is provided with more than four electric trolleys; two or more pieces of rectangular sunshade cloth are connected to the rectangular frame, the sunshade cloth is not overlapped, the four corners of each piece of sunshade cloth are connected with the two adjacent electric trolleys on the two rails, and the distance between the two adjacent electric trolleys which are located on the same rail and connected with the same piece of sunshade cloth can be adjusted; and the wheel sensors and the electric trolley are in electric signal connection with the sensing-control system. The method aims at accurately adjusting the construction exposed area.

Description

Technical Field

[0001] The present invention relates to the technical field of ceilings, and in particular to an intelligent ceiling and a control method thereof. Background Art

[0002] At present, there are more and more renovation or reconstruction projects based on old and middle-aged residential areas. The construction sites of these projects are usually in densely populated residential areas. The construction sites are exposed hardened surfaces, which will strengthen the heat island effect, increase the local temperature, and have a significant negative impact on the comfort of the living environment. It also increases the energy consumption and carbon emissions of surrounding buildings. Therefore, reducing carbon emissions and reducing the negative impact of construction sites on the surrounding environment are the key to solving construction convenience and safety. The existing utility model with patent publication number CN214784766U discloses a new movable building sunshade device, including at least two parallel guide rails, the bottom of each of the guide rails is respectively connected to a support column, each of the guide rails is respectively slidably matched with a retractable support frame, and both ends of each of the retractable support frames are respectively connected to a canopy truss, and a sunshade cloth covers the top of the canopy truss and the retractable support frame. The building sunshade device can be moved by means of a retractable support frame and a guide rail, thereby retracting or unfolding the sunshade cloth. However, the sunshade cloth is retracted and arranged on one side, and it is impossible to achieve precise control of the exposed area required in the construction area, resulting in part of the sunshade area being exposed. Summary of the invention

[0003] The main purpose of the present invention is to provide an intelligent ceiling and a control method thereof, aiming to solve the technical problem that the existing sunshade device cannot accurately adjust the exposed construction area.

[0004] To achieve the above object, the present invention provides a smart ceiling, which includes a rectangular frame, a sensing-control system, and a plurality of electric vehicles and wheel sensors arranged on the rectangular frame;

[0005] The four corners of the rectangular frame are respectively connected with corresponding vertical columns;

[0006] The rectangular frame includes two long beams arranged in parallel, each long beam is provided with a corresponding track, and each track is provided with more than four electric trolleys;

[0007] The rectangular frame is connected to more than two rectangular sunshade cloths, the sunshade cloths do not overlap each other, and the four corners of each sunshade cloth are connected to two adjacent electric trolleys on two tracks. The distance between the two adjacent electric trolleys on the same track and connected to the same sunshade cloth can be adjusted, so that the corresponding sunshade cloth can be unfolded or folded by moving the two adjacent electric trolleys on the two tracks;

[0008] Each wheel sensor and electric car is connected to the perception-control system with electrical signals. Each wheel sensor is used to correct the position of the electric car, and the perception-control system is used to control the operation of each electric car.

[0009] Optionally, a depth camera is arranged at the top of the extended end of each vertical column, and each depth camera is electrically connected to the perception-control system. Each depth camera is used to determine the position and size of the cargo hoisted above the rectangular frame and transmit it to the perception-control system, so that the perception-control system controls the operation of each electric trolley according to the size and position of the cargo.

[0010] Optionally, at least three UWB base stations are arranged above the rectangular frame.

[0011] Optionally, each UWB base station is set on a corresponding vertical column, and each UWB base station is used to receive data transmitted by a UWB tag. The UWB tag is set on the Siso's walkie-talkie to determine the position of the UWB tag based on the data transmitted by the UWB tag received by each UWB base station and transmit it to the perception-control system.

[0012] Optionally, a plurality of wheel sensors are arranged at equal intervals on the corresponding track; and each vertical column is arranged on the ground or on a scaffold.

[0013] Optionally, each sunshade cloth is further connected to a plurality of pulleys on two opposite sides close to the track, and each pulley slides on the corresponding track and is arranged between two corresponding electric trolleys.

[0014] In addition, in order to achieve the above-mentioned purpose, the present invention also provides a control method of a smart ceiling, wherein the smart ceiling is in a cargo lifting state, and the method comprises the following steps:

[0015] Step 1, using multiple depth cameras to obtain the size and position of the hoisted cargo, and determining the size and position of the sunshade cloth opening according to the size and position of the hoisted cargo, so as to determine the running distance of each electric trolley;

[0016] Step 2, pre-determine whether the driver needs to start the electric car immediately;

[0017] Step 3: If the operator does not need to start the electric trolley immediately, the waiting time of each electric trolley is determined according to the vertical distance between the bottom of the cargo and the horizontal plane of the track, the vertical moving speed of the hook, the moving speed of the trolley, the opening position and the preset safety advance amount;

[0018] Step 4, control the corresponding electric car to start according to the waiting time and running distance of each electric car.

[0019] Optionally, the step 2 further includes:

[0020] If the driver needs to start the electric car immediately, multiple UWB base stations are used to determine the horizontal coordinates of the driver's location based on the UWB tag carried by the driver;

[0021] According to the horizontal coordinates of the position of the control cable, the sunshade cloth is opened and closed in advance with the position of the control cable as the center.

[0022] Optionally, the formula for determining the waiting time of each electric vehicle in step 3 is:

[0023]

[0024] Where V is the speed of the trolley, L is the vertical distance between the bottom of the cargo and the horizontal plane of the track, V h Hook vertical moving speed, t s Lead time, car A n , B n The initial position X-axis coordinate X n , the X-axis coordinate of the target position on the beam n ', T n For car A n , B n Waiting time for startup.

[0025] Optionally, the step 1 specifically includes:

[0026] Use multiple depth cameras to obtain the point cloud coordinate set corresponding to the hoisted cargo;

[0027] Determine the projection of the cargo on the horizontal plane according to the point cloud coordinate set corresponding to the cargo, and determine the maximum and minimum values ​​of the coordinates in the track direction in the safe projection point set;

[0028] The running distance of each electric trolley is determined according to the coordinates of each electric trolley corresponding to the sunshade cloth and the maximum and minimum values ​​of the coordinates in the track direction in the set of safety projection points.

[0029] Beneficial effects:

[0030] (1) The smart ceiling in the present invention controls the corresponding expansion, extension or folding of the sunshade cloth through multiple electric trolleys, thereby effectively adjusting the opening and closing of the smart top, thereby realizing intelligent control of the smart ceiling, and opening an opening when materials need to be hoisted to the construction site to facilitate the placement of materials. The ceiling is closed at other times, thereby realizing precise adjustment of the exposed construction area and optimizing the inherent functions of the smart ceiling.

[0031] (2) It can effectively block sunlight, reduce the temperature of the construction site, significantly improve the working environment of workers, reduce safety risks and occupational disease risks, and is also beneficial to concrete maintenance, preventing cracking, and reducing the urban heat island effect. It can improve the local microclimate of the construction site and surrounding communities, reduce community air conditioning energy consumption and carbon emissions, and improve comfort.

[0032] (3) The control method of the intelligent ceiling in the present invention is easy to operate, and the entire setting is simple and reliable, and has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0034] Figure 1 This is a structural schematic diagram of an embodiment of a smart ceiling of the present invention;

[0035] Figure 2 for Figure 1 The schematic diagram of the structure of the depth camera and UWB base station is shown.

[0036] Description of Figure Numbers:

[0037] Label name Label name 1 Vertical columns 2 Long beam 3 Sunshade 4 goods 5 Depth Camera 6 UWB Base Station

[0038] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with the implementation methods and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] It should be noted that all directional indications (such as up, down, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0041] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0042] Furthermore, the technical solutions between the various embodiments of the present invention may be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in the field. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0043] See also Figure 1-2 , is a structural schematic diagram of an embodiment of a smart ceiling of the present invention, wherein the smart ceiling includes a rectangular frame, a perception-control system, and a plurality of electric trolleys and wheel sensors arranged on the rectangular frame, each wheel sensor and electric trolley are electrically connected to the perception-control system, and the perception-control system is used to control the operation of each electric trolley. The four corners of the rectangular frame are respectively connected with corresponding vertical columns 1, preferably, each vertical column 1 is arranged on the ground or on a scaffold. The rectangular frame includes two long beams 2 arranged in parallel, each long beam 2 is provided with a corresponding track, and each track is provided with more than four electric trolleys, preferably, a plurality of wheel sensors are arranged at equal intervals on the corresponding track, and are used to correct the position of the electric trolley, wherein the position of the electric trolley is determined by first calculating the distance it travels on the track according to the number of circles the wheel rolls, and communicating with the perception-control system, so that the perception-control system can determine the position of the electric trolley, and then when the trolley passes the corresponding wheel sensor, the wheel sensor will notify the perception-control system, thereby correcting the position of the trolley.

[0044] In actual application, more than two rectangular sunshade cloths 3 are connected to the rectangular frame, and the sunshade cloths 3 do not overlap each other. The four corners of each sunshade cloth 3 are connected to two adjacent electric carts on two tracks. The distance between two adjacent electric carts on the same track and connected to the same sunshade cloth 3 can be adjusted, so that the corresponding sunshade cloth 3 can be unfolded or folded by moving the two adjacent electric carts on the two tracks. The sunshade cloth 3 is made of flexible mesh material, which can be folded and has a certain degree of ductility. The mesh material is generally white and breathable. The perception-control system controls the unfolding and folding of the sunshade cloth 3 by controlling the operation of the electric cart to realize automatic control of the opening and closing of the smart ceiling. The smart ceiling can effectively block sunlight, reduce the temperature of the construction site, significantly improve the working environment of workers, reduce the urban heat island effect, and improve the local microclimate of the construction site and surrounding communities.

[0045] Furthermore, the smart ceiling can also be realized as an opening for lifting cargo, and when cargo is being lifted, the principle of opening the sunshade is that the smaller the opening area, the better, and the shorter the opening time, the better, while ensuring that the cargo is safely placed. It is then necessary to determine the spatial size and spatial position of the cargo, and use the depth camera 5 to determine the position and size of the cargo 4 lifted above the rectangular frame, wherein the number of depth cameras 5 is set to be more than 4, and all are set at the top of the extended end of each vertical column 1, such as Figure 2 As shown, each depth camera 5 is connected to the perception-control system by electrical signals, wherein the method for determining the spatial size and spatial position of the cargo is as follows: the depth image of the cargo is transmitted back to the perception-control system through the depth cameras on the vertical columns 1 at the four corners of the rectangular frame and the depth camera on the hook, and the size and position of the cargo can be determined by the software visual algorithm. The depth camera uses the infrared dot matrix reflection principle to sense the distance between the camera and the place where the infrared rays are reflected on the surface of the object being photographed. The perception-control system calculates the geometric features of the object being photographed based on the distance of the infrared dot matrix. The camera and algorithm are both public and mature technologies and will not be described in detail. After obtaining the geometric features of the cargo, it is restored to a point cloud composed of spatial points to describe the cargo. Each point has a certain spatial coordinate, and finally a set of spatial coordinates is obtained. And because the subsequent steps of controlling the opening and closing of the ceiling only require the width of the horizontal projection of the cargo, the spatial coordinate set corresponding to the point cloud is converted into a horizontal projection coordinate set, and then converted into a projection point set on the x-axis. The four projection points are then merged and the repeated elements in the set are removed to obtain a more dense and detailed coordinate set of the horizontal plane x-axis projection points of the cargo, which is used to more accurately describe the projection width of the cargo, where the x-axis is the straight line where the track is located in the rectangular box.

[0046] Furthermore, in the presence of a cable, the position of the cable can be determined by UWB positioning. Preferably, at least three UWB base stations 6 are arranged above the rectangular frame. In this embodiment, four UWB base stations 6 are respectively located on the vertical columns 1 at the four corners of the rectangular frame, and a UWB tag is installed on the cable's intercom. The cable can be more accurately positioned by the TDOA algorithm (the positioning accuracy is about 10 cm, and the TDOA algorithm is public content). For ceilings with a larger range, the number of UWB base stations can be increased to ensure that the mutual communication between the base stations is within the communication distance. When the perception-control system identifies the position of the cable, on the one hand, the cable can conveniently and actively control the opening of the ceiling above itself to observe the position of the transported materials. On the other hand, the intelligent ceiling can also open the ceiling above the lifting destination in advance according to the position of the cable.

[0047] Furthermore, each sunshade cloth 3 is connected to a plurality of pulleys on two opposite sides close to the track. Each pulley slides on the corresponding track and is arranged between two corresponding electric trolleys. Therefore, the arrangement of the plurality of pulleys can enable each sunshade cloth 3 to be unfolded and extended or folded and retracted as the electric trolley moves.

[0048] Furthermore, in this embodiment, two sunshade cloths 3 are provided, and four electric trolleys are provided on each track. The trolleys can move along the track by themselves, but the trolleys cannot pass through another trolley, that is, the order of the trolleys will not change. Figure 1 As shown, the two tracks are numbered A and B, the trolleys on the A track are numbered A1, A2, A3 and A4 from left to right, and the electric trolleys on the B track are numbered B1, B2, B3 and B4. The four corners of a sunshade cloth 3 are pulled up between A1, A2, B1 and B2, and the A1A2 side and B1B2 side of the sunshade cloth 3 are hung on several small pulleys, which can be extended or folded and folded with the movement of the electric trolley. Similarly, the A3, A4, B3 and B4 electric trolleys pull up another sunshade cloth 3. Extend another column on the four corners of the rectangular frame, and an active UWB base station 6 and a depth camera 5 are set on the top.

[0049] Further, in order to better illustrate the structure of the smart ceiling, a control method of a smart ceiling is provided below. Taking the smart ceiling in a cargo lifting state as an example, the method includes the following steps:

[0050] Step 1: Use multiple depth cameras to obtain the size and position corresponding to the hoisted cargo, and determine the size and position of the sunshade opening according to the size and position corresponding to the hoisted cargo, so as to determine the running distance of each electric trolley. Specifically, first use multiple depth cameras to obtain the point cloud coordinate set corresponding to the hoisted cargo; then determine the projection of the cargo on the horizontal plane according to the point cloud coordinate set corresponding to the cargo, and determine the maximum and minimum values ​​of the coordinates in the track direction in the safety projection point set; finally, determine the running distance of each electric trolley according to the coordinates of each electric trolley corresponding to the sunshade and the maximum and minimum values ​​of the coordinates in the track direction in the safety projection point set.

[0051] In specific applications, a coordinate system is established on the horizontal plane with the straight line passing through track A as the X-axis and the left end of track A as the origin. Then the projection of the cargo on the horizontal plane of the track is calculated from the depth camera data, and then the projection of the projection on the x-axis is calculated. The projection line segment is extended to both sides by a certain safety distance to obtain a safe projection. The coordinates of each point of the safe projection on the horizontal plane form a set of points. Take the minimum x-coordinate value X of all the points in this set. min and the maximum value X max , X min is the target position of cars A2 and B2 on their beams, X maxis the target point of the trolleys A3 and B3 on their beams. In this way, A2B2B3A3 forms a rectangular opening for the safe passage of goods. Assuming that the A2B2 side and the A3B3 side of the ceiling are equal to the distance between the A beam and the B beam and cannot be stretched, the area of ​​the A2B2B3A3 rectangular opening is the smallest opening area. However, since the ceiling material has a certain degree of ductility and the size is slightly larger than the distance between the beams, the length of the A2B2 side and the A3B3 side of the ceiling can be larger than the distance between the beams. The quadrilateral opening A2B2B3A3 that satisfies the safe passage of goods is not necessarily a rectangle, and the opening calculated by the above method is not necessarily the optimal opening.

[0052] Also, if the cargo falls very close to the short side of the rectangular frame, the sunshade cloth still has a certain width after being fully folded, so it cannot completely avoid the cargo. At this time, the trolley A1B1 must control the opening on the left, or the trolley A4B4 must control the opening on the right to completely avoid the cargo. The control principle is the same as the above method, which is equivalent to a rectangular opening with one side movable. Among them, the size and position of the sunshade cloth opening are calculated in real time based on the horizontal plane projection of the cargo. Therefore, although the simple and fast algorithm does not get the optimal solution, it can save a lot of calculation time, so that the smart ceiling can quickly respond to the posture and position changes of the cargo in the air. Then, according to the size and position of the sunshade cloth opening, the running distance of each electric car is further determined.

[0053] Step 2, pre-determine whether the driver needs to start the electric car immediately;

[0054] Step 3, if the driver does not need to start the electric trolley immediately, the waiting time of each electric trolley is determined based on the vertical distance between the bottom of the cargo and the horizontal plane of the track, the vertical moving speed of the hook, the moving speed of the trolley, the opening position and the preset safety advance.

[0055] Step 4, control the corresponding electric car to start according to the waiting time and running distance of each electric car.

[0056] Specifically, the formula for determining the waiting time of each electric vehicle is:

[0057]

[0058] Where V is the speed of the trolley, L is the vertical distance between the bottom of the cargo and the horizontal plane of the track, V h Hook vertical moving speed, t s Lead time, car A n , B n The initial position X-axis coordinate X n , the X-axis coordinate of the target position on the beam n ', T n For car A n , Bn Waiting time to start. Calculating the waiting time is a real-time process. n =0 means the electric car starts and stops when it moves to the destination coordinate. n It is relatively sensitive, and determining the target position of the car as early as possible helps the car reach the destination coordinates in time.

[0059] In addition, when the driver is near the destination, T can be calculated faster and more stably. n Before directing the crane operation, the driver first walks to the location where the cargo is to be dropped, and presses the positioning button with a UWB tag on the intercom in his hand. The UWB base station then locates the driver, and the perception-control system immediately controls the trolley to move to the driver's location, so that it can wait near the drop point in advance. Also, if the cargo is dropped and translated too quickly, causing T n The value drops too fast, causing T n +t s When it is less than 0, it means that the sunshade cannot be opened wide enough in time, the perception-control system will alarm, and the driver will notify the tower crane driver to slow down or temporarily stop and wait.

[0060] Furthermore, after the cargo is lifted, it is necessary to control the hook to rise from the track plane and control the sunshade to close. Generally, it is necessary to determine in advance that the hook is above the track plane before the sunshade closing operation can be started. The method for determining that the hook is above the track plane can be basically consistent with the principle of determining the position of the cargo, that is, by using multiple depth cameras to obtain the point cloud coordinate set corresponding to the hook, and determine that the minimum value of the Z coordinate in the point cloud coordinate set is greater than the maximum value corresponding to the Z coordinate corresponding to the track plane. In addition, the hook can be controlled to return directly to the initial position.

[0061] And the method for controlling the closing of the sunshade cloth includes: ① controlling each electric trolley to start the closing operation through the perception-control system, that is, each electric trolley will return to the initial position state according to its historical operation trajectory; ② obtaining the interval distance l between two adjacent electric trolleys connected to different sunshades on the same track, and controlling the two adjacent electric trolleys to run relative to each other by 0.5l, so that the two adjacent electric trolleys are close to each other, thereby realizing the closing of the sunshade cloth.

[0062] Furthermore, after step 2, the step further includes:

[0063] If the driver needs to start the electric trolley immediately, multiple UWB base stations are used to determine the horizontal coordinates of the driver's position based on the UWB tag carried by the driver; and the sunshade is opened and closed in advance with the driver's position as the center based on the horizontal coordinates of the driver's position. This allows the vehicle to reach the target position in advance, preventing the cargo from moving suddenly and quickly in the X-axis direction during the falling process, and preventing the electric trolley from reaching the destination.

[0064] Furthermore, the following describes the opening and closing operation steps of the smart ceiling through a specific embodiment.

[0065] Take the example of hoisting a rectangular cargo to the construction site, where the cargo is 2 meters long, 1 meter wide, and 0.5 meters high. The smart ceiling covers an area of ​​25 meters wide and 40 meters long. The actual vertical distance between the top of the cargo and the hook is 3 meters. The initial position of the bottom of the cargo is 12 meters above the midpoint of the area. Take the camera on the lower left corner column of the smart ceiling as the origin, the track direction as the x-axis, and the vertical direction as the z-axis to establish a global stereo coordinate system (unit m). The coordinates of the depth cameras on the four columns are C1 (0, 0, 0), C2 (0, 25, 0), C3 (40, 25, 0), and C4 (40, 0, 0). Let the hook position coordinate be H (20, 12.5, 15.5).

[0066] Assume that the resolution of the depth image obtained by the depth camera is 0.1 meters. In this step, the point cloud coordinate set after each depth image processing is relative to the local coordinate system of the depth camera itself (usually a spatial coordinate system established with the camera as the origin and the direction facing the lens as the y-axis). Taking camera C1 as an example, assuming that relative to the global coordinate system, the direction vector facing the C1 lens is cy(1,1,0), the C1 local coordinate x-axis vector is cx(1,-1,0), and the z-axis vector is cz(0,0,1). At this time, the point cloud coordinate set of the cargo in the C1 camera relative to the local coordinate system is

[0067] [F C1-1 (5.0,19.1,12.0),F C1-2 (5.0,19.1,12.1)……F C1-n ], the point cloud coordinate set is transformed into the point cloud coordinate set of the global coordinate system through a computer program:

[0068] [F C1-1 '(19.0,12.0,12.0),F C1-2 '(19.0,12.0,12.1)……F C1-n ']. Perform the same process on the remaining C2-C4 cameras to obtain the corresponding point cloud coordinate set

[0069] [F C2-1 '(19.0,13.0,12.0),F C2-2 '(19.0,13.0,12.1)……F C2-n '],

[0070] [F C3-1 '(21.0,13.0,12.0),F C3-2 '(21.0,13.0,12.1)……FC3-n ']and

[0071] [F C4-1 '(21.0,12.0,12.0),F C4-2 '(21.0,12.0,12.1)……F C4-n '].

[0072] At this time, the minimum value Zmin=12.0 of the Z coordinates of the elements in the four sets is obtained.

[0073] Since only the width of the cargo projection on the horizontal plane in the x-axis direction is required, we need to calculate the Z min After that, the z-axis and y-axis coordinate information of the point cloud coordinates are discarded and converted into [F C1-1 '(19.0), F C1-2 '(19.0)…F C1-n ']、[F C2-1 '(19.0), F C2-2 '(19.0)……F C2-n ']、[F C3-1 '(21.0), F C3-2 '(21.0)……F C3-n '] and [F C4-1 '(21.0), F C4-2 '(21.0)……F C4-n Then merge the four point sets into one point set, delete the duplicate elements with the same coordinate value, and keep only the first element with the same value to get the detailed projection point set of the x-axis [F C1-1 '(19.0), F C3-1 '(21.0), ... F C1-n ', F C2-n ', F C3-n ', F C4-n ']. By discarding a lot of information, a lot of computing time can be saved. The above is the detailed projection point cloud set coordinate value under ideal conditions. In actual depth image recognition, there are errors. The detailed projection point set may be [F C1-1 '(19.1), F C2-1 '(18.7), F C3-1 '(21.0), F C4-1 '(21.1), ... F C1-n ', F C2-n ', F C3-n ', F C4-n '] At this time, use the computer to find the maximum value X of the x coordinate of the element in the detailed projection point set max =21.1 and minimum value X min=18.7. Assuming the safety distance is 0.5, the maximum value of the x coordinate in the safe projection point set is obtained. max =21.6 and minimum value X min =18.2.

[0074] If the roof has not been opened at this time, the coordinates of each trolley are A1(0,0), A2(16,0), A3(16,0), A4(40,0), B1(0,25), B2(16,25), B3(16,25), B1(40,25). Assuming the length of the trolley is 0.8m, when Xmin is less than 1.6m (i.e., even if the A2 and B2 trolleys are moved to connect with the A1 and B1 trolleys respectively, the roof cannot be opened to a sufficient size), then the A1 and B1 trolleys need to be moved to ensure that the opening is large enough for the goods to pass through. Similarly, when Xmax is greater than 38.4m, the A4 and B4 trolleys need to be moved. In other cases, the A1, B1, A4, and B4 trolleys are all parked at both ends of the track. At this time, there is no need to move the A1, B1, A4, and B4 trolleys, and only the A2, B2, A3, and B3 trolleys need to be moved to open the roof.

[0075] Set the vertical drop speed V of the hook h =0.5m / s, lead time t s = 10s, the moving speed of each car is 1m / s (not considering the acceleration time). According to the above formula, taking car A2 as an example, the target coordinate X of car A2 is n =Xmin=18.2, L=Zmin=12, then the waiting time of A2 is

[0076]

[0077] That is, after 11.8s, car A2 starts to move to the target coordinates. Similarly, the waiting time of car B2 is also 11.8s, and the waiting time of cars A3 and B3 is 8.4s. The opening time is thus obtained.

[0078] If the driver is already waiting at the destination at this time, and its horizontal coordinates are (25.5, 14), the trolley can be controlled to open the roof in advance according to the opening width with it as the center, that is, the target coordinates Xmax = 27, Xmin = 24, then the trolley will start immediately and reach the target position in advance to prevent the cargo from suddenly moving quickly in the X-axis direction during the falling process, and the trolley will not be able to reach the destination.

[0079] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A smart ceiling, characterized in that: The smart ceiling includes a rectangular frame, a perception-control system, and a plurality of electric vehicles and wheel sensors arranged on the rectangular frame; The four corners of the rectangular frame are respectively connected to corresponding vertical columns (1); The rectangular frame comprises two long beams (2) arranged in parallel, each long beam (2) is provided with a corresponding track, and each track is provided with more than four electric trolleys; The rectangular frame is connected to more than two rectangular sunshade cloths (3), the sunshade cloths (3) do not overlap each other, the four corners of each sunshade cloth (3) are connected to two adjacent electric trolleys on two tracks, and the distance between two adjacent electric trolleys on the same track and connected to the same sunshade cloth (3) can be adjusted, so that the corresponding sunshade cloth (3) can be unfolded or retracted by moving the two adjacent electric trolleys on the two tracks; Each wheel sensor and electric car is connected to the perception-control system with electrical signals. Each wheel sensor is used to correct the position of the electric car, and the perception-control system is used to control the operation of each electric car.

2. The smart ceiling according to claim 1, characterized in that: A depth camera (5) is arranged at the top of the extended end of each vertical column (1), and each depth camera (5) is connected to the perception-control system by electrical signals. Each depth camera (5) is used to determine the position and size of the cargo (4) hoisted above the rectangular frame and transmit the position and size to the perception-control system, so that the perception-control system controls the operation of each electric trolley according to the size and position of the cargo.

3. The smart ceiling according to claim 1, characterized in that: At least three UWB base stations (6) are also arranged above the rectangular frame.

4. The smart ceiling according to claim 3, characterized in that: Each UWB base station (6) is arranged on a corresponding vertical column (1), and each UWB base station (6) is used to receive data transmitted by a UWB tag. The UWB tag is arranged on the intercom of the driver, so as to determine the position of the UWB tag according to the data transmitted by the UWB tag received by each UWB base station (6) and transmit the data to the perception-control system.

5. The smart ceiling according to claim 1, characterized in that: A plurality of wheel sensors are arranged at equal intervals on the corresponding track; each vertical column (1) is arranged on the ground or on a scaffold.

6. The smart ceiling according to claim 1, characterized in that: Each sunshade cloth (3) is also connected to a plurality of pulleys on two opposite sides close to the track, and each pulley slides on the corresponding track and is arranged between two corresponding electric trolleys.

7. A method for controlling a smart ceiling, characterized in that: The smart ceiling is in a cargo lifting state, and the method comprises the following steps: Step 1, using multiple depth cameras to obtain the size and position of the hoisted cargo, and determining the size and position of the sunshade cloth opening according to the size and position of the hoisted cargo, so as to determine the running distance of each electric trolley; Step 2, pre-determine whether the driver needs to start the electric car immediately; Step 3: If the operator does not need to start the electric trolley immediately, the waiting time of each electric trolley is determined according to the vertical distance between the bottom of the cargo and the horizontal plane of the track, the vertical moving speed of the hook, the moving speed of the trolley, the opening position and the preset safety advance amount; Step 4, control the corresponding electric car to start according to the waiting time and running distance of each electric car.

8. The control method of the smart ceiling according to claim 7, characterized in that: After step 2, the step further includes: If the driver needs to start the electric car immediately, multiple UWB base stations are used to determine the horizontal coordinates of the driver's location based on the UWB tag carried by the driver; According to the horizontal coordinates of the position of the control cable, the sunshade cloth is opened and closed in advance with the position of the control cable as the center.

9. The control method of the smart ceiling according to claim 7, characterized in that: The formula for determining the waiting time of each electric vehicle in step 3 is: Where V is the speed of the trolley, L is the vertical distance between the bottom of the cargo and the horizontal plane of the track, V h Hook vertical moving speed, t s Lead time, car A n , B n The initial position X-axis coordinate X n , the X-axis coordinate of the target position on the beam n ’ , T n For car A n , B n Waiting time for startup.

10. The control method of the smart ceiling according to claim 7, characterized in that: The step 1 specifically includes: Use multiple depth cameras to obtain the point cloud coordinate set corresponding to the hoisted cargo; Determine the projection of the cargo on the horizontal plane according to the point cloud coordinate set corresponding to the cargo, and determine the maximum and minimum values ​​of the coordinates in the track direction in the safe projection point set; The running distance of each electric trolley is determined according to the coordinates of each electric trolley corresponding to the sunshade cloth and the maximum and minimum values ​​of the coordinates in the track direction in the set of safety projection points.

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